Altitude detection by use of planar approximation of a region of ground surface

• US 6,148,250 A
• Filed: 02/09/1999
• Issued: 11/14/2000
• Est. Priority Date: 02/18/1998
• Status: Expired due to Fees

• Current Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Tsuchiya, Hideaki, Saneyoshi, Keiji
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Gibson, Eric M
• Application Number:
  US09/246,456
• Time in Patent Office: 644 Days
• Field of Search: 701/3, 701/4, 701/11, 701/28, 701/225, 244/17.13, 244/162, 244/164, 382/104, 382/106, 348/117, 348/139, 348/144
• US Class Current: 701/4
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G01C 5/005 altimeters for aircraft G01C5/02, G01C5/06 take precedence
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: H04N 13/10 Processing, recording or transmission of stereoscopic or multi-view image signals
• 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 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

A three-dimensional image of a ground surface taken by a stereoscopic camera is converted to a distance image in a stereoscopic processing section. In an altitude calculating section, after peculiar points contained in the distance image are deleted and further the lens distortion is deleted from the distance image, the distance image is transferred to a real space coordinate. Then, an equation approximating to a plane is obtained from data of the distance image and a length of a perpendicular line to the plane is calculated as a ground altitude.

Claims

1. An altitude detecting apparatus for detecting an altitude of a flying object, comprising:

a pair of stereoscopic cameras mounted on said flying object for taking a stereoscopic image of a ground surface under said flying object;

a stereoscopic processing section for processing a pair of images by said cameras and for calculating a distance data of said ground surface; and

an altitude calculating section for creating a configuration of said ground surface based on said distance data of a plurality of measuring points on said ground surface so as to calculate an altitude of said flying object to said ground surface;

wherein said stereoscopic processing section obtains distance data over a succession of regions of the ground surface, each of said regions being characterized by lateral and longitudinal coordinates identifying points of the data associated with movement of the flying object; and

said altitude calculating section is operative to characterize the data of distance between the flying object and the ground surface by a best-fit plane for each of said regions, the altitude being calculated along a line from the object to the plane for each of the succession of said regions of the around surface.

2. The apparatus according to claim 1, further comprising:

a correcting means for correcting a distortion of lenses of said cameras so as to make said distance data more accurate, said correcting means being operative to adjust locations of points of the data on said plane by a mathematical formulation employing a set of correction coefficients.

3. The apparatus according to claim 1, wherein said altitude calculating section calculates a length of said line as a perpendicular line to said plane in a respective one of said regions as an altitude of said flying object to said ground surface.

4. The apparatus according to claim 3, further comprising:

a distance data deleting means for approximating a series of said distance data to a straight line, and for deleting a portion of said distance data falling outside of a specified range established around said straight line and being regarded as not constituting a part of said plane.

5. A method, employing an altitude detecting apparatus, for detecting an altitude of a flying object, comprising steps of:

mounting a pair of stereoscopic cameras on said flying object for taking a stereoscopic image of a ground surface under said flying object;

processing, by means of a stereoscopic processing section, a pair of images produced by said cameras, and calculating distance data of said ground surface from said flying object;

creating, by means of an altitude calculating section, a configuration of said ground surface based on said distance data of a plurality of measuring points on said ground surface;

calculating, by use of said measuring points, an altitude of said flying object relative to said ground surface;

wherein said processing step includes obtaining distance data over a succession of regions of the ground surface, each of said regions being characterized by lateral and longitudinal coordinates identifying points of the data associated with movement of the flying object; and

said calculating step includes characterizing the data of distance between the flying object and the ground surface by a best-fit plane for each of said regions, the altitude being calculated along a line from the object to the plane for each of the succession of said regions of the ground surface.