Position measuring method
First Claim
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.
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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.
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Citations
8 Claims
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1. A position measuring method comprising the steps of:
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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. - View Dependent Claims (2, 3)
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4. A position measuring method comprising the steps of:
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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. - View Dependent Claims (5, 6, 7, 8)
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Specification