Image processing device and method
First Claim
1. An image processing device comprising:
- a photographed image acquisition section for acquiring a series of sequentially photographed images of a relatively moving object where three or more adjacent images have an overlapping area with each other, the photographed image acquisition section including or communicating with a photographing device for photographing the series of photographed images;
a feature extraction section for extracting feature points from any of the sequentially photographed images;
a feature point tracking section for tracking and correlating the feature points for the series of photographed images;
a stereo image selection section for selecting stereo images from the series of photographed images, the stereo images being a pair of images;
an orientation process/three-dimensional (3D) measurement section for determining orientation of the photographing device using a corresponding feature points and for performing a 3D measurement to measure 3D coordinates of the corresponding feature points using the corresponding feature points, the corresponding feature points being the feature points correlated in the stereo images selected by the stereo image selection section;
an error range calculation section for calculating an error range of 3D coordinates;
a corresponding point appropriateness determination section for determining whether or not the corresponding feature points are appropriate for 3D measurement based on the error range of the 3D coordinates of the corresponding feature points calculated by the error range calculation section;
an erroneous corresponding point deletion section for deleting corresponding feature points determined as inappropriate by the corresponding point appropriateness determination section; and
an allowable range setting section for setting an overlapping area of the three or more error ranges of the 3D coordinates, for an identical point on the object, obtained from different stereo images as an allowable range of the 3D coordinates;
wherein the corresponding point appropriateness determination section determines those corresponding feature points in the stereo images used to measure the 3D coordinates without an overlapping area between the error range and the allowable range as inappropriate,wherein the error range is calculated as a function of a baseline length, a photographing distance, a focal length and a pixel size.
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Accused Products
Abstract
An image processing device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving the measurement precision.
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Citations
15 Claims
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1. An image processing device comprising:
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a photographed image acquisition section for acquiring a series of sequentially photographed images of a relatively moving object where three or more adjacent images have an overlapping area with each other, the photographed image acquisition section including or communicating with a photographing device for photographing the series of photographed images; a feature extraction section for extracting feature points from any of the sequentially photographed images; a feature point tracking section for tracking and correlating the feature points for the series of photographed images; a stereo image selection section for selecting stereo images from the series of photographed images, the stereo images being a pair of images; an orientation process/three-dimensional (3D) measurement section for determining orientation of the photographing device using a corresponding feature points and for performing a 3D measurement to measure 3D coordinates of the corresponding feature points using the corresponding feature points, the corresponding feature points being the feature points correlated in the stereo images selected by the stereo image selection section; an error range calculation section for calculating an error range of 3D coordinates; a corresponding point appropriateness determination section for determining whether or not the corresponding feature points are appropriate for 3D measurement based on the error range of the 3D coordinates of the corresponding feature points calculated by the error range calculation section; an erroneous corresponding point deletion section for deleting corresponding feature points determined as inappropriate by the corresponding point appropriateness determination section; and an allowable range setting section for setting an overlapping area of the three or more error ranges of the 3D coordinates, for an identical point on the object, obtained from different stereo images as an allowable range of the 3D coordinates; wherein the corresponding point appropriateness determination section determines those corresponding feature points in the stereo images used to measure the 3D coordinates without an overlapping area between the error range and the allowable range as inappropriate, wherein the error range is calculated as a function of a baseline length, a photographing distance, a focal length and a pixel size. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for processing an image, comprising:
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a photographed image acquisition step of acquiring, by means of a photographing device, a series of sequentially photographed images of a relatively moving object where three or more adjacent images have an overlapping area with each other; a feature extraction step of extracting feature points from any of the sequentially photographed images; a feature point tracking step of tracking and correlating the feature points for the series of photographed images; a stereo image selection step of selecting stereo images from the series of photographed images, the stereo images being a pair of images; a first orientation step of an determining orientation of the photographing device using corresponding feature points, the corresponding feature points being the correlated feature points in the stereo images selected in the stereo image selection step; a first 3D measurement step of performing a 3D measurement to measure 3D coordinates of the corresponding feature points using orientation results in the first orientation step; an error range calculation step of calculating an error range of 3D coordinates; a corresponding point appropriateness determination step of determining whether or not the corresponding feature points are appropriate for 3D measurement based on the error range of the 3D coordinates of the corresponding feature points calculated in the error range calculation step; an erroneous corresponding point deletion step of deleting those corresponding feature points determined as inappropriate in the corresponding point appropriateness determination step; and an allowable range setting step of setting an overlapping area of the three or more error ranges of the 3D coordinates, for an identical point on the object, obtained from different stereo images as an allowable range of the 3D coordinates; wherein the corresponding point appropriateness determination step determines those corresponding feature points in the stereo images used to measure the 3D coordinates without an overlapping area between the error range and the allowable range as inappropriate; and wherein the error range is calculated as a function of a baseline length, a photographing distance, a focal length and a pixel size. - View Dependent Claims (15)
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Specification