Image capturing method and apparatus for determining a shape of an object

• US 6,700,604 B1
• Filed: 02/18/1999
• Issued: 03/02/2004
• Est. Priority Date: 02/18/1998
• Status: Expired due to Fees

• Current Assignee: Ricoh Company Limited
• Original Assignee: Ricoh Company Limited
• Inventors: Murata, Norihiko, Kitaguchi, Takashi
• Primary Examiner(s): HO, TUAN V
• Application Number:
  US09/252,879
• Time in Patent Office: 1,839 Days
• Field of Search: 348/207.99, 348/208.99, 348/208.1, 348/208.4, 348/135, 348/136, 348/137, 348/140, 348/141, 348/142, 348/222.1, 382/286-291, 359/618
• US Class Current: 348/207.99
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: H04N 13/211 using temporal multiplexing
• CPC Class Codes: H04N 13/246 Calibration of cameras

Abstract

An image capturing apparatus for capturing an image of an object. The image capturing apparatus includes a correspondence detector which detects a correspondence of characteristic points of an object based upon captured images of the object. A motion detector detects a motion of the image capturing device. The motion detector includes magnetic sensors. Further, a shape calculator calculates a shape of the object based upon the captured image data, captured attitude information, a translation component, and the correspondence of the characteristic points. The motion detector may further include acceleration sensors and angle speed sensors. A disturbance detector may further be provided to detect a disturbance in acceleration signals output by the acceleration sensors and a disturbance in magnetic signals output by the magnetic sensors. In this situation, if a disturbance arises in the acceleration signals output by the acceleration sensors, an attitude of the image capturing apparatus can be based on signals output by the magnetic sensors and signals output by the angle speed sensors. Similarly, if a disturbance arises in the magnetic signals output by the magnetic sensors, an attitude of the image capturing apparatus can be determined utilizing the acceleration signals output by the acceleration sensors and the angle speed signals output by the angle speed sensors.

Claims

1. An image capturing apparatus for an object, comprising:

an image capturing device configured to capture images of the object;

a correspondence detector configured to detect a correspondence of characteristic points of the object based upon the captured images;

a motion detector configured to detect a motion of the image capturing device, the motion detector including magnetic sensors; and

a shape calculator configured to calculate a shape of the object based upon the captured image data, captured attitude information and a translation component of the image capturing apparatus based upon the detected motion of the image capturing device detected by the motion detector, and the correspondence of said characteristic points.

2. An image capturing apparatus for an object, comprising:

an image capturing device configured to capture images of the object;

a correspondence detector configured to detect a correspondence of characteristic points of the object based upon the captured images;

a motion detector configured to detect a motion of the image capturing device, the motion detector including magnetic sensors; and

a shape calculator configured to calculate a shape of the object based upon the captured image data, captured attitude information and a translation component of the image capturing apparatus based upon the detected motion of the image capturing device detected by the motion detector, and the correspondence of said characteristic points,

wherein the motion detector further includes acceleration sensors and angle speed sensors.

3. An image capturing apparatus for an object according to claim 2, further comprising a disturbance detector configured to detect a disturbance of acceleration signals output by the acceleration sensors and a disturbance of magnetic signals output by the magnetic sensors.

4. An image capturing apparatus for an object according to claim 3, further comprising an attitude calculator configured to calculate an attitude of the image capturing apparatus based upon a compensation signal of said disturbance detector when the image capturing device is moving.

5. An image capturing apparatus for an object according to claim 4, wherein said attitude calculator calculates an attitude of the image capturing apparatus by compensation utilizing the magnetic signals output from the magnetic sensors instead of acceleration signals output by the acceleration sensors when a disturbance is detected in the acceleration signals.

6. An image capturing apparatus for an object according to claim 4, wherein said attitude calculator calculates the attitude of the image capturing apparatus by compensation utilizing the magnetic signals output from the magnetic sensors and angle speed signals output from the angle speed sensors instead of acceleration signals output from the acceleration sensors when a disturbance is detected in the acceleration signals.

7. An image capturing apparatus for an object according to claim 4, wherein said attitude calculating calculates the attitude of the image capturing apparatus by compensation utilizing the acceleration signals output from the acceleration sensors when a disturbance is detected in the magnetic signals.

8. An image capturing apparatus for an object according to claim 4, wherein said attitude calculator calculates the attitude of the image capturing apparatus by compensation utilizing the acceleration signals output from the acceleration sensors and angle speed signals output from the angle speed sensors when a disturbance is detected in the magnetic signals.

9. An image capturing apparatus for an object according to claim 4, wherein said attitude calculator calculates the attitude of the image capturing apparatus by compensation utilizing the magnetic signals output from the magnetic sensors and angle speed signals output from the angle speed sensors when a disturbance is detected in the acceleration signals.

10. An image capturing apparatus for an object, comprising:

image capturing means for capturing images of the object;

correspondence detector means for detecting a correspondence of characteristic points of the object based upon the captured images;

motion detector means for detecting a motion of the image capturing means, the motion detector means including magnetic sensor means; and

shape calculator means for calculating a shape of the object based upon the captured image data, captured attitude information and a translation component of the image capturing means based upon the detected motion of the image capturing means detected by the motion detector means, and the correspondence of said characteristic points.

11. An image capturing apparatus for an object, comprising:

image capturing means for capturing images of the object;

correspondence detector means for detecting a correspondence of characteristic points of the object based upon the captured images;

motion detector means for detecting a motion of the image capturing means, the motion detector means including magnetic sensor means; and

shape calculator means for calculating a shape of the object based upon the captured image data, captured attitude information and a translation component of the image capturing means based upon the detected motion of the image capturing means detected by the motion detector means, and the correspondence of said characteristic points,

wherein the motion detector means further includes acceleration sensor means and angle speed sensor means.

12. An image capturing apparatus for an object according to claim 11, further comprising disturbance detector means for detecting a disturbance of acceleration signals output by the acceleration sensor means and a disturbance of magnetic signals output by the magnetic sensor means.

13. An image capturing apparatus for an object according to claim 12, further comprising attitude calculator means for calculating an attitude of the image capturing means based upon a compensation signal of said disturbance detector means when the image capturing means is moving.

14. An image capturing apparatus for an object according to claim 13, wherein said attitude calculator means calculates an attitude of the image capturing means by compensation utilizing the magnetic signals output from the magnetic sensor means instead of acceleration signals output by the acceleration sensor means when a disturbance is detected in the acceleration signals.

15. An image capturing apparatus for an object according to claim 13, wherein said attitude calculator means calculates the attitude of the image capturing means by compensation utilizing the magnetic signals output from the magnetic sensor means and angle speed signals output from the angle speed sensor means instead of acceleration signals output from the acceleration sensor means when a disturbance is detected in the acceleration signals.

16. An image capturing apparatus for an object according to claim 13, wherein said attitude calculating means calculates the attitude of the image capturing means by compensation utilizing the acceleration signals output from the acceleration sensor means when a disturbance is detected in the magnetic signals.

17. An image capturing apparatus for an object according to claim 13, wherein said attitude calculator means calculates the attitude of the image capturing means by compensation utilizing the acceleration signals output from the acceleration sensor means and angle speed signals output from the angle speed sensor means when a disturbance is detected in the magnetic signals.

18. An image capturing apparatus for an object according to claim 13, wherein said attitude calculator means calculates the attitude of the image capturing means by compensation utilizing the magnetic signals output from the magnetic sensor means and angle speed signals output from the angle speed sensor means when a disturbance is detected in the acceleration signals.