Motion measuring device, motion measuring system, in-vehicle device, motion measuring method, motion measurement program, and computer-readable storage medium

• US 8,213,677 B2
• Filed: 03/03/2006
• Issued: 07/03/2012
• Est. Priority Date: 03/04/2005
• Status: Expired due to Fees

• Current Assignee: Nara Institute of Science and Technology, National University Corporation
• Original Assignee: Nara Institute of Science and Technology, National University Corporation
• Inventors: Matsumoto, Yoshio
• Primary Examiner(s): Perungavoor, Sath V
• Assistant Examiner(s): FUJITA, KATRINA R
• Application Number:
  US11/885,428
• Publication Number:
  US 20080219501A1
• Time in Patent Office: 2,314 Days
• Field of Search: 382/103, 382/107, 348/143
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/30201 Face
• CPC Class Codes: G06T 7/251 involving models

Abstract

An embodiment of the present invention includes: a tracking object image extracting section that extracts a tracking object image, which represents a tracking object, from an image captured by a monocular camera; a two-dimensional displacement calculating section that calculates, as actual movement amounts, amounts of inter-frame movement of the tracking object image; a two-dimensional plane projecting section that generates on a two-dimensional plane a projected image of a three-dimensional model, which represents in three dimensions a capturing object captured by the monocular camera; a small motion generating section that calculates, as estimated movement amounts, amounts of inter-frame movement of the projected image; and a three-dimensional displacement estimating section that estimates amounts of three-dimensional motion of the tracking object on the basis of the actual movement amounts and the estimated movement amounts.

Claims

1. A motion measuring device comprising:

a processor; and

a memory configured to store instructions that, when executed by the processor, cause the processor to extract a tracking object image, which represents a tracking object, from a motion image captured by a monocular camera, on the basis of a feature of the tracking object;

calculate amounts of inter-frame movement of the feature of the tracking object image, as actual movement amounts;

generate on a two-dimensional plane a projected image of a three-dimensional model, which represents in three dimensions a capturing object captured by the monocular camera;

calculate, as estimated movement amounts, amounts of inter-frame movement of a point of the projected image which point corresponds to the feature, the amounts of inter-frame movement being calculated with respect to respective six standard movements of the three-dimensional model, when the three-dimensional model makes movements respectively corresponding to the six standard movements; and

estimate amounts of three-dimensional motion of the tracking object respectively corresponding to the six standard movements, by using a linear equation in which the actual movement amount and the estimated movement amounts are associated with each other.

2. A motion measuring system comprising:

the motion measuring device according to claim 1; and

the monocular camera.

3. An in-vehicle device having the motion measuring system according to claim 2 mounted therein.

4. A non-transitory computer-readable storage medium storing a motion measurement program for causing a computer to function as the foregoing processor of the motion measuring device according to claim 1.

5. A motion measuring method comprising:

a first step of extracting a tracking object image, which represents a tracking object, from a motion image captured by a monocular camera, on the basis of a feature of the tracking object;

a second step of calculating, as actual movement amounts, amounts of inter-frame movement of the feature of the tracking object image;

a third step of generating on a two-dimensional plane a projected image of a three-dimensional model, which represents in three dimensions a capturing object captured by the monocular camera;

a fourth step of calculating, as estimated movement amounts, amounts of inter-frame movement of a point of the projected image which point corresponds to the feature, as the amounts of inter-frame movement being calculated with respect to respective six standard movements of the three-dimensional model, when the three-dimensional model makes movements respectively corresponding to the six standard movements; and

a fifth step of estimating amounts of three-dimensional motion of the tracking object respectively corresponding to the six standard movements, by using a linear equation in which the actual movement amount and the estimated movement amounts are associated with each other.