Stereoscopic vision system

• US 4,573,191 A
• Filed: 03/29/1984
• Issued: 02/25/1986
• Est. Priority Date: 03/31/1983
• Status: Expired due to Term

• Current Assignee: Tokyo Shibaura Denki Kabushiki Kaisha
• Original Assignee: Tokyo Shibaura Denki Kabushiki Kaisha
• Inventors: Kuno, Yoshinori, Kidode, Masatsugu
• Primary Examiner(s): Boudreau, Leo H.
• Assistant Examiner(s): Todd, Jacqueline
• Application Number:
  US06/594,733
• Time in Patent Office: 698 Days
• Field of Search: 356/2, 356/12, 250/558, 358/88, 382/1, 350/130, 364/513
• US Class Current: 382/106
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• 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

Abstract

Two-dimensional images of a three-dimensional body photographed by two video cameras are parallactically compensated prior performing the detection of the corresponding point necessary to recognize the body. Namely, the parallax between both cameras for the object distance measured by a range finder is calculated by a parallax calculator, and one image is electrically shifted by an image shifting circuit by only the number of pixels in accordance with the parallax value, thereby performing the parallax compensation of the images. In a calculation processing unit, the correlation values for the corresponding points between both images are calculated, and the distance images of the body are produced on the basis of these correlation values.

Claims

1. A stereoscopic vision apparatus for extracting, from the entire image of a three-dimensional scene, at least one partial image with respect to a predetermined reference distance, and recognizing, on the basis of two-dimensional image processing, whether or not an object actually exists apart from said apparatus by the reference distance in a certain direction, thereby automatically performing a scene analysis, said apparatus comprising:

(a) image input means for simultaneously sensing an incoming image light of a three-dimensional objective body from different points of view and for producing first image signals representing a plurality of two-dimensional body images for the same objective body;

(b) first operating means for receiving distance value data designating the reference distance and for calculating the parallax for the reference distance of said plurality of body images to produce parallax value data;

(c) parallax compensating circuit means, connected to said image input means and said first operating means, for compensating at least one of the first image signals so as to effect a geometric transformation of said body images in accordance with said parallax value data, and for generating second image signals representing a geometrically compensated body image corresponding to said reference distance; and

(d) distance image generating means, connected to said parallax compensating circuit means, for generating a distance image of the three-dimensional objective body corresponding to said reference distance, each pixel of the distance image indicating information about the three-dimensional objective body portion which is apart from said image input means by substantially said reference distance, and said distance image generating means including,

second operating means, connected to said parallax compensating circuit means, for calculating correlation values, from at least said second image signals, among mutually corresponding image portions of the body images, and for producing a sequence of said correlation values as third image signals; and

third operating means, connected to said second operating means, for extracting, from said third image signals, signals which satisfy a predetermined condition about said correlation values, thereby obtaining said distance image of said three-dimensional objective body.

2. The apparatus according to claim 1, further comprising:

distance detecting means, provided in parallel with said image input means, for detecting the schematic distance between said apparatus and said three-dimensional body and for outputting object distance data; and

distance setting means, connected between said distance detecting means and said first operating means, for producing said reference distance data on the basis of said object distance data.

3. The apparatus according to claim 2, wherein said image input means includes:

a pair of electric camera units which are fixed so as to keep substantially the mutually same height from a surface on which said apparatus is placed and to keep a predetermined distance therebetween, and which photograph said three-dimensional body to produce analog image signals; and

signal converter means connected to said electric camera units, for converting said analog image signals into the digital image signals.

4. The apparatus according to claim 3, wherein said first operating means specifies the number of pixels of said digital images responsive to said parallax values calculated;

and said parallax compensating circuit electrically shifts at least one body image among said plurality of body images in dependence upon said number of pixels.

5. An image processing apparatus for extracting distance images representing whether or not an objective body is actually existed at a predetermined reference distance from said apparatus, thereby automatically recognizing a scene containing a stereo body, comprising:

(a) a pair of image pickup devices which are disposed away from each other so as to photograph one body from mutually different points of view and produce two electrical image signals respectively representing two two-dimensional body images for one body;

(b) distance measuring means, fixedly positioned between said image pickup devices, for measuring an object distance to an arbitrary point on the surface of said one body and for determining the reference distance; and

(c) computer means, connected to said image pickup devices and said distance measuring means, for processing said two-dimensional image signals and extracting said distance images, said computer means comprising,

first circuit means, connected to said distance measuring means, for producing an object distance string, including the reference distance as the center and a plurality of object distances adjacent to the reference distance at predetermined intervals,

image memory means having memory planes which correspond to said object distance string,

second circuit means, connected to said first circuit means, for calculating the parallax between said pair of image pickup devices with respect to at least one object distance in said distance string and for producing parallax values,

third circuit means connected to said second circuit means, for electrically performing the parallax compensation between the corresponding output image from said image pickup devices in a manner such that at least one of said output images is geometrically reformed in accordance with said parallax values to thereby compensate the parallactical difference between said output images, and

fourth circuit means, connected to said third circuit means, for obtaining correlation values in each image area of both of said parallax-compensated images and for detecting the corresponding point between both of said images using these correlation values, said data of said corresponding point thus detected being stored in the corresponding image plane in said image memory means.

6. The apparatus according to claim 5, wherein said fourth circuit means includes:

difference-calculation circuit means for calculating the differences in data among the pixels which are included in the output images from said pair of image pickup devices; and

adder circuit means for receiving the difference data of said difference-calculation circuit means and for calculating the sum total of said pixel difference data included in the image portion areas which are formed using each pixel of each of said output images as the center.

7. The apparatus according to claim 6, wherein said sum total serves as the correlation value data between both of said images at the corresponding pixel location.

8. The apparatus according to claim 7, wherein said fourth circuit means further includes:

comparator means, connected to said adder circuit means and said image memory means, for receiving threshold value data and comparing the correlation value data between both of said images with this threshold value data, thereby searching said corresponding point.