Method for automatic stereo measurement of a point of interest in a scene
First Claim
1. A method for performing three dimensional, stereo measurement, comprising:
- obtaining a sensor image from a sensor providing an image of a scene;
providing first and second reference images of the scene that are a stereo pair of images;
registering the sensor image with the first reference image;
selecting a point of interest from one of the sensor image and the first reference image;
performing a stereo point measurement from the selected point of interest and the first reference image to determine a point in the second reference image that represents a stereo mate of the selected point in the first reference image;
defining a three dimensional grid; and
using parametric data from the selected points of interest in the first and second reference images, and each three dimensional point within said grid, to determine three dimensional coordinates of a calculated point within said second reference image that is a minimum distance from said stereo mate point in the second reference image; and
denoting said calculated point as the optimum stereo coordinate measurement of said point in said second reference image.
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Abstract
A method for performing automatic stereo measure of a selected point in a scene. A sensor image is initially obtained from a sensor providing an image of a scene. First and second reference images of the scene that are a stereo pair of images are also provided. The sensor image is registered with the first reference image and a point of interest is selected from one of the sensor or first reference images. A stereo point measurement using the selected point and the two reference images is performed to determine a point in the second reference image that represents a stereo mate of the selected point in the first reference image. An analysis of a three dimensional grid volume centered about the selected point in the first reference image is then performed. The analysis uses both reference images, the selected point and its stereo mate to determine the three dimensional coordinates of the point in the grid that best matches the location of the stereo mate point in the second reference image.
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Citations
12 Claims
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1. A method for performing three dimensional, stereo measurement, comprising:
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obtaining a sensor image from a sensor providing an image of a scene; providing first and second reference images of the scene that are a stereo pair of images; registering the sensor image with the first reference image; selecting a point of interest from one of the sensor image and the first reference image; performing a stereo point measurement from the selected point of interest and the first reference image to determine a point in the second reference image that represents a stereo mate of the selected point in the first reference image; defining a three dimensional grid; and using parametric data from the selected points of interest in the first and second reference images, and each three dimensional point within said grid, to determine three dimensional coordinates of a calculated point within said second reference image that is a minimum distance from said stereo mate point in the second reference image; and denoting said calculated point as the optimum stereo coordinate measurement of said point in said second reference image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for performing three dimensional, stereo measurement, comprising:
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obtaining a sensor image from a sensor providing an image of a scene; providing a first reference image of said scene that is comprised of a plurality of pixels; providing a second reference image of said scene that is comprised of a plurality of pixels, the first and second reference images of the scene comprising a stereo pair of images; registering the sensor image with the first reference image; selecting a first pixel representing a point of interest from one of the sensor image and the first reference image; performing a stereo point measurement using the first pixel to determine a second pixel in the second reference image that represents a stereo mate of the first pixel in the first reference image; defining a three dimensional grid around a portion of said first reference image; using said three dimensional grid and said first and second pixels to determine three dimensional coordinates of a point in said second reference image that is closest to said stereo mate point in the second reference image; and denoting said calculated point as the optimum stereo coordinate measurement of said point in said second reference image. - View Dependent Claims (12)
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Specification