Distance measurement apparatus, distance measurement method, and distance measurement program

• US 7,659,921 B2
• Filed: 05/05/2004
• Issued: 02/09/2010
• Est. Priority Date: 05/19/2003
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Aoyama, Chiaki
• Primary Examiner(s): Banks Harold; Marsha D
• Assistant Examiner(s): PRINCE, JESSICA MARIE
• Application Number:
  US10/839,560
• Publication Number:
  US 20040233280A1
• Time in Patent Office: 2,106 Days
• Field of Search: 348/135, 348/180, 348/806, 356/3, 356/3.14
• US Class Current: 348/135
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 5/80 Geometric correction
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06T 7/85 Stereo camera calibration
• 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 2013/0096 Synchronisation or controlling aspects
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

Captured images taken by cameras are corrected in accordance with characteristics of the lens system of the cameras to produce corrected images. A pixel position detector then obtains the pixel position of the object on each corrected image. With reference to calibration tables, each of which correlates one of a pixel position on a coordinate system of each corrected image and information having a predetermined relation to the pixel position with information specifying a direction and a position of incident light traveling to the pixel position, the direction and the position of the incident light are obtained. Based on the direction and the position of the incident light, the distance to the object OB can be calculated.

Claims

1. A method of measuring a distance to an object based on captured images taken by a plurality of non-pin-hole cameras and with the use of calibration information, which correlates first information of a pixel position of each pixel on a coordinate system of each corrected image that is prepared by correcting distortion of the captured images taken by the cameras with second information specifying a direction of incident light traveling to the pixel position and a displacement of the incident light due to a non-pin-hole camera, the method comprising:

capturing images of an object using a plurality of non-pin-hole cameras;

a distortion correction executing step for correcting distortion of the captured images according to characteristics of an optical system used for each camera and producing corrected images;

a pixel position detecting step for detecting a pixel position of the object on each corrected image;

a calibrating step for calibrating a reference point of each of the non-pin-hole cameras toward a pin-hole-camera model based on the detected pixel position and the calibration information; and

a distance calculating step for and calculating the distance to the object based on the detected pixel position and the calibrated reference point through the pin-hole-camera model,

wherein the pixel position detecting step involves initially detecting a pixel position of the object on one corrected image and then conducting stereo matching between the corrected images along an epipolar line on another one of the corrected images defined by the pixel position of the object initially detected on the one corrected image to search a pixel position of the object on the other one of corrected images, the epipolar line being made a substantially straight line on the corrected images by correction by the distortion correction executing step to suppress an amount of processing in the stereo matching, resulting in decrease in a processing amount of stereo matching; and

the distance calculating step involves obtaining directions and positions of the incident light traveling to the pixel positions of the object from the pixel positions of the object on the corrected images from the pixel position detecting step based on the calibration information and calculating the distance to the object from the obtained directions and positions of the incident light through the pin-hole-camera model.

2. A distance measurement method according to claim 1, wherein the second information further specifies a displacement amount from a reference position to the incident light.

3. A distance measurement method according to claim 1, wherein the second information further specifies coordinates of two points positioned on the incident light.

4. A method of measuring a distance to an object according to claim 1, wherein said calibration information comprises a distortion correction table having pixel positions for each of the captured images and the corresponding corrected images.

5. A method of measuring a distance to an object according to claim 4, wherein each of said pixel positions of the corrected images is calculated by applying a linear interpolation technique to each pixel between lattice points.

6. A distance measurement apparatus for measuring a distance to an object based on captured images, comprising:

a plurality of non-pin-hole cameras for capturing images of an object;

a distortion correction executing means for correcting distortion of the captured images according to characteristics of an optical system used for each camera and producing corrected images;

a calibration information storage means for storing calibration information correlating first information of a pixel position of each pixel on a coordinate system of each corrected image with second information specifying a direction of incident light traveling to the pixel position and a displacement of the incident light due to a non-pin-hole camera;

a first pixel position detecting means for detecting a pixel position of the object on one of corrected images;

a second pixel position detecting means for conducting stereo matching between the corrected images along an epipolar line on the other one of the corrected images defined by the pixel position detected by the first pixel position to search a pixel position of the object on the other one of corrected images, the epipolar line being made a substantially straight line on the corrected images by correction by the distortion correction executing means to suppress an amount of processing in the stereo matching, resulting in decrease in a processing amount of stereo matching; and

a distance calculating means for obtaining directions and positions of the incident light traveling to the pixel positions of the object from the pixel positions of the object on the corrected images from the first and second pixel position detecting means based on the calibration information and calculating the distance to the object from the obtained directions and positions of the incident light through a pin-hole-camera model.

7. A distance measurement apparatus according to claim 6, wherein the second information further specifies a displacement amount from a reference position to the incident light.

8. A distance measurement apparatus according to claim 6, wherein the second information further specifies coordinates of two points positioned on the incident light.

9. A distance measurement apparatus according to claim 6, wherein said calibration information storage means comprises a distortion correction table having pixel positions for each of the captured images and the corresponding corrected images.

10. A distance measurement apparatus according to claim 9, wherein each of said pixel positions of the corrected images is calculated by applying a linear interpolation technique to each pixel between lattice points.