JPH0792401B2 - Color image extraction device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for extracting an image of a designated color from a video signal picked up by a color image pickup device.

[0002]

2. Description of the Related Art A color recognition device for extracting an image of a specified color from a video signal picked up by a color television camera includes one that separates the video signal into a color difference signal and a lightness signal (Japanese Patent Laid-Open No. 62-269024). Issue). In other words, this device uses color difference signals (RY, B
-Y) and a luminance signal (corresponding to lightness) are separated, and a binary signal of the designated hue is output under the condition that all of them are within the respective setting ranges. In addition, JP-A-62-26902
In the color recognition device disclosed in Japanese Patent Publication No. 5, the range of components (hue, saturation, lightness) necessary for extracting the designated color is set in the comparator, and the hue and color are calculated from the NTSC signal captured by the color television camera. And the brightness are separated, and a binary signal for determining that the hue of the designated color is obtained is output from the comparator under the condition that all of them are within the respective setting ranges.

Further, in the color identification apparatus disclosed in Japanese Patent Laid-Open No. 2-74832, an RGB signal from a color sensor is converted into components of hue, saturation, lightness, hue angle and hue length by using a microcomputer. , The color order is determined by comparing the reference color with each component of the reference color stored in the table. Here, the color tone angle and the color tone length correspond to the angle and the length of the color tone vector on the color tone plane composed of the lightness and the saturation, and are useful for determining the color tone.

[0004]

Problems to be Solved by the Invention In a factory automation line or the like, fluctuations in light amount occur due to uneven lighting, vertical fluctuations, angular fluctuations, and the like. When the amount of light varies, the color recognition device described above, the hue is relatively stable against changes in the amount of light, but since the saturation and lightness are greatly affected, for the same hue (for example, dark red and pale red) Can not be extracted stably. Further, since the color identification device described above processes only one color, software processing using a microcomputer does not cause a time problem. However, use in a device for extracting a color image from a video signal is impossible because it requires a huge amount of data to be processed at high speed.

Further, the conventional reference color registration includes a volume method and an image memory method. In the volume method, a reference color range is set individually for each component required for extraction by a volume or the like, but a reference color range for appropriate extraction is obtained by trial and error while visually checking the image to be extracted. However, in this method, for example, in the case of the present embodiment, it is necessary to individually set six types of setting ranges such as the color tone angle range by the setter, and the work is very complicated. In addition, it is necessary to be familiar with each component necessary for extraction, and training is required. Further, in the image memory system, the reference color image is taken into the image memory or the like and the reference color range is calculated by the microprocessor or the like. However, this method requires an image memory for storing a huge amount of data and a reference color range calculation microprocessor only for the reference color setting function. Moreover, it takes a long time to perform the arithmetic processing.

A first object of the present invention is to provide a color image extracting device which can stably extract a designated color from a color image. A second object of the present invention is to provide a color image extracting device that can easily register a designated color.

[0007]

A first color image extracting apparatus according to the present invention is an apparatus for extracting an image of a designated reference color from a video signal picked up by a color image pickup apparatus, wherein Degree, hue, hue angle (= tan ^-1 (lightness /
Saturation)) and tone length (= (brightness ² + saturation ² ) ^1/2 ) out of 5 components, which is divided into at least 3 components including both hue and hue angle, and outputs them as digital values A circuit and a digital output of the conversion circuit are connected to address terminals, and the ranges of the at least three components of the reference color are registered in advance as data corresponding to the output value of the conversion circuit for each component. The range storage circuit provided for each of the above-mentioned at least three components, and the output data of the range storage circuit for each of the above-described components are reference colors when it is determined that the output data is within the range. And a determination circuit that outputs a binary signal indicating Thus, by comparing the output values of the at least three components with preset ranges in each range storage circuit,
Extract the image of the specified standard color. As a color system for expressing lightness and the like, a color space composed of a chromaticity plane and a lightness axis, for example, an L ^* a ^* b ^* color system can be used. A second color image extracting device according to the present invention is a device for extracting an image of a reference color from a video signal picked up by a color imaging device, decomposing the video signal into components necessary for extraction, and outputting the digital value as a digital value. The conversion circuit and the digital output of the conversion circuit are connected to the address line, and the range of the necessary component for the designated reference color can be written for each component corresponding to the output value of the conversion circuit. It is determined that the output data of the range storage circuit, the fixed input circuit that fixes the data line of the storage circuit to an arbitrary value, and any component necessary for the extraction are within the range. When the reference color is registered, the determination unit that outputs a binary signal indicating the reference color is connected to the fixed input circuit when the reference color is registered, and the extraction determination unit is connected to the extraction determination unit when the extraction determination is performed. Connecting The input value from the fixed input circuit is written to the range storage circuit when the reference color is registered, and the reference color is extracted by the determination unit from the output value from the range storage circuit at the time of extraction determination. It is characterized by being done.

[0008]

In the first color image extracting apparatus according to the present invention, in order to stably extract the image of the designated reference color from the video signal picked up by the color image pickup apparatus, the brightness of the video signal picked up by the color image pickup apparatus is Saturation, hue, hue angle = tan ^-1 (lightness / saturation), hue length = (lightness ² + saturation ² ) ^1/2
At least three components including both hue and hue angle are separated, and a reference color is extracted from these separated 3 to 5 components. In order to process a large amount of data at high speed, a memory in which the output of the conversion circuit is connected to the address line and the operation result corresponding to each component is written in advance is used for the operation of the 3 to 5 components, Each component is separated in real time with only one memory access time. Further, in order to extract the separated 3 to 5 components, the digital output of the separated components is connected to the address terminal of the range storage circuit, and the range of the at least three components for the reference color is the range storage circuit. Is registered in advance for each component. In the second color image extracting device according to the present invention, the reference color to be extracted is
The same processing as at the time of extraction is performed, and the reference color range is registered. Specifically, the switching circuit is switched to the registration side, the video signal of the reference color is decomposed into the components necessary for extraction, and the output of the conversion circuit that outputs this as a digital value is used as a writable range storage circuit with the address as the address. , Give certain fixed data. Then, the reference color range is filled with the fixed data and can be registered as the reference color. Further, at the time of color extraction, the filled range storage circuit can be directly used as a lookup table for extraction.

[0009]

Embodiments of the present invention will be described below with reference to the accompanying drawings. In the present invention, the color tone angle and the color tone length are used for color extraction. That is, the lightness, saturation, and hue are obtained from the video signal, and the tone angle (= tan ^-1 (lightness / saturation)) and the tone length (= (lightness ² + saturation ² ) ^1/2 ) are obtained. . Then, among the five components, at least three components including both the hue and the hue angle are separated, and the separated components are compared with respective reference color tables (ranges) preset in the memory. An image within the reference color range set for the component is extracted and a binary signal is output.

First, it will be explained that color extraction can be easily performed by using the color tone angle and the color tone length. FIG. 1 shows an example of the distribution of the lightness L and the saturation C of the relatively light color a and the relatively dark color b when the light amount changes. a color and b
The colors are represented by black circles and black triangles, respectively. As shown in FIG. 2, when conventional color identification based on lightness and saturation is performed,
The ranges of a color and b color overlap, and the two cannot be separated at the overlapping portion. On the other hand, FIG. 3 shows a case of discrimination by the color tone angle T and the color tone length TR according to the present invention, and it can be seen that the a color and the b color can be separated.

Table 1 shows an example of behaviors of hue, brightness, saturation, and tone angle when the amount of light changes by 1/2.

[Table 1]

In this example, the hue H of a color and b color is 1
The difference is only °, and it is difficult to distinguish by hue. Further, the lightness index L ^* and the saturation C cannot be distinguished because the change range of the a color and the change range of the b color when the light amount changes overlap. However, there is little change in the color tone angle T, and both colors can be separated. Therefore, with this method, a larger number of colors can be discriminated than in the past.

FIG. 4 shows an apparatus of the present invention for extracting color by separating three components of hue, hue angle and hue length from a video signal. The video signal from the color imaging device (101) is RG
The B conversion circuit (102) converts the signals into three color signals of R, G, B, and the R, G, B signals are respectively converted into R, G, B AD converters (103), (104). ), (105), it is converted into a digital value. When the signal from the color imaging device (101) is an RGB signal, the means (102) for decomposing the video signal into an RGB signal is not necessary. AD converter
Digital outputs (for example, 8 bits) of (103), (104) and (105) are respectively provided in the hue memory (106),
It is connected to the address lines of the color tone angle memory (107) and the color tone length memory (108). Here, the hue memory (106)
Is a memory that stores hue values corresponding to all combinations of R, G, and B, and the color tone angle memory (107) stores R, G, and
It is a memory that stores the values of the tone angle T corresponding to all the combinations of B, and the tone length memory (108) is a memory that stores the values of the tone length TR corresponding to all the combinations of R, G, and B. is there. Therefore, the contents in the hue memory (106) at the address indicated by the outputs (24 bits in total) of the AD converters (103), (104) and (105) are transferred via the data line to the hue extraction unit (109). Is output to. Here, the output contents are the hue values corresponding to the R, G, B values at this time. At the same time, the AD converters (103), (104) and
Color tone angle memory at the address indicated by the output of (105)
(107) and the contents (color tone angle, tone length) in the tone length memory (108) are passed through the data line, and the tone angle extraction unit (110)
Is similarly output to the tone length extraction unit (111). here,
The output contents are the values of the color tone angle T and the color tone length TR corresponding to the R, G, and B values at this time, respectively.

Hue extraction section (109), hue angle extraction section (11)
0) and the tone length extraction unit (111),
It outputs whether the color tone angle and color tone length are within the range corresponding to the reference color. If both outputs are within the standard color range, AND
The gate (112) outputs a binary signal, and this signal is sent to the color image pickup device (10) in the video signal synthesis unit (113).
The horizontal synchronizing signal HS from 1) and the camera synchronizing signal are combined and output. In the above operation, the time required for signal processing is simply 1 time for the memories (109) to (111).
Only the access time is one time, and the color extraction from the video signal can be processed in real time. In one example, the processing time using this circuit was 250 nsec or less / one pixel, but the processing time using the device of Japanese Patent Laid-Open No. 2-74832 by the present inventors was 25 msec or more / one pixel. Yes,
A processing speed improvement of 10 ⁵ times or more has been realized.

In this device, in order to stably extract the image of the designated color from the video signal picked up by the color image pickup device,
As components used for color extraction, three components of hue, hue angle and hue length were used. A color can be designated by three components in a space consisting of hue and hue plane, but besides hue, the hue angle is important for color discrimination as described above. Further, when distinguishing colors, it is possible to perform more rigorous judgment by using more components. Therefore, in general, from a video signal captured by a color image pickup device, lightness, saturation, hue, hue angle = tan ⁻¹ (lightness / saturation), hue length = (lightness ² + saturation ² )
Of 5 components of ^1/2 , at least 3 components including both hue and hue angle are separated, and these separated 3 to 5 components are separated.
The color of the component may be extracted.

FIG. 5 is a block diagram showing an example of the color image extracting apparatus of the present invention based on the principle shown in FIG. In this device, high-speed processing is realized by pipeline processing.
In this device, the video signals R, G, B are stimulus values X, Y,
It is converted into Z and further converted into the L ^* a ^* b ^* color system.
The conversion from the stimulus values X, Y, Z to the L ^* a ^* b ^* color system is expressed by the following equation. Here, L ^* is a lightness index in the L ^* a ^* b ^* color system, and a ^* and b ^* are chromaticity indexes in the L ^* a ^* b ^* color system. L ^* = 116 · (Y / 100) ¹ / 3−16 a ^* = 500 · {(X / 98.1) ¹ / 3− (Y / 100) ^1/3 } b ^* = 200 · {(Y / 100) ¹ / 3- (Z / 118.
2) ^1/3 } In addition, in the L ^* a ^* b ^* color system, the lightness, the saturation, and the hue are expressed as follows (see Table 2). Lightness L: L ^* Saturation C: C = (a ^{* 2} + b ^{* 2} ) ^1/2 Hue H: H = tan ⁻¹ (b ^* / a ^* ) (a ^* >
0; b ^* > 0) H = tan ⁻¹ (b ^* / a ^* ) + 360 ° (a ^* >0; b ^* <
0) H = tan ⁻¹ (b ^* / a ^* ) + 180 ° (a ^* <0) Further, the hue angle T and the hue length TR are represented by the saturation C and the brightness L.
Is defined as follows in the color tone plane where is the vertical axis. Color tone angle T: T = tan ⁻¹ (L ^* / C) Color tone length TR: TR = (L ^{* 2} + C ² ) ^1/2

[0017]

[Table 2]

Incidentally, the hue and hue angle, which are extremely effective for a color having a certain degree or more of saturation, become very unstable on the contrary when the saturation is extremely low. On the other hand, since L ^* , a ^* , and b ^* are absolute values, they have almost constant stability regardless of the magnitude of saturation. Therefore, when the saturation C is lower than the threshold value, the discrimination using the hue and the hue angle is not effective, so the color extraction is performed using the parameters L ^* , a ^* , and b ^* . The threshold value may be set based on the saturation value, which is more problematic than the influence of the light amount variation or the like due to the influence of the minute variation due to the noise or the deviation between the pixels.

In this color image extracting device, the camera (1)
The video signal output from is composed of three colors R, G, B,
The R, G, B video signals are RGB-XYZ stimulus value conversion circuits.
In (2), the stimulus values are converted into X, Y and Z. The stimulus values X, Y, and Z are converted into digital values by the A / D converters (3) to (5), respectively. This digital value is stored in memory
It is input to the address terminals (6) to (8).

In the L ^* value calculation memory (6), A /
The Y value from the D converter (3) is converted into a lightness index (L ^* value) by the YL ^* conversion table. a ^* Value calculation memory
In (7), the Y value from the A / D converters (3) and (4),
X value is Y, X → a ^* conversion table
^* Converted to a value. Further, in the b ^* value calculation memory (38), the Y and Z values from the A / D converters (3) and (5) are
It is converted into the b ^* value of the chromaticity index by the Y, Z → b ^* conversion table. The output values L ^* , a ^* , b ^* are input to the address terminals of the memories (9) to (15) as shown in the figure. Saturation C
In the operation memory (9), a ^* and b ^* from the memories (7) and (8) are converted into a ^* , b ^* → C conversion table (C = (a ^{* 2} + b
^{* 2} ) Converted to saturation C by ^1/2 ). Similarly, in the hue H calculation memory (10), a ^* and b ^* from the memories (7) and (8) are converted into a ^* , b ^* → H conversion table (H = tan).
^-1 (b ^* / a ^* ) (when a ^* >0; b ^* > 0), H = tan
^-1 (b ^* / a ^* ) + 360 ° (a ^* >0; when b ^* <0), H
= Tan ⁻¹ (b ^* / a ^* ) + 180 ° (when a ^* <0)) is converted to the hue H. The output values C and H are input to the address terminals of the memories (11), (12) and (18) as shown in the figure, and the output value C is the saturation magnitude comparison circuit (19).
Entered in. In the color length TR calculation memory (11), the lightness L ^* from the memory (6) and the saturation C from the memory (9) are L ^* , C → TR conversion table (TR = (L ^{* 2} + C ² )
^1/2 ) is converted to the tone length TR. Similarly, in the color tone angle T calculation memory (12), the lightness L ^* from the memory (6) and the saturation C from the memory (9) are L ^* , C → T conversion table (T = tan ⁻¹ (L ^* / C)) to convert to the tone angle T. The output values TR and T are stored in the memory (1
Input to the address terminals of 6) and (17)

The saturation magnitude comparison circuit (19) compares whether the saturation C from the memory (9) exceeds an arbitrary threshold value, and the determination circuit (20) determines the saturation in accordance with the determination result. When the degree C is larger than the threshold value, color extraction is performed with the hue H, the hue angle T, the hue length TR or the hue H, the hue angle T, and the lightness L ^* . However, if the saturation C does not exceed the threshold value, L
Color extraction is performed with ^* , a ^* , and b ^* . That is, the determination circuit (2
0), when the saturation C is larger than an arbitrary set value, L ^* , a ^* , b ^* extraction memories (13), (14), (15)
Is prohibited, and when the saturation C is smaller than an arbitrary set value, reading from the memories (16), (17), and (18) for hue length, hue angle, and hue extraction is prohibited. . The threshold value of the saturation C may be fixed or may be changed according to the lightness L ^* or the color tone length TR.

The L ^* value extraction memory (13) compares the L ^* value from the memory (6) with the comparison table and outputs whether or not it is within the reference color range. a ^* Value extraction memory (14)
The a ^* value from (7) is compared with the comparison table to output whether or not it is within the reference color range. The b ^* value extraction memory (15) is
Compare the b ^* value from the memory (8) with the comparison table,
Outputs whether it is within the standard color range. The color tone length TR value extraction memory (16) compares the TR value from the memory (11) with the comparison table and outputs whether or not it is within the reference color range. The color tone angle T value extraction memory (17) compares the T value from the memory (12) with a comparison table and outputs whether or not it is within the reference color range. The hue H value extraction memory (18) compares the hue (H value) from the memory (10) with a comparison table and outputs whether or not it is within the reference color range. The determination circuit (20) is for H, T, TR
AND circuit which inputs the judgment result for each and L
Input the judgment result for each of ^* , a ^* , and b ^* A
A binary output of one AND circuit is selected according to an input value from the saturation magnitude comparison circuit (19).

The area determination circuit (21) integrates the binary signals output from the determination circuit (20) by the counter and compares the integrated value (area) with a predetermined value (threshold value) by a comparator. If the area is equal to or larger than a predetermined value, it is determined that it is a foreign matter, and an area over signal is output. Monitor TV (22) is a judgment circuit
Display the extracted binary image from (20).

6 and 7 show the flow of extraction processing in the color image extracting apparatus shown in FIG. This extraction process is a seven-stage pipeline process, and the processes of each stage operate in parallel. In the first stage, RGB → XYZ conversion is performed. That is, the R, G, B signals of the camera (1) are converted into X, Y, Z values by the RGB-XYZ stimulus value conversion circuit (2) which is an analog circuit for performing the following matrix calculation.

[Equation 1] Here, the coefficients a to i are approximate coefficients and are obtained in advance according to the spectral characteristics of the camera (1) to be used.

In the second stage, A / D conversion of X, Y and Z values is performed. That is, the X, Y and Z values from the RGB-XYZ stimulus value conversion circuit (2) are respectively converted into A / D converter (3) and
It is converted to a digital value by (4) and (5).

At the third stage, L ^* , a ^* , and b ^* are calculated. That is, the digital output of the Y value A / D converter (3) in the preceding stage is connected to the address signal line of the L ^* operation memory (6), and the brightness L ^* corresponding to the Y A / D converted value is L ^*. The value is output from the data line of the L ^* operation memory (6). Similarly, the digital outputs of both the Y and X A / D converters (3) and (4) are respectively connected to the upper address line and the lower address line of the a ^* value calculation memory (7), A of Y, X
The a ^* value corresponding to the D conversion value is output from the data line of the a ^* value calculation memory (7). Similarly, the digital outputs of both Y and Z A / D converters (3) and (5) are connected to the upper address line and the lower address line of the b ^* value calculation memory (38), respectively. B ^* value corresponding to the A / D converted value of is b ^*
It is output from the data line of the value calculation memory (8).

In the fourth step, saturation and hue are calculated. That is, the outputs of the a ^* value calculation memory (7) and the b ^* value calculation memory (8) in the previous stage are connected to the upper address line and the lower address line of the saturation calculation memory (9), respectively. , A
^The saturation value C corresponding to the ^* and b ^* values is output from the data line of the saturation calculation memory (9). Similarly, the outputs of the a ^* value calculation memory (7) and the b * value calculation memory (8) in the previous stage are connected to the upper address line and the lower address line of the hue calculation memory (10), respectively. , A ^* , b ^* values corresponding to the hue value H are output from the data line of the hue calculation memory (10).

In the fifth step, color tone length and color tone angle are calculated. The output of the brightness calculation memory (6) and the output of the saturation calculation memory (9) in the preceding stage are respectively the tone length calculation memory (11).
Connected to the upper and lower address lines of
The tone length value TR corresponding to the L ^* value and the saturation value is output from the data line of the tone length calculation memory (11). Similarly, L ^* output of the brightness calculation memory (6) in the previous stage, saturation calculation memory
The outputs of (9) are respectively connected to the upper address line and the lower address line of the memory (12) for color tone calculation,
^The tone angle value T corresponding to the ^* value and the saturation value is output from the data line of the tone angle calculation memory (12).

In the sixth step, each calculated value is compared with the reference data range. The outputs of L ^* , a ^* , b ^* , saturation, hue, hue length, and hue angle in the previous stage are respectively output to the L ^* value extraction memory (1
3), a ^* value extraction memory (14), b ^* value extraction memory (1
5), color tone length extraction memory (16), color tone angle extraction memory (1
7) It is connected to the address line of the hue extraction memory (18), and if it is within the reference color range preset in these memories, each memory outputs a signal indicating that it is within the range.

In the seventh step, image extraction judgment is performed. In the determination circuit (20), when the saturation value C in the preceding stage is larger than the set value, a binary signal is output if the hue value, the hue angle value, and the hue length value are all within the reference color range. When the saturation value C in the preceding stage is smaller than the set value, a binary signal is output if the L ^* value, a ^* value, and b ^* value are all within the reference color range. When a binary signal is output, the area count circuit (21) increments the area count by 1, and when the area becomes larger than the set value, an area over signal is output. The area count is initialized for each screen. The output binary signal is
It is displayed on the monitor TV (22) as a binary image. Each output from the third stage to the sixth stage is pipelined because it is held by a latch (not shown for the sake of simplicity) for timing. The capture interval and the output interval of the result are only one access time to the memory, and the video signal can be processed in real time.

In the embodiments described above, the L ^* a ^* b ^* color system is used as the color system.
Other color systems expressed in a color space composed of a chromaticity plane and a lightness axis, such as the L ^* u ^* v ^* color system and video color difference signals, may be used (see Table 2).

Next, registration of the extraction reference color in each memory will be described. In the device shown in FIG. 5, the extraction reference colors are set in the following order. (a) L ^* value extraction memory (13), a ^* value extraction memory (1
4), b ^* value extraction memory (15), tone length extraction memory (1
6), tone angle extraction memory (17), hue extraction memory (18)
Are all RAMs, and after initializing all the contents to "0", set the data lines of the extraction memories (13) to (19) to "1".
Fixed to level. (b) Next, with the camera (1) capturing the reference color, the circuit is operated in the same manner as during extraction. (c) As a result, the calculation results of L ^* , a ^* , b ^* , color tone length, color tone angle, and saturation of the reference color are input as address signals to the extraction memories (13) to (18). (d) Then, at the addresses in the extraction memories (13) to (18), each of which has the range of these six calculation results as an address,
The value ("1") given to the data line is written. As a result, the ranges of L ^* , a ^* , b ^* , color length, color angle, and saturation of the reference color are registered in each memory. By the operations of (a) to (d), the reference color can be easily registered only by designating the area of the reference color on the imaged screen.

As a concrete circuit, a switch and a reference color registration control section may be provided in the apparatus shown in FIG. 5 (see FIG. 6), but the description is omitted. Although not shown in FIG. 5, by designating a specific portion of the captured image, the extraction memories (13) to (1
Writing to 8) can be prohibited, and only the designated area of the image can be registered as the reference color.

The reference color registration described above is based on lightness, saturation, hue, hue angle (= tan ^-1 (lightness / saturation)), tone length (= (lightness ² + saturation ² ) ^1/2 ). Although the apparatus for performing color extraction for at least three components including both hue and hue angle has been described, the idea of reference color registration is generally that color image extraction does not use the hue angle. It can also be used in a device. FIG. 8 is a block diagram of an embodiment of a color image extracting device featuring the reference color registration function of the present invention. In this device, each color component Y, R-Y, B-from the NTSC composite video signal from the camera (201).
Determine Y (see Table 2). Also, this device, unlike the device described above, does not convert to hue, tonal angle, or tonal length. Instead, the reference color registration control unit (215) and the window generation unit (216) set the ranges of luminance Y, color difference signal RY, and color difference signal B-Y corresponding to the reference color range on the screen.

This apparatus performs the reference color registration operation as follows. RAM (209), (210), (2
11) is writable, RAM data line fixed data ("1") is given, and the value is R for each component of the reference color.
By connecting to the address line of AM, the area having the value of each component as an address is filled with fixed data, and the reference color range is registered. First, the reference color registration operation control circuit (21
5), the switch (206), (207), (208),
All of (212), (213) and (214) are connected to the lower side. The reference color registration operation control unit (215) controls the RAMs (209), (21) of the luminance Y, the color difference signal RY, and the color difference signal BY.
Clear all contents of 0) and (211) to "0". Further, the reference color registration operation control section (215) fixes the data line of each RAM to "1".

Next, the switches (206), (207), (2
08) is connected to the upper side, and the window generator (216) sets a range to be registered as a reference color on the image.
The NTSC composite video signal from the camera (201) is separated by the video color difference signal separation circuit (202) into luminance Y, color difference signal RY and color difference signal BY, and the separated signals are A / D converted. It is converted into a digital value by the devices (206), (207) and (208). This digital output is input as the addresses of the memories (209), (210), (211), and the write signal is output to each memory only for the data in the area designated as the reference color on the image by the window generation unit (216). To do. As a result, the reference colors Y and R-
The respective ranges of Y and BY are filled with "1" in the areas of the memories (209), (210) and (211) whose values are addresses. In this way, the registration work is completed. However, the data in which the reference color range is written in the memory can be corrected by a microprocessor or the like.

In this device, the operation at the time of color extraction is performed as follows. During extraction, the memory (209), memory (210), and memory (211) operate as an extraction lookup table. Memory (209), (210), (2
In the data of 11), the memory area whose address is the reference color range value is "1", and the others are "0". In addition, the switch (206), (207), (208),
(212), (213) and (214) are all connected to the upper side of the figure. First, the NTSC composite video signal from the camera (201) is separated into a luminance Y, a color difference signal RY, and a color difference signal BY by the video color difference signal separation circuit (202).
The separated signals are A / D converters (206), (207),
Each is converted into a digital value by (208). A memory whose address is the digital output obtained in this way
The data of (209), (210), and (211) are output from the data line of the memory. That is, "1" is output from the memory if it is within the reference color range, and "1" is output if it is outside the reference color range.
0 "is output. Memory (209), (210), (211)
Is connected to the AND circuit (217), and the outputs of the memories (209), (210) and (211) are all "
When it is 1 ″, the AND circuit (217) outputs a binary value as a reference color area. The binary output output from the AND circuit (217) is output from the video signal synthesizing circuit (218) as a video synchronization signal. Is output as a video signal, and the output of the AND circuit (217) is the area determination circuit (21).
When the area is added by 9) and exceeds the set threshold value,
An area over signal is output.

[0038]

Since the reference color is extracted by using at least three components including the hue and the hue angle, the reference color can be easily extracted and the extraction circuit can be configured by hardware.
Since a large amount of data can be processed at high speed, color extraction can be performed in a short time. When registering the reference color range, anyone can easily set the reference color simply by inputting the video data of the reference color. In addition, since the lookup table for extraction is used for setting the reference color, no special hardware is required outside the extraction circuit.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of a distribution of lightness L and saturation C of a relatively light color a and a relatively dark color b when the light amount changes.

FIG. 2 is a diagram showing conventional color identification based on lightness and saturation.

FIG. 3 is a diagram showing discrimination by a color tone angle T and a color tone length TR according to the present invention.

FIG. 4 is a diagram showing an apparatus of the present invention for performing color extraction by separating three components of hue, hue angle and hue length from a video signal.

FIG. 5 is a block diagram showing an embodiment of a color image extraction device of the present invention.

6 is a diagram showing a part of a flow of an extraction process in the color image extracting device shown in FIG.

7 is a diagram showing a part of a flow of an extraction process in the color image extracting device shown in FIG.

FIG. 8 is a block diagram of a color image extraction device having a reference color registration function.

[Explanation of symbols]

1: camera, 3-5: AD converter, 6-12:
Calculation memory, 13 to 18: Extraction memory, 19:
Saturation magnitude comparison circuit, 20: Judgment circuit, 101:
Color imaging device, 103: AD converter, 106-1
08: Operation memory, 109 to 111: Extraction memory, 112: AND circuit (determination unit), 212 to 2
14: Switch, 215: Reference color registration operation control unit.

Claims (7)

[Claims] 1. An apparatus for extracting an image of a designated reference color from a video signal picked up by a color image pickup apparatus, wherein the video signal is converted into lightness, saturation, hue, and hue angle (= tan).
^-1 (brightness / saturation)) and color tone length (= (brightness ² + saturation ² ) ^1/2 ) are decomposed into at least three components including both hue and hue angle and digitalized. A conversion circuit for outputting as a value, and a digital output of this conversion circuit is connected to an address terminal, and the range of the above-mentioned at least three components for the reference color is preliminarily data corresponding to the output value of the conversion circuit for each component. The range storage circuit provided for each of the at least three components registered as, and the output data of the range storage circuit for each of the components described above are determined to be within the range. ,
A color image extraction apparatus, comprising: a determination circuit that outputs a binary signal indicating that the color is a reference color. 2. The converting circuit digitizes each component of a video signal, and an output value of the digitizing circuit is connected to an address terminal, and at least three of the hue and the hue adjustment angle are included. For each ingredient,
The color image extracting apparatus according to claim 1, further comprising a conversion table storage circuit stored in advance corresponding to the output value. 3. Using the lightness index L ^* and the chromaticity indices a ^* and b ^* in the L ^* a ^* b ^* color system, as the lightness, saturation, hue, hue angle, and hue length of the above five components. Lightness: L ^* Saturation: C = (a ^{* 2} + b ^{* 2} ) ^1/2 Hue: H = tan ^-1 (b ^* / a ^* ) (a ^* >0; b ^* > 0) H = tan ^-1 (b ^* / a ^* ) + 360 ° (a ^* >0; b ^* <0) H = tan ⁻¹ (b ^* / a ^* ) + 180 ° (a ^* <0) Color adjustment angle: T = tan ⁻¹ (L ^* / C) color ^{length: TR = (L * 2 +} C 2) color image extracting apparatus according to claim 1, characterized by using a ^half. 4. A second conversion circuit for converting a video signal into a ^* , b ^* and digitizing the digital signal, and a digital output of the second conversion circuit is connected to an address terminal, and the a) is used for the reference color. The range of the ^* component and the b ^* component is, for each component, the second range storage circuit registered in advance corresponding to the output value of the second conversion circuit, and whether the saturation is smaller than the threshold value or not. And a saturation determination circuit for determining, when the saturation determination circuit determines that the saturation is smaller than a threshold value, the determination circuit determines that L ^* output from the range storage circuit and 2 a ^* output from the range storage circuit,
The color image extracting device according to claim 3, wherein the color extraction is performed using b ^* . 5. The video signal is an RGB analog signal, the conversion circuit converts the RGB analog signal into an XYZ value digital signal, and Y to L ^* ,
A ^* from X and Y, b ^* from Y and Z, H from a ^* and b ^* , a ^*
And a table storage circuit which stores conversion tables from b ^* to C, L ^* and C to T, and L ^* and C to TR, respectively. The conversion values stored by the AD conversion circuit are stored in the table storage circuit. 4. The color image extracting device according to claim 3, wherein the at least three components are obtained by using a conversion table. 6. A device for extracting an image of a reference color from a video signal picked up by a color imaging device, a conversion circuit for decomposing the video signal into components necessary for extraction and outputting as a digital value, and a digital circuit of this conversion circuit. The output is connected to the address line,
For the specified standard color, the range of the necessary components above is
For each component, a writable range storage circuit corresponding to the output value of the conversion circuit, a fixed input circuit that fixes the data line of the storage circuit to an arbitrary value, and any of the components necessary for the extraction Also, when it is determined that the output data of the range storage circuit is within the above range, a determination circuit that outputs a binary signal indicating that the color is a reference color; A line is connected to the fixed input circuit, and a switching circuit is connected to the judgment circuit at the time of extraction judgment.The input value from the fixed input circuit is written to the range storage circuit at the time of reference color registration, and at the time of extraction judgment, A color image extraction device, wherein a reference color is extracted in a determination circuit from an output value from the range storage circuit. 7. The color image extracting apparatus according to claim 6, further comprising a prohibition circuit for prohibiting writing in areas other than a designated image area in the range storage circuit.