Image processing device and method
First Claim
Patent Images
1. An image processing device comprising:
- a photographed image acquisition section for acquiring a series of sequentially photographed images of a relatively moving object where four or more adjacent images have an overlapping area with each other;
a feature extraction section for extracting feature points from any of the sequentially photographed images;
a feature point tracking section for tracking and correlating the feature points for the series of photographed images;
a stereo image selection section for selecting stereo images from the series of photographed images, the stereo images being a pair of images, and an orientation process/3D (three dimensional) measurement section for performing an orientation and a 3D measurement using corresponding feature points, the corresponding feature points being the feature points correlated in the stereo images selected by the stereo image selection section, wherein the stereo image selection section has an image group setting section for grouping images selectable as the stereo images into a group of images, and selects stereo images from the group of images determined as belonging to one group by the image group setting section.
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Abstract
An image processing device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated. Stereo images are selected from the series of photographed images correlated. Images selectable as stereo images are grouped into a group of images, from which stereo images are selected, before an orientation and a 3D measurement are performed. The images are grouped according to the distance from the object to the photographing position or the photographing magnification. Images with abrupt changes are removed so as to improve the measurement precision.
50 Citations
13 Claims
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1. An image processing device comprising:
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a photographed image acquisition section for acquiring a series of sequentially photographed images of a relatively moving object where four or more adjacent images have an overlapping area with each other;
a feature extraction section for extracting feature points from any of the sequentially photographed images;
a feature point tracking section for tracking and correlating the feature points for the series of photographed images;
a stereo image selection section for selecting stereo images from the series of photographed images, the stereo images being a pair of images, and an orientation process/3D (three dimensional) measurement section for performing an orientation and a 3D measurement using corresponding feature points, the corresponding feature points being the feature points correlated in the stereo images selected by the stereo image selection section, wherein the stereo image selection section has an image group setting section for grouping images selectable as the stereo images into a group of images, and selects stereo images from the group of images determined as belonging to one group by the image group setting section. - View Dependent Claims (2, 3, 4, 6, 8)
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5. An image processing device comprising:
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a photographed. image acquisition section for acquiring a series of sequentially photographed images of a relatively moving object where four or more adjacent images have an overlapping area with each other;
a feature extraction section for extracting feature points from any of the sequentially photographed images;
a feature point tracking section for tracking and correlating the feature points for the series of photographed images;
a stereo image selection section for selecting stereo images from the series of photographed images; and
an orientation process/3D measurement section for performing an orientation and a 3D measurement using corresponding feature points, the corresponding feature points being the feature points correlated in the stereo images selected by the stereo image selection section, wherein the stereo image selection section specifies, as inappropriate images, photographed images photographed while a distance from the object to a photographing position, a photographing magnification or a photographing direction is changing greatly, and selects the stereo images from photographed images excluding the specified inappropriate images. - View Dependent Claims (7, 9)
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10. An image processing method comprising:
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a photographed image acquisition step of acquiring a series of sequentially photographed images of a relatively moving object where four or more adjacent images have an overlapping area with each other;
a feature extraction step of extracting feature points from any of the sequentially photographed images;
a feature point tracking step of tracking and correlating the feature points for the series of photographed images;
an image group setting step of grouping images from the series of photographed images into a group of images, the images to be grouped being selectable as stereo images;
a stereo image selection step of selecting the stereo images from the group of images determined as belonging to one group in the image group setting step;
an orientation step of performing an orientation using the corresponding feature points, the corresponding feature points being the feature points correlated in the stereo images selected in the stereo image selection step; and
a 3D measurement step of performing a 3D measurement using orientation results in the orientation step. - View Dependent Claims (12)
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11. An image processing method comprising:
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a photographed image acquisition step of acquiring a series of sequentially photographed images of a relatively moving object where four or more adjacent images have an overlapping area with each other;
a feature extraction step of extracting feature points from any of the sequentially photographed images;
a feature point tracking step of tracking and correlating the feature points for the series of photographed images;
a stereo image selection step of selecting stereo images from the series of photographed images, wherein photographed images photographed while a distance from the object to a photographing position, a photographing magnification or a photographing direction is changing greatly are specified as inappropriate images, and stereo images are selected from photographed images excluding the specified inappropriate images;
an orientation step of performing an orientation using corresponding feature points, the corresponding feature points being the feature points correlated in the stereo images selected in the stereo image selection step; and
a 3D measurement step of performing a 3D measurement using orientation results in the orientation step. - View Dependent Claims (13)
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Specification
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Current AssigneeTopcon Corporation
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Original AssigneeTopcon Corporation
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InventorsKochi, Nobuo, Anai, Tetsuji, Otani, Hitoshi
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Granted Patent
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Time in Patent OfficeDays
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Field of Search
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US Class Current348/46
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CPC Class CodesG01C 11/06 by comparison of two or mor...G01C 21/005 with correlation of navigat...G06T 2207/30244 Camera poseG06T 7/74 involving reference images ...
