Measuring distance using perspective

• US 7,372,550 B2
• Filed: 10/05/2005
• Issued: 05/13/2008
• Est. Priority Date: 10/05/2005
• Status: Expired due to Fees

• Current Assignee: Libre Holdings Incorporated
• Original Assignee: Hewlett-Packard Development Company, L.P. (HP Inc.)
• Inventors: Goris, Andrew C., Boyd, David W.
• Primary Examiner(s): Tarcza; Thomas H.
• Assistant Examiner(s): Ratcliffe; Luke D
• Application Number:
  US11/244,950
• Publication Number:
  US 20070076187A1
• Time in Patent Office: 951 Days
• Field of Search: 356/4.03
• US Class Current: 356/4.03
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G06T 7/536 from perspective effects, e.g. by using vanishing points

Abstract

A method is disclosed for measuring distance from a camera to parts of a scene using a characterization of perspective distortion in a photograph of the scene. In one example embodiment, a first distance measurement is obtained from the camera to a first point in the scene, the perspective distortion is characterized, and the distance to at least one other point on a plane in the scene is computed based on the first distance measurement and the perspective characterization.

Claims

1. A method, comprising:

obtaining a measurement of a first distance from a camera to a first point in a scene;

characterizing perspective distortion in a photograph of the scene;

computing at least one other axial distance from the camera to at least one other point on a plane in the scene, based on the first distance measurement and the perspective characterization; and

wherein;

characterizing perspective distortion in the photograph further comprises;

detecting edges in the photograph, producing a first edge-detected image;

performing a first Hough transform on the first edge-detected image, producing a first Hough accumulator;

detecting edges in the first Hough accumulator, producing a second edge-detected image;

performing a second Hough transform on the second edge-detected image, producing a second Hough accumulator;

finding a brightness peak in the second Hough accumulator;

performing an inverse Hough transform on the peak, producing a first line in the first Hough accumulator, the first line representing a set of dominant lines in the photograph;

performing an inverse Hough transform on at least two points on the first line, producing at least two corresponding lines similar to the set of dominant lines in the photograph; and

finding an intersection of the corresponding lines.

2. The method of claim 1, wherein the first distance is the distance from the camera to a point in the scene on which the camera is focused.

3. The method of claim 2, wherein the first distance is derived from at least one position of one or more elements of a lens of the camera.

4. The method of claim 1, wherein computing at least one other axial distance further comprises:

locating a horizon for the photograph; and

computing the other axial distance in inverse proportion to the distance from the at least one other point in the photograph to the horizon.

5. The method of claim 4, wherein the horizon is horizontal.

6. The method of claim 4, wherein the horizon is vertical.

7. The method of claim 1, further comprising:

selecting a mode; and

choosing which of a horizontal horizon and a vertical horizon to use in computing distances, the choice based on the mode selection.

8. The method of claim 7, wherein the mode is designed for photographing documents, and wherein the horizontal horizon is used.

9. The method of claim 1, further comprising computing axial distances from the camera to the plane in at least two scene locations corresponding to corners of the photograph.

10. The method of claim 1, wherein the photograph is a preliminary photograph, and further comprising selecting a combination of a lens aperture and a is focus distance such that all points on the plane are in acceptable focus in a final photograph of the scene.

11. The method of claim 10, wherein the focus distance is an axial distance to a scene location upon which the camera focused in obtaining the photograph used to characterize perspective.

12. The method of claim 1, further comprising:

locating a horizontal horizon for the photograph;

locating a vertical horizon for the photograph;

computing a range of axial distances from the camera to a first plane in the scene based on the horizontal horizon; and

computing a range of axial distances from the camera to a second plane in the scene based on the vertical horizon.

13. The method of claim 12, further comprising selecting a combination of a focus distance and a lens aperture such that scene features within all of both ranges are in acceptable focus in a subsequent photograph taken using the combination.

14. The method of claim 13, wherein the focus distance is an axial distance to a scene location upon which the camera focused in obtaining the photograph used to characterize perspective.

15. The method of claim 1, further comprising:

locating a horizontal horizon for the photograph;

locating a vertical horizon for the photograph;

performing the steps of characterizing perspective distortion and computing at least one other axial distance based on both horizons;

presenting both results to a user; and

enabling a user to select one of the results.

16. The method of claim 1, further comprising compensating for distance-related effects of on-camera flash illumination by post-processing a photograph based on the distance measurements.

17. The method of claim 1, performed in a camera.

18. The method of claim 1, wherein the plane is a plane that includes the first point in the scene, and on which parallel lines exhibit the same perspective distortion as is dominant in the photograph.

19. The method of claim 1, further comprising:

recording the first distance measurement with the photograph; and

subsequently performing the steps of characterizing perspective distortion and computing at least one other axial distance.

20. The method of claim 1, further comprising:

correcting at least one form of distortion in the photograph other than perspective distortion; and

subsequently performing the steps of characterizing perspective distortion and computing at least one other axial distance.

21. The method of claim 20, wherein the form of distortion other than perspective distortion is either lens barrel distortion or lens pincushion distortion.

22. A camera, comprising logic, the logic configured to perform the following method:

obtaining a measurement of a first distance from a camera to a first point in a scene;

characterizing perspective distortion in a photograph of the scene;

computing at least one other axial distance from the camera to at least one other point on a plane in the scene, based on the first distance measurement and the perspective characterization, and wherein;

characterizing perspective distortion in the photograph further comprises;

detecting edges in the photograph, producing a first edge-detected image;

performing a first Hough transform on the first edge-detected image, producing a first Hough accumulator;

detecting edges in the first Hough accumulator, producing a second edge-detected image;

performing a second Hough transform on the second edge-detected image, producing a second Hough accumulator;

finding a brightness peak in the second Hough accumulator;

performing an inverse Hough transform on the peak, producing a first line in the first Hough accumulator, the first line representing a set of dominant lines in the photograph;

performing an inverse Hough transform on at least two points on the first line, producing at least two corresponding lines similar to the set of dominant lines in the photograph; and

finding an intersection of the corresponding lines.

23. The camera of claim 22, further comprising a lens, and wherein the first distance is the distance from the camera to the point in the scene on which the lens is focused.

24. The camera of claim 23, wherein the first distance is derived from at least one position of at least one lens element.

25. The camera of claim 22, wherein computing at least one other axial distance further comprises:

locating a horizon for the photograph; and

computing the axial distance as in inverse proportion to the distance from the location of the point in the photograph to the horizon.

26. A system, comprising:

a camera;

a computer; and

wherein;

the camera is configured to take a photograph of a scene;

the camera is configured to measure a first distance from the camera to a first point in the scene;

the photograph and the first distance measurement are transferred to the computer;

the computer is configured to characterize perspective distortion in the photograph;

the computer computes at least one other axial distance to at least one other point on a plane in the scene using the first distance measurement and the perspective characterization; and

wherein characterizing perspective distortion in the photograph further comprises;

detecting edges in the photograph, producing a first edge-detected image;

performing a first Hough transform on the first edge-detected image, producing a first Hough accumulator;

detecting edges in the first Hough accumulator, producing a second edge-detected image;

performing a second Hough transform on the second edge-detected image, producing a second Hough accumulator;

finding a brightness peak in the second Hough accumulator;

performing an inverse Hough transform on the peak, producing a first line in the first Hough accumulator, the first line representing a set of dominant lines in the photograph;

performing an inverse Hough transform on at least two points on the first line, producing at least two corresponding lines similar to the set of dominant lines in the photograph; and

finding an intersection of the corresponding lines.

27. A camera, comprising:

means for obtaining a first measurement of a first distance from the camera to a first point in a scene;

means for characterizing perspective distortion in a photograph of the scene; and

means for computing at least one other axial distance to at least one other point on a plane in the scene using the first distance measurement and the characterization of perspective distortion, and wherein the means for characterizing perspective distortion in the photograph of the scene comprises;

means for detecting edges in the photograph, producing a first edge-detected image;

means for performing a first Hough transform on the first edge-detected image, producing a first Hough accumulator;

means for detecting edges in the first Hough accumulator, producing a second edge-detected image;

means for performing a second Hough transform on the second edge-detected image, producing a second Hough accumulator;

means for finding a brightness peak in the second Hough accumulator;

means for performing an inverse Hough transform on the peak, producing a first line in the first Hough accumulator, the first line representing a set of dominant lines in the photograph;

means for performing an inverse Hough transform on at least two points on the first line, producing at least two corresponding lines similar to the set of dominant lines in the photograph; and

means for finding an intersection of the corresponding lines.