Method for determining the position of an object from a digital image

• US 8,396,251 B2
• Filed: 11/28/2005
• Issued: 03/12/2013
• Est. Priority Date: 11/30/2004
• Status: Active Grant

• Current Assignee: IEE International Electronics & Engineering SA (Aerospace Hi-Tech Holding Group Company Limited)
• Original Assignee: IEE International Electronics & Engineering SA (Aerospace Hi-Tech Holding Group Company Limited)
• Inventors: Mirbach, Bruno, Castillo Franco, Marta, Ginhoux, Romuald
• Primary Examiner(s): Hung, Yubin
• Application Number:
  US11/720,473
• Publication Number:
  US 20090129628A1
• Time in Patent Office: 2,661 Days
• Field of Search: 382/104, 382/106, 382/154
• US Class Current: 382/106
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

Method for determining the position of an object point in a scene from a digital image thereof acquired through an optical system is presented. The image comprises a set of image points corresponding to object points and the position of the object points are determined by means of predetermined vectors associated with the image points. The predetermined vector represents the inverted direction of a light ray in the object space that will produce this image point through the optical system comprising all distortion effects of the optical system.

Claims

1. Method for determining a position of an object point in a scene comprising a plurality of object points from a digital image of the scene acquired with an optical system having an image sensor array optically coupled to a lens assembly, the method comprising:

preliminarily determining predetermined vectors via preliminary calibration, and associating said predetermined vectors with respective pixels of said image sensor array, wherein each predetermined vector represents the direction of a light ray in said scene that falls onto said respective pixel of said image sensor array when passing through said lens assembly, said predetermined vectors accounting for optical distortion through said lens assembly;

storing said predetermined vectors within said optical scene;

acquiring a digital image of a further scene through said optical system using said image sensor array, said image including a plurality of image points corresponding to a plurality of object points from the further scene;

measuring and associating distance information of said object points with said image points that correspond with said object points;

storing and said distance information within said optical system;

determining three dimensional coordinates of said object points, said determining occurring based on said stored predetermined vectors and said stored distance information associated with image points corresponding to said object points.

2. Method according to claim 1, wherein each predetermined vector indicates the direction of a light ray passing through the optical centre of the lens assembly of said optical system.

3. Method according to claim 1, wherein each predetermined vector is determined by calibration.

4. Method according to claim 1, wherein said distance information of an object point is indicative of the measured remoteness of said object point.

5. Method according to claim 4, wherein each predetermined vector is a unitary vector in a reference coordinate system;

and the coordinates of an object point corresponding to an image point are determined by multiplying the measured distance information by the predetermined vector associated with this image point.

6. Method according to claim 5, wherein said measured distance information is indicative of the distance from the centre of said optical system to the corresponding object point.

7. Method according to claim 1, wherein a grey value is associated with each image point.

8. Method according to claim 4, wherein the coordinates of said predetermined vectors expressed in reference coordinate system are transformed to another coordinate system.

9. Method according to claim 1, further including the step of detecting and classifying at least one vehicle occupant of an automotive occupant protection system with said measured distance information.