Stereo calibration apparatus and stereo image monitoring apparatus using the same
First Claim
1. A stereo calibration apparatus for obtaining a transformation matrix, which is an image transformation parameter between a pair of image pickup devices for photographing a preset common area, the stereo calibration apparatus comprising:
- an image input device to which a pair of images is input from the one pair of image pickup devices;
a straight-line detector detecting at least four straight lines from each of images output from the image input device;
a straight-line correspondence detector detecting at least four sets of corresponding lines between the images by using an image feature in neighboring areas of the straight lines; and
a transformation matrix calculator calculating the transformation matrix by using the sets of corresponding lines.
1 Assignment
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Abstract
The stereo calibration apparatus includes an image input device inputting an image from each of two image pickup devices, a straight-line detector detecting at least four straight lines from each of two input images, a straight-line correspondence detector detecting at least four sets of corresponding lines by using an image feature in a neighboring area of the straight line, and a transformation matrix calculator calculating a transformation matrix between two image pickup devices from the sets of corresponding lines.
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Citations
17 Claims
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1. A stereo calibration apparatus for obtaining a transformation matrix, which is an image transformation parameter between a pair of image pickup devices for photographing a preset common area, the stereo calibration apparatus comprising:
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an image input device to which a pair of images is input from the one pair of image pickup devices;
a straight-line detector detecting at least four straight lines from each of images output from the image input device;
a straight-line correspondence detector detecting at least four sets of corresponding lines between the images by using an image feature in neighboring areas of the straight lines; and
a transformation matrix calculator calculating the transformation matrix by using the sets of corresponding lines. - View Dependent Claims (2, 3, 4)
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5. A stereo calibration method for obtaining a transformation matrix, which is an image transformation parameter between a pair of image pickup devices for photographing a preset common area, the method comprising:
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inputting a pair of images from the image pickup devices;
detecting at least four straight lines from each of input images;
detecting at least four sets of corresponding lines between the images by using an image feature in neighboring areas of the straight lines; and
calculating the transformation matrix between the image pickup devices by using the sets of corresponding lines.
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6. A program which is executed by a computer to perform a process for obtaining a transformation matrix, which is an image transformation parameter between a pair of image pickup devices for photographing a preset common area, the process comprising:
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inputting a pair of images from the image pickup devices;
detecting at least four straight lines from each of input images;
detecting at least four sets of corresponding lines between the images by using an image feature in neighboring areas of the straight lines; and
calculating the transformation matrix between the image pickup devices by using the sets of corresponding lines.
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7. A stereo image monitor for detecting an object, the stereo image monitor comprising:
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a pair of image pickup devices configured to photograph images containing a common area;
a straight-line detector detecting at least four straight lines from each of the images;
a straight-line correspondence detector detecting at least four sets of corresponding lines between the images by using an image feature in neighboring areas of the straight lines;
a transformation matrix calculator calculating the transformation matrix by using the sets of corresponding lines; and
a monitor transforming one of the pair of images by using the transformation matrix to detect an object in the common area.
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8. A stereo image monitoring method for monitoring a common area, which photographed by a pair of image pickup devices, the method comprising:
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inputting a pair of images from the image pickup devices;
detecting at least four straight lines from each of input images;
detecting at least four sets of corresponding lines between the images using an image feature in neighboring areas of the straight lines;
calculating a transformation matrix between the image pickup devices by using the sets of corresponding lines; and
transforming one of the pair of images by using the transformation matrix to detect an object in the common area.
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9. A program which is executed by a computer to perform a process for monitoring a common area, which photographed by a pair of image pickup devices, the process comprising:
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inputting a pair of images from the image pickup devices;
detecting at least four straight lines from each of input images;
detecting at least four sets of corresponding lines between the images by using an image feature in neighboring areas of the straight lines;
calculating a transformation matrix between the image pickup devices by using the sets of corresponding lines; and
transforming one of the pair of images by using the transformation matrix to detect an object in the common area
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10. A stereo calibration apparatus for obtaining a transformation matrix, which is an image transformation parameter between a pair of image pickup devices for photographing a preset common area, the stereo calibration apparatus comprising:
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an image input device to which a pair of images is input from the one pair of image pickup devices;
a straight-line detector detecting at least four straight lines from each of images output from the image input device;
a straight-line correspondence detector detecting at least four sets of corresponding lines between the images by using a geometrical relation among the straight lines; and
a transformation matrix calculator calculating the transformation matrix by using the sets of corresponding lines. - View Dependent Claims (11, 12)
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13. A stereo calibration method for obtaining a transformation matrix, which is an image transformation parameter between a pair of image pickup devices for photographing a preset common area, the method comprising:
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inputting a pair of images from the image pickup devices;
detecting at least four straight lines from each of input images;
detecting at least four sets of corresponding lines between the images by using a geometrical relation among the straight lines; and
calculating the transformation matrix between the image pickup devices by using the sets of corresponding lines.
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14. A program causing a computer to perform a process for obtaining a transformation matrix, which is an image transformation parameter between a pair of image pickup devices for photographing a preset common area, the process comprising:
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inputting a pair of images from the image pickup devices;
detecting at least four straight lines from each of input images;
detecting at least four sets of corresponding lines between the images by using a geometrical relation among the straight lines; and
calculating the transformation matrix between the image pickup devices on by using the sets of corresponding lines.
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15. A stereo image monitor for detecting an object, the stereo image monitor comprising:
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a pair of image pickup devices configured to photograph images containing a common area;
an image input device to which a pair of images is input from the image pickup devices;
a straight-line detector detecting at least four straight lines from each of images output from the image input device;
a straight-line correspondence detector detecting at least four sets of corresponding lines between the images by using a geometrical relation among the straight lines;
a transformation matrix calculator calculating the transformation matrix by using the sets of corresponding lines; and
a monitor performing transforming one of the pair of images by using the transformation matrix to detect an object in the common area.
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16. A stereo image monitoring method for monitoring a common area, which photographed by a pair of image pickup devices, the method comprising:
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inputting a pair of images from the image pickup devices;
detecting at least four straight lines from each of input images;
obtaining at least four sets of corresponding lines between the images by using a geometrical relation among the straight lines;
calculating a transformation matrix between the image pickup devices by using the sets of corresponding lines; and
transforming one of the pair of images by using the transformation matrix to detect an object in the common area.
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17. A program which is executed by a computer to perform a process for monitoring a common area, which photographed by a pair of image pickup devices, the process comprising:
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inputting a pair of images from the image pickup devices;
detecting at least four straight lines from each of input images;
detecting at least four sets of corresponding lines between the images by using a geometrical relation among the straight lines;
calculating a transformation matrix between the image pickup devices by using the sets of corresponding lines; and
transforming one of the pair of images by using the transformation matrix to detect an object in the common area on the basis of a stereoscopic principle.
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Specification