Position measuring method

• US 4,825,393 A
• Filed: 04/22/1987
• Issued: 04/25/1989
• Est. Priority Date: 04/23/1986
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Nishiya, Takushi
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): Teska, Kevin J.
• Application Number:
  US07/041,228
• Time in Patent Office: 734 Days
• Field of Search: 364/516, 364/559, 364/560, 364/525, 364/513, 364/518, 358/107, 358/903, 358/138, 356/138, 356/363, 250/561, 382/23, 382/27, 377/30, 377/39
• US Class Current: 702/152
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/221 using the relative movement between cameras and objects
• 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 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

Points on a pair of images obtained by imaging an object are finely corresponded in order to precisely measure the three-dimensional position of the object. For this purpose, attractive forces corresponding to features of the images are calculated, and the degree of correspondence between the points on the pair of images is evaluated relying upon the magnitude of the attractive force, in order to determine the corresponding points and to calculate the position of the object relying upon the thus determined corresponding points. Further, an occluded region which contains no corresponding point is detected and is removed, in order to further improve the precision for measuring the position.

Claims

1. A position measuring method comprising the steps of:

inputting a pair of image data representing an image of a picture of an external world;

processing the input image data to calculate a distribution of attractive forces generated between features of points of one image and features of points of an other image;

determining pairs of corresponding points on the images based upon said distribution; and

calculating positions of points of the external world corresponding to said corresponding points based upon relationships between positions of the pairs of the corresponding points.

2. A position measuring method according to claim 1, wherein a feature at each of the points of the images is brightness.

3. A position measuring method according to claim 1, wherein a feature at each of the points of the images is a changing quantity of brightness at a point in proximity to each of the points.

4. A position measuring method comprising the steps of:

inputting a pair of image data representing an image of a picture of an external world;

processing the input image data to find corresponding points of one image from the points of another image that form pairs of corresponding points;

determining pairs of corresponding points of a pair of first and second images by picking up only those corresponding points that lie within a predetermined number of pixels that are in agreement with the pairs of corresponding points found in the processing step; and

calculating a position of a point of an external world corresponding to said corresponding points based upon a relationship of positions between the pairs of the corresponding points.

5. A position measuring method according to claim 4, wherein said processing step is performed by finding a point on the second image that forms a pair relative to a predetermined point on the first image, or by finding a corresponding point on the first image for a predetermined point on the second image when there are a plurality of corresponding points.

6. A position measuring method according to claim 4, wherein said predetermined point is a feature point in each of the images.

7. A position measuring method according to claim 6, wherein the feature point in each of the images is selected depending upon the magnitude of change of an brightness of image in proximity to the corresponding points.

8. A position measuring method according to claim 4, wherein said corresponding points are determined based upon similarities of small regions set on the first image and small regions set on the second image.