STEREO PICTURE GENERATING DEVICE, AND STEREO PICTURE GENERATING METHOD

• US 20130222556A1
• Filed: 03/22/2013
• Published: 08/29/2013
• Est. Priority Date: 09/22/2010
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: SHIMADA, Satoshi
• Granted Patent: US 9,094,672 B2
• Time in Patent Office: Days
• US Class Current: 348/50
• CPC Class Codes: G06T 7/85 Stereo camera calibration
• CPC Class Codes: H04N 13/211 using temporal multiplexing
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/246 Calibration of cameras

Abstract

A stereo picture generating device includes: a feature point extracting unit that extracts feature points from a first picture; a tracking unit that calculates coordinate of each point on a second picture corresponding to each of the feature points; a parameter determining unit that determines plane projective transformation coefficients which include at least one coefficient representing a rotational transfer component and at least one coefficient representing a translation component so as to minimize an evaluation value that includes distance between each of transformed feature points, which are obtained by plane-projective-transforming the feature points on the first picture, and the corresponding point on the second picture, and a weighting term having a value depending on the rotational transfer component; and a transforming unit that plane-projective-transforms the first picture by using the plane projective transformation coefficients, to generate a pair of plane-projective-transformed picture and the second picture as a stereo picture.

Claims

1. A stereo picture generating device comprising:

a feature point extracting unit that extracts a plurality of feature points from a first picture generated by photographing an object from a first position;

a tracking unit that calculates coordinate of each point on a second picture generated by photographing the object from a second position different from the first position corresponding to each of the plurality of feature points, wherein each of the plurality of the feature points and the corresponding point on the second picture correspond to a same point on the object;

a parameter determining unit that determines plane projective transformation coefficients which include at least one coefficient representing a rotational transfer component and at least one coefficient representing a translation component so as to minimize an evaluation value that includes distance between each of transformed feature points, which are obtained by plane-projective-transforming the feature points on the first picture by using the plane projective transformation coefficients, and the corresponding point on the second picture and a weighting term having a value depending on the rotational transfer component; and

a transforming unit that plane-projective-transforms the first picture by using the plane projective transformation coefficients, to generate a pair of plane-projective-transformed picture and the second picture as a stereo picture.

2. The stereo picture generating device according to claim 1, wherein the weighting term increases as the rotational transfer component increases, and has a value smaller than transfer amount of each of the feature points on the first picture according to the rotational transfer component.

3. The stereo picture generating device according to claim 2, wherein the rotational transfer component includes a first rotational transfer component for a rotational transfer of which a center is an optical axis of an imaging device that has generated the first picture, a second rotational transfer component for a rotational transfer of which a center is a horizontal axis that is in parallel to a plane perpendicular to the optical axis, and a third rotational transfer component for a rotational transfer of which a center is a vertical axis that is perpendicular to the optical axis and the horizontal axis, and

the weighting term is expressed by a sum of a product of the first rotational transfer component and a first coefficient, a product of the second rotational transfer component and a second coefficient, and a product of the third rotational transfer component and a third coefficient, and the third coefficient is set to be smaller than the first coefficient and the second coefficient.

4. The stereo picture generating device according to claim 1, wherein the plane projective transformation coefficients include only the coefficient representing the rotational transfer component, and the coefficient of the translation component.

5. A stereo picture generating method comprising:

extracting a plurality of feature points from a first picture generated by photographing an object from a first position;

calculating coordinate of each point on a second picture generated by photographing the object from a second position different from the first position corresponding to each of the plurality of feature points, wherein each of the plurality of the feature points and the corresponding point on the second picture correspond to a same point on the object;

determining plane projective transformation coefficients which include at least one coefficient representing a rotational transfer component and at least one coefficient representing a translation component so as to minimize an evaluation value that includes distance between each of transformed feature points, which are obtained by plane-projective-transforming the feature points on the first picture by using the plane projective transformation coefficients, and the corresponding point on the second picture and a weighting term having a value depending on the rotational transfer component; and

plane-projective-transforming the first picture by using the plane projective transformation coefficients, to generate a pair of plane-projective-transformed picture and the second picture as a stereo picture.

6. A computer readable recording medium recording a computer program for generating a stereo picture, the program causing a computer to execute:

extracting a plurality of feature points from a first picture generated by photographing an object from a first position;

calculating coordinate of each point on a second picture generated by photographing the object from a second position different from the first position corresponding to each of the plurality of feature points, wherein each of the plurality of the feature points and the corresponding point on the second picture correspond to a same point on the object;

determining plane projective transformation coefficients which include at least one coefficient representing a rotational transfer component and at least one coefficient representing a translation component so as to minimize an evaluation value that includes distance between each of transformed feature points, which are obtained by plane-projective-transforming the feature points on the first picture by using the plane projective transformation coefficients, and the corresponding point on the second picture and a weighting term having a value depending on the rotational transfer component; and

plane-projective-transforming the first picture by using the plane projective transformation coefficients, to generate a pair of plane-projective-transformed picture and the second picture as a stereo picture.

7. A stereo picture generating device comprising:

at least one camera for photographing an object from a first position to generate a first picture, and photographing the object from a second position different from the first position to generate a second picture; and

a processor adapted to

extract a plurality of feature points from the first picture,

calculate coordinate of each point on a second picture generated by photographing the object from a second position different from the first position corresponding to each of the plurality of feature points, wherein each of the plurality of the feature points and the corresponding point on the second picture correspond to a same point on the object,

determine plane projective transformation coefficients which include at least one coefficient representing a rotational transfer component and at least one coefficient representing a translation component so as to minimize an evaluation value that includes distance between each of transformed feature points, which are obtained by plane-projective-transforming the feature points on the first picture by using the plane projective transformation coefficients, and the corresponding point on the second picture and a weighting term having a value depending on the rotational transfer component; and

plane-projective-transform the first picture by using the plane projective transformation coefficients, to generate a pair of plane-projective-transformed picture and the second picture as a stereo picture.