Object Distance Deriving Device

• US 20090060281A1
• Filed: 10/30/2008
• Published: 03/05/2009
• Est. Priority Date: 03/26/2007
• Status: Abandoned Application

• Current Assignee: Funai Electric Co., Ltd., Osaka University
• Original Assignee: Funai Electric Co., Ltd., Osaka University
• Inventors: Toyoda, Takashi, Masaki, Yasuo, Nakao, Yoshizumi, TANIDA, Jun
• Application Number:
  US12/261,706
• Publication Number:
  US 20090060281A1
• Time in Patent Office: Days
• US Class Current: 382/106
• CPC Class Codes: G06T 3/00 Geometric image transformations in the plane of the image
• CPC Class Codes: H04N 25/41 Extracting pixel data from a plurality of image sensors simultaneously picking up an image, e.g. for increasing the field of view by combining the outputs of a plurality of sensors

Abstract

An object distance deriving device comprises a compound-eye imaging unit for capturing n unit images and a microprocessor for calculating an object distance of an object from the imaging unit based on the unit images. The microprocessor sets a first temporary distance D1 from discrete temporary distances D1-Dn prepared in advance, and rearranges pixels of each unit image at D1 to create one reconstructed image. The microprocessor reversely projects the pixels of each unit image at D1 to create n reverse projection images. The microprocessor calculates and sums n deviations each between a pixel of the reconstructed image and that of each reverse projection image at each xy coordinate position to calculate an evaluation value for D1. The microprocessor repeats this process for the temporary distances D2-Dn to obtain n evaluation values. The microprocessor determines one of the temporary distances D1-Dn giving a minimum evaluation value as the object distance.

Claims

1. An object distance deriving device comprising imaging means for capturing images of an object and distance calculating means for calculating a distance (hereafter referred to as “

object distance”

) of the object from the imaging means based on the images of the object captured by the imaging means,

wherein the imaging means has an optical imaging system for imaging n unit images each formed of pixels where n is an integer of at least 2, and

wherein the distance calculating means comprises;

distance setting means for temporarily setting a plurality of object distances between the object and the imaging means as a plurality of temporary distances;

reconstructed image creating means for rearranging the pixels forming each of the unit images on a plane located at a first one (hereafter referred to as “

first temporary distance”

) of the plurality of temporary distances from the imaging means as set by the distance setting means so as to create one reconstructed image on the plane located at the first temporary distance;

reverse projection image creating means for reversely projecting, unit image-by-unit image, the pixels forming each of the unit images on the plane located at the first temporary distance so as to create n reverse projection images on the plane located at the first temporary distance;

evaluation value calculating means for (a) calculating a deviation between a pixel at each predetermined xy coordinate position of the one reconstructed image and the pixel at the each predetermined xy coordinate position of each of the n reverse projection images to obtain n deviations for the pixel at the each predetermined xy coordinate position for the first temporary distance, and (b) summing the n deviations to calculate an evaluation value for the pixel at the each predetermined xy coordinate position for the first temporary distance;

repeating means for allowing the reconstructed image creating means, the reverse image creating means and the evaluation value calculating means to repeat, for each subsequent one of the plurality of temporary distances, the creation of a further reconstructed image of the n unit images, the creation of further n reverse projection images of the n unit images, and the calculation of a further evaluation value for the pixel at the each predetermined xy coordinate position, respectively, so as to obtain a plurality of evaluation values for the pixel at the each predetermined xy coordinate position for the plurality of temporary distances; and

distance determining means for determining, as the object distance for the pixel at the each predetermined xy coordinate position from the imaging means, one of the first and the subsequent temporary distances which gives a minimum evaluation value among the plurality of evaluation values for the pixel at the each predetermined xy coordinate position.

2. The object distance deriving device according to claim 1, wherein the distance calculating means further comprises smoothing means for smoothing the plurality of evaluation values for the pixel at the each predetermined xy coordinate position for the plurality of temporary distances as calculated by the evaluation value calculating means, and

wherein the distance determining means determines the object distance for the pixel at the each predetermined xy coordinate position from the imaging means based on the plurality of evaluation values as smoothed by the smoothing means.

3. The object distance deriving device according to claim 2, wherein the reconstructed image creating means creates n high-frequency component unit images by extracting a high-frequency component from each of the n unit images, and creates one high-frequency component reconstructed image from the thus created n high-frequency component unit images,

wherein the reverse projection image creating means creates n high-frequency component unit images by extracting a high-frequency component from each of the n unit images, and creates n high-frequency component reverse projection images from the thus created n high-frequency component unit images, and

wherein the evaluation value calculating means calculates the evaluation values based on the one high-frequency component reconstructed image and the n high-frequency component reverse projection images.

4. The object distance deriving device according to claim 1, wherein the reconstructed image creating means creates n high-frequency component unit images by extracting a high-frequency component from each of the n unit images, and creates one high-frequency component reconstructed image from the thus created n high-frequency component unit images,

wherein the reverse projection image creating means creates n high-frequency component unit images by extracting a high-frequency component from each of the n unit images, and creates n high-frequency component reverse projection images from the thus created n high-frequency component unit images, and

wherein the evaluation value calculating means calculates the evaluation values based on the one high-frequency component reconstructed image and the n high-frequency component reverse projection images.