Image processing device and method
First Claim
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 three 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;
an orientation process/three-dimensional (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;
an error range calculation section for calculating an error range of 3D coordinates of the corresponding feature points obtained from the stereo images in the 3D measurement;
a corresponding point appropriateness determination section for determining whether or not the corresponding feature points are appropriate for 3D measurement based on the error range of the 3D coordinates of the corresponding feature points calculated by the error range calculation section; and
an erroneous corresponding point deletion section for deleting corresponding feature points determined as inappropriate by the corresponding point appropriateness determination 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 to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving the measurement precision.
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Citations
18 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 three 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;
an orientation process/three-dimensional (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;
an error range calculation section for calculating an error range of 3D coordinates of the corresponding feature points obtained from the stereo images in the 3D measurement;
a corresponding point appropriateness determination section for determining whether or not the corresponding feature points are appropriate for 3D measurement based on the error range of the 3D coordinates of the corresponding feature points calculated by the error range calculation section; and
an erroneous corresponding point deletion section for deleting corresponding feature points determined as inappropriate by the corresponding point appropriateness determination section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for processing an image, comprising:
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a photographed image acquisition step of acquiring a series of sequentially photographed images of a relatively moving object where three 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, the stereo images being a pair of images;
a first orientation step of performing an orientation using corresponding feature points, the corresponding feature points being the correlated feature points in the stereo images selected in the stereo image selection step;
a first 3D measurement step of performing a 3D measurement using orientation results in the first orientation step;
an error range calculation step of calculating an error range of 3D coordinates of the corresponding feature points obtained from the stereo images in the 3D measurement;
a corresponding point appropriateness determination step of determining whether or not the corresponding feature points are appropriate for 3D measurement based on the error range of the 3D coordinates of the corresponding feature points calculated in the error range calculation step; and
an erroneous corresponding point deletion step of deleting those corresponding feature points determined as inappropriate in the corresponding point appropriateness determination step. - View Dependent Claims (17, 18)
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Specification