Visual point position control apparatus
First Claim
1. A visual point position control apparatus for controlling positions of the visual points of images picked up by first and second cameras, comprising:
- a) first producing means, based on coordinates of picture elements of image pickup elements of the first camera and an image pickup angle of the first camera relative to an image of an object picked up, for producing a first model of a picked up plane of the image of the object in a three-dimensional coordinate system;
b) second producing means, based on coordinates of picture elements of image pickup elements of the second camera and an image pickup angle of the second camera relative to an image of the object picked up, for producing a second model of a picked up plane of the image of the object in a three-dimensional coordinate system;
c) first mapping means for mapping image data output from the first camera onto the first model produced by the first producing means;
d) second mapping means for mapping image data output from the second camera onto the second model produced by the second producing means;
e) moving means for computationally rotating and moving the first and second models onto which image data are mapped within an angle α
, formed by the visual point positions of the first and second cameras in the three-dimensional coordinate system, by angles β and
(α
- β
), respectively; and
f) mixing means for mixing the image data mapped onto the first model and the image data mapped onto the second model by a mixing ratio corresponding to the rotation angles β and
(α
- β
) of the first and second models.
1 Assignment
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Accused Products
Abstract
The positions of the visual points of images picked up by first and second cameras are controlled by producing a first model of a picked up plane of the image of an object in a three-dimensional coordinate system based on coordinates of the image pickup elements of the first camera and an image pickup angle of the first camera relative to an image of the object picked up, producing a second model of a picked up plane of the image of the object in the three-dimensional coordinate system based on coordinates of the image pickup elements of the second camera and an image pickup angle of the second camera relative to an image of the object picked up, mapping image data output from the first camera onto the first model, mapping image data output from the second camera onto the second model, mathematically rotating and moving the first and second models onto which image data are mapped within an angle α formed by the first and second cameras in the three-dimensional coordinate system by angles β and (α- β), and mixing the image data mapped onto the first model and the image data mapped onto the second model by a mixing ratio corresponding to the rotation angles of the first and second models.
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Citations
11 Claims
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1. A visual point position control apparatus for controlling positions of the visual points of images picked up by first and second cameras, comprising:
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a) first producing means, based on coordinates of picture elements of image pickup elements of the first camera and an image pickup angle of the first camera relative to an image of an object picked up, for producing a first model of a picked up plane of the image of the object in a three-dimensional coordinate system; b) second producing means, based on coordinates of picture elements of image pickup elements of the second camera and an image pickup angle of the second camera relative to an image of the object picked up, for producing a second model of a picked up plane of the image of the object in a three-dimensional coordinate system; c) first mapping means for mapping image data output from the first camera onto the first model produced by the first producing means; d) second mapping means for mapping image data output from the second camera onto the second model produced by the second producing means; e) moving means for computationally rotating and moving the first and second models onto which image data are mapped within an angle α
, formed by the visual point positions of the first and second cameras in the three-dimensional coordinate system, by angles β and
(α
- β
), respectively; andf) mixing means for mixing the image data mapped onto the first model and the image data mapped onto the second model by a mixing ratio corresponding to the rotation angles β and
(α
- β
) of the first and second models. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A visual point position control apparatus for controlling positions of the visual points of images picked up by first and second cameras, comprising:
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a) first memory means for storing image data output from the first camera; b) second memory means for storing an output signal of the first memory means; c) third memory means for storing image data output from the second camera; d) fourth memory means for storing an output signal of the third memory means; e) corresponding point detecting means for detecting a corresponding point of a first image picked up by the first camera and a second image picked up by the second camera; f) distance vector producing means for producing a distance vector connecting corresponding points of the first and second images on the basis of an output signal from the corresponding point detecting means; g) input means for inputting a desired image pickup angle β
;h) moving means, based on an output signal of the distance vector producing means and an output signal of the input means, produces read addresses of the first and third memory means and write addresses of the second and fourth memory means and rotating an image output from the first camera by the angle β
within an angle α
formed by the visual point positions of the first and second cameras and rotating an image output from the second camera by the angle (α
-β
); andi) synthesizing means for synthesizing image data output from the second memory means and image data output from the fourth memory means by a ratio corresponding to the angle β
. - View Dependent Claims (9, 10, 11)
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Specification