DISTANCE MEASURING DEVICE AND METHOD, AND COMPUTER PROGRAM
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Accused Products
Abstract
A distance measuring device (1) is included of a feature point detecting element (31) for detecting a set of feature points from a plurality of images (2) picked up at a plurality of places (a, b) by a pickup element, a change detecting element (33) for detecting relative changes among images with respect to the detected set of the feature points, and a first specifying element (8) for specifying rotation quantities of the image pickup element among the places in accordance with the detected changes. Here, the feature point detecting element detects a set of points (P1, P2, P3, P4) composing lines (310, 320) that belong to a stationary object and that are substantially perpendicular to the optical axis of the image pickup element as a set of feature points.
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Citations
24 Claims
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1-9. -9. (canceled)
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10. A distance measuring apparatus comprising:
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a feature point detecting device for detecting a set of feature points from a plurality of images taken at a plurality of points by an imaging element; a change detecting device for detecting a change in relative positions between the images, with respect to the detected set of feature points; and a first specifying device for specifying amount of rotation between the points of the imaging element, on the basis of the detected change, said feature point detecting device detecting a set of points which belongs to a stationary object and which constitutes a line segment in a substantially perpendicular relationship with an optical axis of the imaging element, as the set of the feature points. - View Dependent Claims (11, 12, 13, 14, 15, 16, 19, 20, 21, 22, 23, 24)
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17. A distance measuring method comprising:
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a feature point detecting process of detecting a set of feature points from a plurality of images taken at a plurality of points by an imaging element; a change detecting process of detecting a change in relative positions between the images, with respect to the detected set of feature points; and a first specifying process of specifying amount of rotation between the points of the imaging element, on the basis of the detected change, said feature point detecting process detecting a set of points which belongs to a stationary object and which constitutes a line segment in a substantially perpendicular relationship with an optical axis of the imaging element, as the set of the feature points.
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18. A computer-readable medium containing a computer program for making a computer function as an distance measuring apparatus,
said distance measuring apparatus comprising: -
a feature point detecting device for detecting a set of feature points from a plurality of images taken at a plurality of points by an imaging element; a change detecting device for detecting a change in relative positions between the images, with respect to the detected set of feature points; and a first specifying device for specifying amount of rotation between the points of the imaging element, on the basis of the detected change, said feature point detecting device detecting a set of points which belongs to a stationary object and which constitutes a line segment in a substantially perpendicular relationship with an optical axis of the imaging element, as the set of the feature points.
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Specification