Motion Measuring Device, Motion Measuring System, In-Vehicle Device, Motion Measuring Method, Motion Measurement Program, and Computer-Readable Storage

• US 20080219501A1
• Filed: 03/03/2006
• Published: 09/11/2008
• Est. Priority Date: 03/04/2005
• Status: Active Grant

• Current Assignee: Nara Institute of Science and Technology, National University Corporation
• Original Assignee: Nara Institute of Science and Technology, National University Corporation
• Inventors: Matsumoto, Yoshio
• Granted Patent: US 8,213,677 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/30201 Face
• CPC Class Codes: G06T 7/251 involving models

Abstract

An embodiment of the present invention includes: a tracking object image extracting section that extracts a tracking object image, which represents a tracking object, from an image captured by a monocular camera; a two-dimensional displacement calculating section that calculates, as actual movement amounts, amounts of inter-frame movement of the tracking object image; a two-dimensional plane projecting section that generates on a two-dimensional plane a projected image of a three-dimensional model, which represents in three dimensions a capturing object captured by the monocular camera; a small motion generating section that calculates, as estimated movement amounts, amounts of inter-frame movement of the projected image; and a three-dimensional displacement estimating section that estimates amounts of three-dimensional motion of the tracking object on the basis of the actual movement amounts and the estimated movement amounts.

Claims

1. A motion measuring device comprising:

tracking object image extracting means that extracts a tracking object image, which represents a tracking object, from a motion image captured by a monocular camera, on the basis of a feature of the tracking object;

actual movement amount calculating means that calculates amounts of inter-frame movement of the tracking object image, as actual movement amounts;

two-dimensional plane projecting means that generates on a two-dimensional plane a projected image of a three-dimensional model, which represents in three dimensions a capturing object captured by the monocular camera;

estimated movement amount calculating means that calculates respective amounts of inter-frame movement of the projected image as estimated movement amounts with respect to six degrees of freedom regarding movement of the three-dimensional model, when the three-dimensional model makes movements respectively corresponding to the six degrees of freedom; and

three-dimensional displacement estimating means that estimates amounts of three-dimensional motion of the tracking object respectively corresponding to the six degrees of freedom, by using a linear equation in which the actual movement amount and the estimated movement amounts are associated with each other.

4. A motion measuring system comprising:

the motion measuring device according to claim 1; and

a monocular camera.

5. An in-vehicle device having the motion measuring system according to claim 4 mounted therein.

7. A motion measurement program for causing a computer to function as the foregoing means of the motion measuring device according to claim 1.

8. A computer-readable storage medium storing the motion measurement program according to claim 7.

2. (canceled)

3. (canceled)

6. A motion measuring method comprising:

a first step of extracting a tracking object image, which represents a tracking object, from a motion image captured by a monocular camera, on the basis of a feature of the tracking object;

a second step of calculating, as actual movement amounts, amounts of inter-frame movement of the tracking object image;

a third step of generating on a two-dimensional plane a projected image of a three-dimensional model, which represents in three dimensions a capturing object captured by the monocular camera;

a fourth step of calculating respective amounts of inter-frame movement of the projected image as estimated movement amounts with respect to six degrees of freedom regarding movement of the three-dimensional model, when the three-dimensional model makes movements respectively corresponding to the six degrees of freedom; and

a fifth step of estimating amounts of three-dimensional motion of the tracking object respectively corresponding to the six degrees of freedom, by using a linear equation in which the actual movement amount and the estimated movement amounts are associated with each other.