JP4563741B2 - Image collation device, image collation method, and image collation program. - Google Patents

Description

  The present invention relates to an image collation apparatus, an image collation method, and an image collation program that collate images by comparing image characteristics between an input image of a circular object and a plurality of template images registered in advance. The present invention relates to an image collation apparatus, an image collation method, and an image collation program that can efficiently collate an input image and a template image to improve a collation rate.

  2. Description of the Related Art Conventionally, there has been known an image collating apparatus that collates an input image obtained by photographing a deposited money with a CCD (Charge Coupled Device) camera or the like and a template image registered in advance and determines the authenticity of the money. .

  For example, in Patent Document 1, a correlation value is calculated by comparing an input image of coins with a template image of coins, and the correlation value exceeds a threshold in a portion of the entire image to be compared that exceeds a predetermined area. In such a case, an image matching technique for determining a coin related to an input image as a genuine coin is disclosed.

JP 2003-187289 A

  However, when this conventional technique is used, image matching is performed using only the correlation value exceeding the threshold value. For example, image misalignment at the time of matching between the input image and the template image, generation of noise due to image conversion, etc. Thus, if the correlation value is a relatively low value, the input coin is determined to be a forged coin even though it is a genuine coin, and it is difficult to improve the verification rate of image verification. There was a problem that there was.

  This problem is not only a problem that occurs only in coin image verification, but also in image verification of medals used in amusement facilities, and image verification of circular parts and circular products in FA (Factory Automation). It is a problem that occurs.

  The present invention has been made in view of the above problems (problems), and improves an image matching accuracy of a circular object such as a coin and improves a matching rate of image matching, an image matching method, and An object is to provide an image collation program.

In order to solve the above-described problems and achieve the object, the present invention collates images by comparing image features between an input image of a collation target object and a plurality of template images registered in advance. A polar coordinate conversion image generating means for generating a ρ-θ input image and a ρ-θ template image, wherein the input image and the template image are subjected to polar coordinate conversion, and rotational deviation between both images is corrected; A correlation value image is generated from the ρ-θ input image and the ρ-θ template image, and the correlation value image is separated into a positive correlation value image and a negative correlation value image depending on whether the pixel value is equal to or greater than a threshold value. Correlation value image separating means and a template image for separating the ρ-θ template image into a positive template image and a negative template image depending on whether the pixel value is equal to or greater than a threshold value Separating means, positive / negative separated correlation image generating means for generating a plurality of positive / negative separated correlation images by combining the positive correlation value image and the negative correlation value image and the positive template image and the negative template image, and the positive / negative separated correlation And a collation determining unit that performs collation determination using an image.

Further, according to the present invention, the positive / negative separated correlation image generating means includes a positive feature region image having a pixel value as a value obtained by calculating a product of each of the positive correlation value image and the positive template image, and the negative correlation value. A negative feature region image having a pixel value as a value obtained by calculating a product for each pixel of the image and the positive template image is generated.

Further, according to the present invention, the positive / negative separated correlation image generation unit includes a positive background region image having a pixel value as a value obtained by calculating a product of each pixel of the positive correlation value image and the negative template image, and the negative correlation value. A negative background region image having a pixel value as a value obtained by calculating a product for each pixel of the image and the negative template image is generated.

Further, according to the present invention, the positive / negative separated correlation image generating means includes a positive feature region image having a pixel value as a value obtained by calculating a product of each of the positive correlation value image and the positive template image, and the negative correlation value. A pixel value is a value obtained by calculating a product for each pixel of the negative feature region image having a pixel value as a value obtained by calculating a product for each pixel of the image and the positive template image, and the positive correlation value image and the negative template image. And a negative background region image having a pixel value as a value obtained by calculating a product of each pixel of the negative correlation value image and the negative template image.

Further, according to the present invention, the positive / negative separated correlation image generating means includes a target pixel in a negative region image generated using the negative correlation value image and a positive region image generated using the positive correlation value image. If the pixel value of at least one of the surrounding pixels is larger than the pixel value of the target pixel in comparison with the surrounding pixels of the corresponding pixel corresponding to the target pixel, the target pixel is moved to the corresponding pixel The expansion process is performed.

Further, the present invention is characterized in that the ρ-θ input image and the ρ-θ template image are edge images that have been image-converted by edge extraction processing using an edge extraction operator.

Further, the present invention is characterized in that the edge image is a normalized edge image obtained by normalizing the edge strength of the extracted edge.

Further, the present invention is characterized in that the template image is an average image obtained by averaging images for each individual of the verification object.

In the invention, it is preferable that the correlation value image is an image having a normalized correlation value obtained by normalizing a correlation value for each pixel of the ρ-θ input image and the ρ-θ template as a pixel value. To do.

Further, according to the present invention, the collation determination unit divides the positive / negative separated correlation image into blocks, calculates a sum of pixel values in each block as a block value, and calculates a product of the block value and a weight coefficient The collation determination is performed by calculating a collation value by adding the positive and negative separated correlation images.

Further, the present invention is characterized in that the collation determining means calculates the value of the weighting coefficient by linear discriminant analysis.

Further, the present invention is characterized in that the polar coordinate conversion image generation means corrects the rotational deviation of both images by translating the ρ-θ input image or the ρ-θ template image.

In the present invention, the circular object is a coin.

Further, the present invention provides an image collation method for collating an image by comparing image features between an input image of a collation target object and a plurality of template images registered in advance, and the input image and the template image From the polar coordinate conversion image generation step of generating the ρ-θ input image and the ρ-θ template image in which the rotational deviation of both images is corrected, and the ρ-θ input image and the ρ-θ template image. Generating a correlation value image, separating the correlation value image into a positive correlation value image and a negative correlation value image according to whether or not the pixel value is equal to or greater than a threshold value; and the ρ-θ template image A template image separation step for separating a positive template image and a negative template image depending on whether a pixel value is equal to or greater than a threshold value, the positive correlation value image, and the A positive / negative separated correlation image generating step of generating a plurality of positive / negative separated correlation images by combining a correlation value image with the positive template image and the negative template image, and a matching determination step of performing a matching determination using the positive / negative separated correlation image; It is characterized by including.

Further, the present invention is a program for causing a computer to execute an image matching method for matching images by comparing image features between an input image of a matching object and a plurality of template images registered in advance. A polar coordinate conversion image generating step for generating a ρ-θ input image and a ρ-θ template image obtained by performing polar coordinate conversion on the input image and the template image and correcting a rotational shift between the two images; and the ρ-θ input image And a correlation value image separation step of generating a correlation value image from the ρ-θ template image, and separating the correlation value image into a positive correlation value image and a negative correlation value image depending on whether or not the pixel value is equal to or greater than a threshold value; , A template image component that separates the ρ-θ template image into a positive template image and a negative template image depending on whether the pixel value is equal to or greater than a threshold value. A positive and negative separated correlation image generating step for generating a plurality of positive and negative separated correlation images by combining the positive correlation value image and the negative correlation value image with the positive template image and the negative template image, and the positive and negative separated correlation image And a collation determination step of performing a collation determination using the computer.

According to the present invention, the input image and the template image are subjected to polar coordinate transformation, and then the ρ-θ input image and the ρ-θ template image in which the rotational deviation between the two images is corrected are generated, and the ρ-θ input image and the ρ-θ are generated. A correlation value image is generated from the template image, the correlation value image is separated into a positive correlation value image and a negative correlation value image depending on whether or not the pixel value is equal to or greater than a threshold value, and the ρ-θ template image has a pixel value as a threshold value It is separated into a positive template image and a negative template image depending on whether or not it is above, a plurality of positive and negative separated correlation images are generated by a combination of a positive correlation value image and a negative correlation value image and a positive template image and a negative template image, Since the collation judgment is performed using the positive / negative separated correlation image, not only the portion where the correlation between the input image and the template image is high, but also the portion where the correlation is low Achieved even with use, not only the characteristic portion of the template image, by performing image matching using also the background portion, the effect that it is possible to perform high image matching accuracy.

Further, according to the present invention, for each pixel of the positive feature region image having a pixel value as a value obtained by calculating the product of each of the positive correlation value image and the positive template image, and the negative correlation value image and the positive template image. Since it is configured to generate a negative feature region image whose pixel value is a value obtained by calculating the product, a region image in which a feature should appear and a region image in which a feature should not appear By performing image collation using and, there is an effect that image collation with high accuracy can be performed.

Further, according to the present invention, a positive background region image having a value obtained by calculating a product of each pixel of the positive correlation value image and the negative template image as a pixel value, and each pixel of the negative correlation value image and the negative template image. Since it is configured to generate a negative background area image with the pixel value as the product-calculated value, it uses an area image with a background in the part where the background should be and an area image without a background in the part where the background should be By performing image collation, there is an effect that image collation with high accuracy can be performed.

Further, according to the present invention, for each pixel of the positive feature region image having a pixel value as a value obtained by calculating the product of each of the positive correlation value image and the positive template image, and the negative correlation value image and the positive template image. A negative feature region image whose pixel value is a value obtained by calculating a product, a positive background region image whose pixel value is a product of each pixel of a positive correlation value image and a negative template image, and a negative correlation value image Since it is configured to generate a negative background region image having a pixel value as a value obtained by calculating the product for each pixel with the negative template image, the region image in which the feature should appear and the feature should appear a region image that does not appear characterized in part, a region image having a background portion should have a background, by performing image matching by using the partial no background region image should have a background, accuracy not high It is performed images matching There is an effect that that.

According to the present invention, the target pixel in the negative region image generated using the negative correlation value image and the corresponding pixel corresponding to the target pixel in the positive region image generated using the positive correlation value image In contrast, when the pixel value of at least one surrounding pixel is larger than the pixel value of the target pixel, an expansion process is performed to move the target pixel to the corresponding pixel. , by eliminating the influence of the isolated point accompanied by the correlation value calculation, an effect that it is possible to perform high Ige image matching accuracy.

In addition, according to the present invention, the ρ-θ input image and the ρ-θ template image are configured to be edge images that have been image-converted by edge extraction processing using an edge extraction operator. by comparing the characteristic portion, there is an effect that it is possible to perform high Ige image matching accuracy.

In addition, according to the present invention, the edge image is configured to be a normalized edge image obtained by normalizing the edge strength of the extracted edge. an effect that can be performed Ige image matching.

In addition, according to the present invention, the template image is configured to be an average image obtained by averaging the images of the individual objects to be collated, so even if there is a unique pattern on the individual objects to be collated. an effect that it is possible to perform high Ige image matching accuracy.

Further, according to the present invention, the correlation value image is configured to be an image having the normalized correlation value obtained by normalizing the correlation value for each pixel of the ρ-θ input image and the ρ-θ template image as the pixel value. , by suppressing the variation of the correlation values, an effect that it is possible to perform high Ige image matching accuracy.

Further, according to the present invention, the collation determining unit divides the positive / negative separated correlation image into blocks, calculates the sum of the pixel values in each block as a block value, and calculates the product of the block value and the weight coefficient for all positive / negative values. Since the collation value is calculated by adding the separated correlation images and the collation judgment is performed, the weight of the region where the feature is likely to appear and the weight of the region where the feature is difficult to appear can be adjusted, and the calculation procedure can be simplified. As a result, efficient image matching can be performed.

Further, according to the present invention, the collation decision means, since it is configured to calculate the value of the weighting coefficient by a linear discriminant analysis, it is possible to obtain a proper weighting factor based on the learning samples, accuracy not high an effect that it is possible to perform the images match.

In addition, according to the present invention, the polar coordinate conversion image generation means is configured to correct the rotational deviation of both images by translating the ρ-θ input image or the ρ-θ template image. There is an effect that it is possible to reduce the amount of calculation and perform highly efficient image matching.

Further, according to the present invention exhibits since circular object was configured to be a coin relates collation of money, the effect that it is possible to perform high Ige image matching accuracy.

In addition, according to the present invention, the input image and the template image are subjected to polar coordinate conversion, and then the ρ-θ input image and the ρ-θ template image in which the rotational deviation of both images is corrected are generated, and the ρ-θ input image and ρ A correlation value image is generated from the -θ template image, the correlation value image is separated into a positive correlation value image and a negative correlation value image depending on whether or not the pixel value is equal to or greater than a threshold value, and the ρ-θ template image is converted into a pixel value Is separated into a positive template image and a negative template image depending on whether or not the threshold value is equal to or greater than a threshold, and a plurality of positive and negative separated correlation images are generated by combining the positive correlation value image and the negative correlation value image with the positive template image and the negative template image. In addition, since the collation determination is performed using the positive / negative separated correlation image, not only the portion where the correlation between the input image and the template image is high but also the portion where the correlation is low It achieved with using the correlation value, not only the characteristic portion of the template image, by performing image matching using also the background portion, the effect that it is possible to perform high image matching accuracy.

In addition, according to the present invention, the input image and the template image are subjected to polar coordinate conversion, and then the ρ-θ input image and the ρ-θ template image in which the rotational deviation of both images is corrected are generated, and the ρ-θ input image and ρ A correlation value image is generated from the -θ template image, the correlation value image is separated into a positive correlation value image and a negative correlation value image depending on whether or not the pixel value is equal to or greater than a threshold value, and the ρ-θ template image is converted into a pixel value Is separated into a positive template image and a negative template image depending on whether or not the threshold value is equal to or greater than a threshold, and a plurality of positive and negative separated correlation images are generated by combining the positive correlation value image and the negative correlation value image with the positive template image and the negative template image. In addition, since the collation determination is performed using the positive / negative separated correlation image, not only the portion where the correlation between the input image and the template image is high but also the portion where the correlation is low It achieved with using the correlation value, not only the characteristic portion of the template image, by performing image matching using also the background portion, the effect that it is possible to perform high image matching accuracy.

  Exemplary embodiments of an image collation apparatus, an image collation method, and an image collation program according to the present invention will be described below with reference to the accompanying drawings. In the following, the case of image collation using coin images will be described.

  FIG. 1 is a functional block diagram illustrating the configuration of the image collating apparatus according to the present embodiment. As shown in the figure, the image collating apparatus 1 includes an image input unit 10, an image cutout unit 20, an edge extraction unit 30, a matching processing unit 40, a registered image storage unit 50, and a positive / negative separation correlation determination. The matching processing unit 40 includes a polar coordinate conversion unit 40a, a rotation angle detection unit 40b, and a front / back determination unit 40c. The positive / negative separation correlation determination unit 100 includes a normalized correlation. A value calculation unit 110, a positive / negative separated correlation image generation unit 120, an expansion processing unit 130, and a collation value calculation unit 140 are provided.

  The image input unit 10 is an input unit for taking an input image of a coin to be collated into the apparatus, and outputs the input image to the image cutout unit 20. Specifically, the image input unit 10 handles the input image as an aggregate of a predetermined number of pixels. For example, the input image is recognized as a grayscale image having a density value of 256 gradations, and is output to the image cutout unit as a rectangular image having a predetermined size.

  The image cutout unit 20 acquires the rectangular image from the image input unit 10, cuts out only the image in the square area circumscribing the coin image, and outputs the cutout image to the edge extraction unit 30.

  FIG. 2 is an explanatory diagram for explaining the processing outline of the image cutout unit 20. As shown in the figure, the image cutout unit 20 scans the input image 11 acquired from the image input unit 10 in the horizontal direction, accumulates the density values of all pixels, and generates a horizontal projection 21. Further, the input image 11 is scanned in the vertical direction, and the vertical projection 22 is generated in the same procedure. Then, the image cutout unit 20 scans the horizontal direction projection 21 and the vertical direction projection 22 and calculates the rising coordinates and the falling coordinates of the accumulated density values. Then, as indicated by the four broken lines in the figure, the region surrounded by the calculated coordinates is cut out as a cutout image 23, and this cutout image 23 is output to the edge extraction unit 30.

  Returning to the description of FIG. 1, the edge extraction unit 30 will be described. The edge extraction unit 30 acquires the cutout image 23 from the image cutout unit 20, and in order to avoid the influence based on individual differences such as the brightness and hue of the cutout image 23, the edge extraction unit 30 changes the density (edge strength) of the cutout image 23. ) Is calculated. Also, in order to suppress variation in the calculated edge strength, the edge strength is normalized. Specifically, edge strength is calculated by performing edge extraction processing using the Sobel operator on the cut image 23, and the calculation result is normalized. In the present embodiment, the Sobel operator is used, but edge extraction can also be performed using the Roberts operator or the like.

FIG. 3 is an explanatory diagram for explaining the Sobel operator. As shown in the figure, the edge extraction unit 30 calculates the edge strength using two Sobel operators, that is, a horizontal edge calculation 30a and a vertical edge calculation 30b. Specifically, the Sobel operators (30a and 30b) are scanned for all the pixels of the cutout image 23, and the horizontal edge calculation result Gx and the vertical edge calculation result Gy are acquired. Then, after calculating the edge strength (G) in each pixel, the edge strength is normalized (E).

  As shown in Equation (1), the edge strength (G) in each pixel is expressed as the sum of the absolute value of the horizontal edge calculation result Gx and the absolute value of the vertical edge calculation result Gy. Further, as shown in Expression (2), the normalized edge strength (E) in each pixel is the product of a constant c and an edge strength (G) for which a predetermined value is set for each type of coin, Divided by the sum of the edge strengths (G).

  In this way, by normalizing the edge strength, it is possible to suppress the occurrence of edge strength variation between a new coin that is easy to produce an edge and a current currency that is difficult to produce an edge. Regardless of old or new, various coins can be verified with high accuracy.

  FIG. 4 is an explanatory diagram for explaining the outline of the edge extraction processing (image conversion processing) performed by the edge extraction unit 30. As shown in the figure, the cutout image 23 is converted into an edge extracted image 31 by an edge strength calculation process using a Sobel operator. Then, the edge extracted image 31 is converted into an edge normalized image 32 by edge strength normalization processing using Expression (1) and Expression (2). The edge extraction unit 30 outputs the edge normalized image 32 to the matching processing unit 40.

  Each pixel value of the edge extraction image 31 shown in the figure takes a value of 0 to 255, for example, 0 corresponds to black, and 255 takes a gray scale value corresponding to white. In the edge extracted image 31 of FIG. 3, the white part is the extracted edge part, and the black part is the background part. Further, each pixel value of the edge normalized image 32 takes a value of 0 to 255, for example, 0 corresponds to black, and 255 takes a gray scale value corresponding to white. Note that, in the edge normalized image shown in the figure, the white portion corresponds to the edge portion, and the black portion corresponds to the background in the same manner as the edge extracted image 31.

  Returning to the description of FIG. 1, the matching processing unit 40 will be described. The matching processing unit 40 acquires the edge normalized image 32 from the edge extracting unit 30, and acquires the edge normalized and polar coordinate converted template image from the registered image storage unit 50. Then, the edge normalization image 32 is subjected to polar coordinate conversion, and a deviation angle between the polar coordinate-converted image and the template image is detected by parallel movement of the template image, and the front / back determination is performed. The deviation angle corrected template image is output to the positive / negative separation correlation determination unit 100. In this embodiment, the case where the shift angle is detected by translating the template image will be described. However, the shift angle is detected by translating an image obtained by converting the edge normalized image 32 into polar coordinates. Also good.

を用いる。 The polar coordinate conversion unit 40a is a processing unit that converts the edge normalized image 32 into polar coordinates. Specifically, the center point of the edge normalized image 32 is calculated, and this center point is set as the origin of polar coordinates. Then, each pixel is specified by the rotation angle θ and the distance ρ from the center point, and the polar coordinate conversion is performed by moving each pixel to the ρ-θ space. For such conversion,

Is used.

  FIG. 5 is an explanatory diagram for explaining the processing outline of such polar coordinate conversion. When the center point of the xy space (edge normalized image 32) is the origin and the coordinates of each pixel are represented by (x, y), the x and y and the above-described ρ and θ are expressed by the following equation (3). And the relationship shown in Formula (4). Therefore, by converting each pixel (x, y) in the edge normalized image 32 into (ρ, θ) that satisfies the relationship of the equations (3) and (4), the polar coordinate conversion unit 40a has been subjected to the polar coordinate conversion. An edge normalized image 33 is generated.

  In the figure, the distance ρ from the center point takes a value of 10 to 100, and the rotation angle θ takes a value of 0 to 255, but the range of these values is arbitrary. Can be set.

  Returning to the description of FIG. 1, the rotation angle detector 40b will be described. The rotation angle detection unit 40b detects a deviation angle between the polar coordinate-converted edge normalized image 33 and a template image that has been previously subjected to polar coordinate conversion by the same polar coordinate conversion processing, and performs a process of correcting the deviation angle between the two images. . FIG. 6 is an explanatory diagram for explaining the processing outline of the rotation angle detection unit 40b.

により算出する。 As shown in the figure, the template image 51 is moved in parallel with the θ coordinate axis in the ρ-θ space. Then, the shift angle (φ) in the θ coordinate direction and the matching degree M (φ) between the template image 51 and the edge normalized image 32 at each shifting angle (φ) are calculated, and the matching degree M (φ) is the maximum. The rotation angle φ _max is obtained. The coincidence degree M (φ) is

Calculated by

  As shown in Expression (5), the degree of coincidence M (φ) at each shift angle (φ) is the density value t (k, θ−) of each pixel of the template image 51 when the template image 51 is shifted by φ. φ) and the density value s (k, θ) of each pixel of the edge normalized image 32 are summed over each pixel. Here, k is a selection value for selecting a distance at which a feature is likely to appear among the distances ρ from the center point in the edge normalized image 32. For example, such k is selected by extracting 16 values of ρ that are prone to feature out of ρ (0 to 100) in the polar coordinate-converted edge normalized image 33 shown in FIG.

The value of M (φ) is a mountain graph having a maximum value at a certain rotation angle as shown in FIG. The rotation angle detection unit 40b acquires a value of φ _max at which M (φ) is maximized (an apex portion of a mountain shape). As described above, the rotation angle detection unit 40b corrects the shift angle by the parallel movement of the ρ-θ image subjected to the polar coordinate conversion. Therefore, the calculation amount is reduced as compared with the method of correcting the shift angle by the rotation of the xy image. can do.

により求められる。なお、式（６）中のＮは、判定対象となる画素数を示す。 Returning to the description of FIG. 1, the front / back determination unit 40c will be described. First, the front / back determination unit 40c determines the maximum value M (φ of the degree of coincidence M (φ) described above between the polar template-transformed front and back template images and the polar coordinate-converted edge normalized image 33. _max ) and a normalized correlation coefficient R is obtained from M (φ _max ). Specifically, this normalized correlation coefficient R is

It is calculated by. Note that N in Expression (6) indicates the number of pixels to be determined.

Then, the front / back determination unit 40 c selects a template image having a larger normalized correlation coefficient R, and outputs the template image to the positive / negative separation correlation determination unit 100 together with the polar coordinate-converted edge normalized image 33. For example, the normalized correlation coefficient R between the back template image and the polar coordinate transformed edge normalized image 33 is larger than the normalized correlation coefficient R between the front template image and the polar coordinate transformed edge normalized image 33. In this case, the back template image and the polar coordinate-converted edge normalized image 33 are output to the positive / negative separation correlation determination unit 100. Here, the template image output to the positive / negative separation correlation determination unit 100 is a template image obtained by translating the angle φ _max and correcting the deviation angle from the polar coordinate-converted edge normalized image 33.

  Returning to the description of FIG. 1, the registered image storage unit 50 will be described. The registered image storage unit 50 stores a plurality of template images corresponding to various coins registered in advance, and provides the template processing unit 40 with these template images. For such a template image, an average image obtained by combining a plurality of images of the same type of coins is used in order to suppress variations due to individual differences in coins. By using such an average image, the correlation value between the uneven pattern portion unique to each coin, such as the year of manufacture, and the corresponding portion of the template image becomes a correlation value for the average image (average value), so the effect at the time of collation Is less likely to occur. That is, although it is a genuine coin, it can be prevented that it is determined to be a forged coin due to a different manufacturing year.

  Such a template image is registered in the registered image storage unit 50 after being subjected to polar coordinate conversion processing and edge normalization processing in the same manner as the input image in order to collate with an input image subjected to polar coordinate conversion processing and edge normalization processing. Is done. In the registered image storage unit 50, a plurality of front and back template images of each denomination are registered.

  Returning to the description of FIG. 1, the positive / negative separation correlation determination unit 100 will be described. The positive / negative separation correlation determining unit 100 receives from the matching processing unit 40 the polar coordinate-converted edge normalized image 33 (hereinafter referred to as “input image 33”) and the shift angle corrected template image 51 (hereinafter referred to as “template” shown in FIG. The image 51 "is acquired), and these images are collated to determine whether or not the coin related to the input image 33 is a genuine coin, and the determination result is output.

により各画素の正規化相関値ｒ（ｋ，θ）を算出する。なお、式（７）に示す各画素における正規化相関値ｒ（ｋ，θ）は、たとえば、−１．０〜＋１．０の値をとる。また、式（７）中のｎは、画素数を示す。 The normalized correlation value calculation unit 110 calculates a correlation value for each corresponding pixel of the input image 33 and the template image 51, normalizes the correlation value, and generates a normalized correlation value image. Specifically, for each pixel whose coordinate value is (k, θ), the density value s (k, θ) of the input image 33 and the density value t (k, θ−φ _max ) of the template image 51 with the shift angle corrected. )Using,

To calculate the normalized correlation value r (k, θ) of each pixel. Note that the normalized correlation value r (k, θ) in each pixel shown in Expression (7) takes a value of −1.0 to +1.0, for example. Moreover, n in Formula (7) shows the number of pixels.

Then, the normalized correlation value calculation unit 110 determines whether the normalized normalized correlation value image (r + image) and the negative normalized correlation value image (r−) depending on whether the pixel value of the normalized correlation value image is 0 or more. Image). The template image 51 is separated into a positive template image (t + image) and a negative template image (t−image) depending on whether each pixel value is equal to or greater than a predetermined threshold value (T _t ).

  The pixel value of the r + image takes a value of 0.0 to 1.0, for example, and the pixel value of the r− image takes an absolute value of each pixel value, for example, 0.0 to 1. Takes a value of zero. Further, the pixel values of the t + image and the t− image take a binary value of 0 or 1, for example. In other words, the t + image and the t− image serve as image masks used for image conversion of each normalized correlation value image.

  Here, the meaning of each image will be described. The r + image indicates a pixel having a correlation (similarity) between images to be collated, and if there is a strong correlation, the pixel takes a large value. Further, the r-image indicates that there is no correlation (not similar) between the images to be collated, and if there is a strong negative correlation, the pixel takes a large value. The t + image indicates the edge portion of the template image, and the edge portion has a value of 1 and the background portion has a value of 0. Further, the t-image indicates a background portion (a portion that is not an edge) of the template image, and the background portion has a value of 1 and the edge portion has a value of 0.

  The positive / negative separated correlation image generation unit 120 generates a positive / negative separated correlation image by a combination of the r + image, the r− image, the t + image, and the t− image generated by the normalized correlation value calculation unit 110. Specifically, an A + area image is obtained from the r + image and the t + image, an A- area image is obtained from the r− image and the t + image, a B + area image is obtained from the r + image and the t− image, and the r− image and the t− image. A B-region image is generated from each image.

  Here, the meaning of each area image will be described. FIG. 7 is an explanatory diagram for explaining the four areas. As shown in the figure, the A + region image is a region image obtained by superimposing the r + image and the t + image, and is correlated with the edge portion, that is, the edge is appearing where the edge should appear. And corresponds to the positive feature region image in the claims. The A-region image is a region image in which the r-image and the t + image are overlapped, and indicates that there is no correlation with the edge portion, that is, no edge appears where the edge should appear. Corresponds to the negative feature region image in FIG. The B + region image is a region image obtained by superimposing the r + image and the t− image, and indicates that there is a correlation with the background portion, that is, no edge appears where the edge should not appear. Corresponds to the positive background area image in the range. The B-region image is a region image obtained by superimposing the r-image and the t-image, and indicates that there is no correlation with the background portion, that is, no edge appears where the edge should not appear. Corresponds to a negative background region image in the range of.

  Returning to the description of FIG. 1, the expansion processing unit 130 will be described. The dilation processing unit 130 moves the pixels of the A− region image to the A + region image and moves the pixels of the B− region image to the B + region image using a predetermined image mask. The reason why such expansion processing is performed is that an isolated point having a negative correlation value in the form of noise appears in the normalized correlation value. In other words, by performing such expansion processing, it is possible to suppress the influence of such isolated points from affecting the collation value determination result.

式（８）により、照合値（Ｚ）を求める。ここで、係数ａ_ij、ｂ_ij、ｃ_ijおよびｄ_ijは学習サンプルを用いて線形判別分析により最適解を求める。なお、各領域画像のブロック値であるＡ⁺ _ij、Ａ^- _ij、Ｂ⁺ _ijおよびＢ^- _ijは、各ブロック内の画素値の総和を示す。 The verification value calculation unit 140 divides each of the A + region image, the A− region image, the B + region image, and the B− region image into, for example, a total of 64 blocks of 16 in the horizontal direction and 4 in the vertical direction.

The collation value (Z) is obtained from equation (8). Here, the coefficients a _ij , b _ij , c _ij, and d _ij obtain an optimal solution by linear discriminant analysis using a learning sample. The block values A ⁺ _ij , A ^- _ij , B ⁺ _ij and B ^- _ij of each area image indicate the sum of the pixel values in each block.

  And the collation value calculation part 140 will determine that the coin which concerns on the input image 33 is a genuine coin if this collation value (Z) is more than a threshold value, and will determine that it is a forged coin if it is smaller than a threshold value. , Output the verification result.

  Hereinafter, the process of the positive / negative separation correlation determination unit 100 illustrated in FIG. 1 will be described more specifically. First, the normalized correlation value positive / negative separation process performed by the normalized correlation value calculation unit 110 will be described with reference to FIGS. 8 and 11. FIG. 8 is a flowchart of the normalized correlation value positive / negative separation process, and FIG. 11 is an explanatory diagram for explaining an image generation procedure in the positive / negative separation correlation determination unit 100.

  As shown in FIG. 11, the normalized correlation value calculation unit 110 first generates a normalized correlation value image 111 from the input image 33 and the template image 51. Then, normalization correlation value positive / negative separation processing is performed using the generated normalized correlation value image 111 as an input, and the normalized correlation value image 111 is converted into an r + image 111a that is a positive correlation value image and a negative correlation value image. Into the r-image 111b.

  As shown in FIG. 8, in the normalized correlation value positive / negative separation process, first, the process moves to the start point pixel of the normalized correlation value image 111 (step S501). Such a start pixel is, for example, a pixel with k = 0 and θ = 0. Then, the normalized correlation value r (k, θ) of the pixel is calculated using the equation (4) (step S502). If the calculated r (k, θ) is 0 or more (Yes in step S503), Such a pixel value is set as a pixel value at the same coordinates of the r + image 111a (step S504). On the other hand, if the calculated r (k, θ) is smaller than 0 (No in step S503), the absolute value of the pixel value of the pixel is set as the pixel value of the same coordinate of the r-image 111b (step S505).

  If the positive / negative separation process has not yet been completed for all the pixels of the normalized correlation value image 111 (No at Step S506), the process moves to the next target pixel (Step S507), and the processes after Step S502 are performed. repeat. On the other hand, when the positive / negative separation process has been completed for all the pixels (Yes in step S506), the process ends. By such normalized correlation value positive / negative separation processing, the r + image 111a and the r− image 111b are generated as images having pixels having pixel values of 0.0 to 1.0. In the present embodiment, the pixel value of the pixel of the r-image 111b is described as a pixel value of 0.0 to 1.0, but the pixel value is −1.0 to 0.0. It is good also as taking the value of.

  Next, template image positive / negative separation processing performed by the normalized correlation value calculation unit 110 will be described with reference to FIGS. 9 and 11. FIG. 9 is a flowchart of the template image positive / negative separation process. As shown in FIG. 11, in the template image positive / negative separation process, the template image 51 is separated into a t + image 51a that is a positive template image and a t− image 51b that is a negative template image.

As shown in FIG. 9, in the template image positive / negative separation process, first, the template image 51 is moved to the start point pixel (step S601). Such a start pixel is, for example, a pixel with k = 0 and θ = 0. If the density value of the pixel is equal to or greater than a predetermined threshold value (T _t ) (Yes at step S602), the pixel value at the same coordinate of the t + image 51a is set to 1 (step S603). On the other hand, if the density value is smaller than the predetermined threshold value (T _t ) (No at step S602), the pixel value at the same coordinate of the t-image 51b is set to 1 (step S604).

  If the positive / negative separation process has not yet been completed for all the pixels of the template image 51 (No at Step S605), the process moves to the next pixel of interest (Step S606), and the processes after Step S602 are repeated. On the other hand, when the positive / negative separation process has been completed for all the pixels (Yes in step S605), the process ends. By this template image positive / negative separation processing, the t + image 51a is generated as a binary image with an edge portion of 1 and a background portion of 0, and the t-image 51b is a binary image with an edge portion of 0 and a background portion of 1. Generated.

  Next, positive / negative separated correlation image generation processing performed by the positive / negative separated correlation image generation unit 120 will be described with reference to FIGS. 10 and 11. FIG. 10 is a flowchart of the positive / negative separated correlation image generation process.

  As shown in FIG. 11, in the positive / negative separated correlation image generation process, the r + image 111a, the r− image 111b, the t + image 51a, and the t− image 51b generated by the normalized correlation value calculation unit 110 are used as input images. Thus, the A + region image 121, the A− region image 122, the B + region image 123, and the B− region image 124 are generated.

  For example, when the r + image 111a and the t + image 51a are used as input images, as shown in FIG. 10, first, the image is moved to the start point pixel of each image (step S701). If the pixel value of the t + image 51a at this pixel is 1 (Yes at step S702), the pixel value of the A + region image 121 is set as the pixel value of the r + image 111a (step S703). On the other hand, when the pixel value of the t + image 51a in such a pixel is not 1 (that is, 0) (No in step S702), the pixel value of the A + region image 121 is set to 0 (step S704).

  If the region image generation processing has not been completed for all the pixels (No at Step S705), the process moves to the next pixel of interest (Step S706), and the processing from Step S702 is repeated. On the other hand, when the region image generation processing has been completed for all the pixels (Yes in step S705), the A + region image 121 is generated, and thus the processing ends.

  Similarly, an A-region image 122 from the r-image 111b and the t + image 51a, a B + region image 123 from the r + image 111a and the t-image 51b, and a B-region image 124 from the r-image 111b and the t-image 51b. , Generate each.

  Next, the expansion process performed by the expansion processing unit 130 will be described with reference to FIGS. 12 is an explanatory diagram for explaining an image mask used in the expansion process, FIG. 13 is a flowchart of the expansion process, and FIG. 14 is an explanatory diagram for explaining an image generated by the expansion process. It is.

  In such dilation processing, noise-like isolated points (pixels) included in the negative region images (A− region image 122 and B− region image 124) are converted into positive region images (A + region image 121 and B + region image 123). ) To move to. By performing such processing, the accuracy of the collation value can be increased.

  As shown in FIG. 12, in the expansion process, two image masks of a positive area image mask 130a and a negative area image mask 130b are used. Each image mask has P5 and M5 and eight regions surrounding these regions. For example, when the expansion process from the A− region image 122 to the A + region image 121 is performed, M5 of the negative region image mask 130b is matched with the target pixel of the A− region image 122, and P5 of the positive region image mask 130a is focused. Fit to the pixel corresponding to the pixel. Then, the expansion process is performed by sequentially comparing the pixel value of M5 and the pixel values of P1 to P9.

  Next, the procedure of the expansion process will be described with reference to FIG. 13, taking as an example the case where the expansion process from the A-region image 122 to the A + region image 121 is performed. First, it moves to the start point pixel of each image (121 and 122) (step S801). Such a start pixel is, for example, a pixel with k = 0 and θ = 0. Then, 1 is set to n in order to sequentially switch the nine regions (P1 to P9) of the primary region mask 130a (step S802). That is, when step S802 is completed, the target area of the normal area image mask 130a is P1.

  Then, the value of Pn is compared with the value of M5, and if the value of P1 is larger than the value of M5 (Yes at Step S803), the value of P5 is replaced with M5 and the value of M5 is set to 0 (Step S803). S805). That is, the pixel M5 is moved to the pixel P5. On the other hand, when the value of Pn is less than or equal to the value of M5 (No at Step S803), 1 is added to the value of n (Step S804), and when the value of n is 9 or less (No at Step S806). Step 803 is performed again.

  As described above, if any one of the values P1 to P9 is larger than the value M5, the pixel M5 is moved to P5. On the other hand, if any of the values of P1 to P9 is equal to or less than the value of M5 (Yes at step S806), the pixel is not moved.

  If the process has not been completed for all the pixels of the A-region image 122 (No at Step S807), the process moves to the next target pixel (Step S808), and the processes after Step S802 are performed. On the other hand, when the process is completed for all the pixels of the A-region image 122 (Yes in step S807), the expansion process is terminated.

  As shown in FIG. 14, the A + region image 121, the A− region image 122, the B + region image 123, and the B− region image 124 are converted into the expanded A + region image 131 and the expanded A− region by the expansion process, respectively. The image is converted into an image 132, an expanded B + region image 133, and an expanded B− region image 134. Since the isolated point on the A− region image 122 moves to the A + region image 121, the edge portion of the expanded A + region image 131 has an area larger than that of the A + region image 121. On the other hand, the area of the edge portion of the expanded A-region image 132 is smaller than that of the A-region image 122.

  Next, the collation value calculation process performed by the collation value calculation unit 140 will be described with reference to FIG. FIG. 15 is an explanatory diagram for explaining an example in which the expanded A + region image 131 is divided into blocks with respect to block division of the expanded region image (131 to 134). As shown in the figure, the collation value calculation processing unit 140 first divides the expanded A + region image 131 into a total of 64 blocks of 16 in the horizontal direction and 4 in the vertical direction. Similarly, the block division is performed on the expanded A-region image 132, the expanded B + region image 133, and the expanded B-region image 134.

And the collation value calculation part 140 calculates a collation value (Z) using Formula (8). Here, for each coefficient a _ij , b _ij , c _ij, and d _ij in equation (8), an optimal solution is obtained by linear discriminant analysis or the like using a learning sample. Specifically, because of the difference in the design of the concavo-convex pattern of coins, there are coins that are likely to have an edge and coins that are difficult to come out, so these coefficients take different values for each type of coin. By optimizing these coefficients with learning samples, accurate image matching can be performed.

Then, the matching value calculation unit 140 calculates a matching value (Z) using the coefficients a _ij , b _ij , c _ij, and d _ij for which the optimum value is set, and each image block, and the matching value is calculated. If it is equal to or greater than the threshold value, it is determined to be a genuine coin, and if it is smaller than the threshold value, it is determined to be a forged coin. In the present embodiment, the case where each image is divided into 64 blocks has been described, but the number of blocks may be any number.

If the coefficients c _ij and d _ij are set to 0 in equation (8), the collation value (Z) can be calculated from only the A + area image block and the A− area image block. If the coefficients a _ij and b _ij are set to 0, the collation value (Z) can be calculated from only the B + region image block and the B− region image block.

  As described above, the matching value calculation unit 140 can perform image matching efficiently by adjusting the number of image blocks and the values of the coefficients of the equation (8) according to the type of coin and the capability of the hardware. it can.

  Note that the collation value calculation unit 140 according to the present embodiment is configured to calculate each collation value (Z) according to the equation (8) after dividing each region image into blocks. Other methods such as a neural network, a support vector machine, and a secondary discriminant function may be used.

  Hereinafter, the case where the expansion process is performed before the normalized correlation value image 111 is separated into positive and negative will be described with reference to FIGS. 16 to 18. FIG. 16 is an explanatory diagram for explaining an image generation procedure by such expansion processing, FIG. 17 is an explanatory diagram for explaining an image mask used for such expansion processing, and FIG. 18 is a flowchart of such expansion processing. It is.

  In the expansion processing described above, the pixels are moved from the negative region image (for example, the A−region image 122) to the positive region image (for example, the A + region image 121) after the generation of each region image (121 to 124). It was. However, such expansion processing can be performed using the normalized correlation value image 111 before positive / negative separation and the template image 51 before positive / negative separation.

  As shown in FIG. 16, the normalized correlation value calculation unit 110 first generates a normalized correlation value image 111 from the input image 33 and the template image 51. In the expansion process, the generated normalized correlation value image 111 is input to perform the expansion process, and an expanded normalized correlation value image 135 is generated. The expanded normalized correlation value image 135 is separated into an expanded r + image 135a and an expanded r− image 135b. Then, the expanded r + image 135a, the expanded r− image 135b, the t + image 51a, and the t− image 51b are input, and the processing of the positive / negative separated correlation value image generation unit 120 is performed, and the expanded A + region image 131, An expanded A-region image 132, an expanded B + region image 133, and an expanded B-region image 134 are output.

  As shown in FIG. 17, in such expansion processing, two image masks, an input image mask 130c and a template image mask 130d, are used. Each image mask has S5 and T5 and eight regions surrounding these regions. For example, when the dilation processing is performed using the template image 51 and the normalized correlation value image 111, S5 of the input image mask 130c is matched with the target pixel of the normalized correlation value image, and T5 of the template image mask 130d is focused. Fit to the pixel corresponding to the pixel. Then, the pixel values in the areas S1 to S9 and T1 to T9 are referred to and compared to perform expansion processing.

  The procedure of the expansion process will be described with reference to FIG. First, it moves to the start point pixel of each image (111 and 51) (step S901). Such a start pixel is, for example, a pixel with k = 0 and θ = 0. When the value of S5 is negative, that is, when the normalized correlation value of the corresponding pixel is negative (No at step S902), the nine regions (S1 to S9) of the input image mask 130c and the template image mask 130d In order to sequentially switch the nine regions (T1 to T9), 1 is set to n (step S903).

When the value of Tn is larger than the threshold value (T _t ) (Yes at Step S904), it is determined whether or not the value of Sn is 0 or more (Step S905), and the value of Sn is 0 or more. If (Yes at step S905), the value of Sn is compared with the absolute value of S5 (step S906). If the value of Sn is larger than the absolute value of S5 (Yes at Step S906), the value of Sn is replaced with the absolute value of S5 (Step S907).

That is, in Sn around S5, a region (Sn) where the value of Tn is larger than the threshold value (T _t ), the value of Sn is 0 or more, and the value of Sn is larger than the absolute value of S5 Is present, it is determined that the pixel of S5 is an isolated point, and the absolute value of the value of S5 is taken to invert the value of S5. If the expansion process has not been completed for all the pixels of the normalized correlation value image 111 (No at Step S910), the process moves to the target pixel (Step S911), and the processes after Step S902 are repeated. On the other hand, when the expansion process is completed for all the pixels (Yes at step S910), the expansion process is ended.

On the other hand, whether the value of Tn is less than or equal to the threshold value (T _t ) (No at Step S904), whether the value of Sn is negative (No at Step S905), or the value of Sn is less than the absolute value of S5 (No at Step S906) ), 1 is added to n (step S908), and if n is 9 or less (No in step S909), the processing from step S904 is repeated. On the other hand, if n is larger than 9 (Yes at step S909), the process of step S910 is performed.

  Thus, even if it is a case where an expansion process is performed before positive / negative separation of the normalized correlation value image 111, the expanded area | region image (131-134) is acquirable. In such a case, since the normalized correlation value image 111 before positive / negative separation is used, the number of images to be subjected to the expansion process can be reduced as compared with the expansion process after the generation of the region images (121 to 124). As a result, a more efficient expansion process can be performed.

  As described above, in the image matching apparatus, the image matching method, and the image matching program according to the present embodiment, the polar coordinate conversion input image subjected to the feature extraction by performing the edge extraction process and the edge normalization process, and the edge normalization in advance Compared with the processed polar coordinate conversion template image, correct the deviation angle of both images to generate a normalized correlation value image, and the normalized correlation value image and the template image, the pixel value in each image Depending on whether or not it is greater than or equal to the threshold value, a positive normalized correlation value image and a negative normalized correlation value image are separated into a positive template image and a negative template image. Generating a region image, a negative feature region image, a positive background region image, and a negative background region image; Perform dilation processing to move the pixels to the image and move the pixels from the negative background area image to the positive feature area image, and divide these dilated area images into blocks and match them by linear discriminant analysis Since all the pixels of the input image and the template image are to be collated, while eliminating the influence of isolated points associated with the correlation value calculation, not only the feature region but also the background region Since the correlation value can be reflected in the collation value in a well-balanced manner, the image collation with high accuracy can be performed and the collation rate can be improved.

  In the present embodiment, the case where the image collation is performed on the input image of the coin has been described, but the present invention is not limited to this, for example, the image collation of medals used in amusement facilities, The present invention can also be applied to image collation of circular parts and circular products in FA (Factory Automation). Further, the object to be collated need not necessarily be circular, and the present invention can also be applied to coins and parts having a point-symmetric shape such as a regular octagon or a regular dodecagon.

  The image matching apparatus, the image matching method, and the image matching program according to the present invention are useful for image matching of articles, and are particularly suitable for matching circular objects such as coins.

It is a functional block diagram which shows the structure of the image collation apparatus which concerns on this Embodiment. It is explanatory drawing for demonstrating the process outline | summary of the image cropping part shown in FIG. It is explanatory drawing for demonstrating the Sobel operator used in the edge extraction part shown in FIG. It is explanatory drawing for demonstrating the process outline | summary of the edge extraction part shown in FIG. It is explanatory drawing for demonstrating the process outline | summary of the polar coordinate transformation which concerns on this Embodiment. It is explanatory drawing for demonstrating the process outline | summary of the rotation angle detection part shown in FIG. It is explanatory drawing for demonstrating each area | region image which concerns on this Embodiment. It is a flowchart of the normalization correlation value image positive / negative separation process which concerns on this Embodiment. It is a flowchart of the template image positive / negative separation process which concerns on this Embodiment. It is a flowchart which shows the process sequence of the positive / negative separated correlation image generation part which concerns on this Embodiment. It is explanatory drawing for demonstrating the image generation procedure corresponding to each area | region shown in FIG. It is explanatory drawing for demonstrating the image mask used in the expansion process part which concerns on this Embodiment. It is a flowchart which shows the process sequence of the expansion | swelling process part which concerns on this Embodiment. It is explanatory drawing for demonstrating the image produced | generated by the expansion process part which concerns on this Embodiment. It is explanatory drawing for demonstrating the block division of the image used in the collation value calculation part which concerns on this Embodiment. It is explanatory drawing for demonstrating the example of a change of the expansion process which concerns on this Embodiment. It is explanatory drawing for demonstrating the image mask used in the example of a change shown in FIG. It is a flowchart which shows the process sequence of the expansion | swelling process part in the example of a change shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Image collation apparatus 10 Image input part 11 Input image 20 Image extraction part 21 Horizontal direction projection 22 Vertical direction projection 23 Cutout image 30 Edge extraction part 30a Sobel operator (for horizontal edge calculation)
30b Sobel operator (for vertical edge calculation)
31 Edge extraction image 32 Edge normalized image 33 Polar coordinate transformed edge normalized image 40 Matching processing unit 40a Polar coordinate transformation unit 40b Rotation angle detection unit 40c Front / back determination unit 50 Registered image storage unit 51 Template image 51a t + image 51b t-image 100 Positive / negative separation correlation determination unit 110 Normalized correlation value calculation unit 111 Normalized correlation value image 111a r + image 111b r− image 120 Positive / negative separation correlation image generation unit 121 A + region image 122 A− region image 123 B + region image 124 B− region image 130 Expansion processing unit 130a Positive area image mask 130b Negative area image mask 130c Input image mask 130d Template image mask 131 Inflated A + area image 132 Inflated A-area image 133 Inflated B + area image 134 Inflated B-area image 13 Expansion already normalized correlation value image 135a expands already r + image 135b expansion already r- image 140 matching value calculator

Claims (10)

An image matching device for matching images by comparing image features between an input image of a circular object and a plurality of template images registered in advance,
Polar coordinate conversion image generation means for generating a ρ-θ input image and a ρ-θ template image in which the rotational deviation of both images is corrected after the input image and the template image are converted into polar coordinates,
A correlation value image having a correlation value between corresponding pixels of the ρ-θ input image and the ρ-θ template image as a pixel value is generated, and depending on whether the pixel value of the correlation value image is greater than or equal to a threshold value A correlation value image separating means for separating the correlation value image into a positive correlation value image and a negative correlation value image;
Template image separation means for separating the ρ-θ template image into a positive template image and a negative template image depending on whether or not the pixel value of the ρ-θ template image is equal to or greater than a threshold value ;
For a combination of either the positive correlation value image or the negative correlation value image and either the positive template image or the negative template image, a positive / negative separation correlation image having a product of pixel values of corresponding pixels as a pixel value A positive / negative separated correlation image generating means for generating each combination ;
Collation determination means for performing a collation determination based on a collation value calculated by applying a parameter learned in advance to a pixel value of each positive / negative separation correlation image generated by the positive / negative separation correlation image generation means . An image collating apparatus characterized by that.   The positive / negative separated correlation image generating means includes a positive feature region image having a value obtained by calculating a product for each pixel of the positive correlation value image and the positive template image, the negative correlation value image, and the positive template image. The image collating apparatus according to claim 1, further comprising: generating a negative feature region image having a pixel value as a value obtained by calculating a product for each pixel.   The positive / negative separated correlation image generation means includes a positive background region image whose pixel value is a value obtained by calculating a product of each of the positive correlation value image and the negative template image, the negative correlation value image, and the negative template image. The image collating apparatus according to claim 1, further comprising: generating a negative background region image having a pixel value as a value obtained by calculating a product for each pixel.   The positive / negative separated correlation image generating means includes a positive feature region image having a value obtained by calculating a product for each pixel of the positive correlation value image and the positive template image, the negative correlation value image, and the positive template image. A negative feature region image having a pixel value as a value obtained by calculating a product for each pixel, and a positive background region image having a pixel value as a value obtained by calculating a product for each pixel of the positive correlation value image and the negative template image 2. The image collating apparatus according to claim 1, further comprising: generating a negative background region image having a pixel value as a value obtained by calculating a product of each of the negative correlation value image and the negative template image for each pixel.   The positive / negative separated correlation image generation means corresponds to a target pixel in a negative region image generated using the negative correlation value image and the target pixel in a positive region image generated using the positive correlation value image. When the pixel value of at least one of the surrounding pixels is larger than the pixel value of the target pixel in comparison with the surrounding pixels of the corresponding pixel, the dilation processing is performed to move the target pixel to the corresponding pixel. The image collating apparatus according to claim 2, 3, or 4. The collation determining unit divides the positive / negative separated correlation image into blocks, calculates a sum of pixel values in each block as a block value, and adds the product of the block value and the weight coefficient for all the positive / negative separated correlation images. image collating apparatus according to any one of claims 1 to 5, characterized in that for matching determination by calculating a verification value by. The verification determining unit, an image collating apparatus according to any one of claims 1, characterized in that to calculate the value of the weighting coefficient by a linear discriminant analysis 6. Said polar coordinate transform image generation means, by translating the [rho-theta input image or the [rho-theta template image, any one of claims 1 to 7, characterized in that to correct the rotational deviation of the two images The image collation device described in one. Between the input image and the previously registered plurality of template images of the circular object, an image matching method for matching image by comparing features of images,
A polar coordinate conversion image generation step of generating a ρ-θ input image and a ρ-θ template image in which the rotational deviation of both images is corrected after the input image and the template image are converted into polar coordinates;
A correlation value image having a correlation value between corresponding pixels of the ρ-θ input image and the ρ-θ template image as a pixel value is generated, and depending on whether the pixel value of the correlation value image is greater than or equal to a threshold value A correlation value image separating step for separating the correlation value image into a positive correlation value image and a negative correlation value image;
A template image separation step of separating the ρ-θ template image into a positive template image and a negative template image depending on whether a pixel value of the ρ-θ template image is equal to or greater than a threshold value ;
For a combination of either the positive correlation value image or the negative correlation value image and either the positive template image or the negative template image, a positive / negative separation correlation image having a product of pixel values of corresponding pixels as a pixel value A positive / negative separated correlation image generation step for each combination , and
A collation determination step for performing collation determination based on a collation value calculated by applying a parameter learned in advance to the pixel value of each positive / negative separation correlation image generated by the positive / negative separation correlation image generation step . An image matching method characterized by the above. An image matching program for matching images by comparing image features between an input image of a circular object and a plurality of pre-registered template images,
Polar coordinate conversion image generation procedure for generating a ρ-θ input image and a ρ-θ template image, in which the input image and the template image are subjected to polar coordinate conversion, and rotational deviation of both images is corrected,
A correlation value image having a correlation value between corresponding pixels of the ρ-θ input image and the ρ-θ template image as a pixel value is generated, and depending on whether the pixel value of the correlation value image is greater than or equal to a threshold value A correlation value image separation procedure for separating the correlation value image into a positive correlation value image and a negative correlation value image;
A template image separation procedure for separating the ρ-θ template image into a positive template image and a negative template image depending on whether a pixel value of the ρ-θ template image is equal to or greater than a threshold value ;
For a combination of either the positive correlation value image or the negative correlation value image and either the positive template image or the negative template image, a positive / negative separation correlation image having a product of pixel values of corresponding pixels as a pixel value A positive / negative separated correlation image generation procedure to be generated for each combination ;
A collation determination procedure for performing collation determination based on a collation value calculated by applying a parameter learned in advance to a pixel value of each positive / negative separated correlation image generated by the positive / negative separated correlation image generation procedure. An image collation program characterized by being executed.

Images