| US 7,519,218 B2 | ||
| Marker detection method and apparatus, and position and orientation estimation method | ||
| Kazuki Takemoto, Kawasaki (Japan); and Kiyohide Satoh, Kawasaki (Japan) | ||
| Assigned to Canon Kabushiki Kaisha, Tokyo (Japan) | ||
| Filed on Mar. 29, 2005, as Appl. No. 11/91,624. | ||
| Claims priority of application No. 2004-106243 (JP), filed on Mar. 31, 2004. | ||
| Prior Publication US 2005/0234333 A1, Oct. 20, 2005 | ||
| Int. Cl. G06K 9/00 (2006.01) | ||
| U.S. Cl. 382—165 [382/282; 382/291] | 15 Claims |
| 1. A marker detection method comprising steps of:
acquiring a captured image;
detecting a marker from the captured image;
determining whether or not a surrounding region of the detected marker includes a pixel of a predetermined color; and
determining, as a valid marker, a marker for which it is determined that the surrounding region does not include any pixel
of the predetermined color.
|