Measurement face extraction apparatus and method

• US 5,694,483 A
• Filed: 06/06/1995
• Issued: 12/02/1997
• Est. Priority Date: 06/13/1994
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Onoguchi, Kazunori
• Primary Examiner(s): Johns, Andrew
• Assistant Examiner(s): Davis, Monica S.
• Application Number:
  US08/469,417
• Time in Patent Office: 910 Days
• Field of Search: 382/154, 382/199, 382/286, 382/294, 382/285, 364/560, 348/142, 358/107, 250/561
• US Class Current: 382/154
• CPC Class Codes: G01C 11/06 by comparison of two or more pictures of the same area
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

A measurement face extraction apparatus extracts a measurement face such as a road area in three-dimensional space. The measurement face is continuously located in the three-dimensional space. In the apparatus, two cameras input two images each of which includes the measurement face. A conversion unit calculates an equation of a projection plane corresponding to the measurement face and projects each position of each image onto the projection plane. A memory stores image information of each position of the two images by unit of projected position on the projection plane. An extraction unit, extracts each projected position for which the image information of the two images are similar from each projected position of the memory as the measurement face on the projection plane.

Claims

1. Measurement face extraction apparatus comprising:

image input means for inputting a left image and a right image of a three-dimensional space that includes a measurement face, the left image including a left image of the measurement face and the right image including a right image of the measurement face;

conversion means for extracting a plurality of pairs of points each consisting of a point from the left image of the measurement face and a corresponding point from the right image of the measurement face, for calculating positions in the three-dimensional space for the pairs of points, for utilizing the calculated positions to determine a projection plane in the three-dimensional space that include the measurement face, and for projecting each pixel position in the left image and the right image onto the projection plane;

memory means having a plurality of storage units, each storage unit corresponding to a portion of the projection plane and being capable of storing information regarding a pixel position from the left image and a pixel position from the right image projected onto the corresponding portion of the projection plane; and

extraction means for extracting from said memory means a group of storage units in which stored information regarding a pixel position from the left image is similar within a predetermined threshold to stored information regarding a pixel position from the right image.

2. Measurement face extraction apparatus according to claim 1,

wherein the measurement face is a road area.

3. Measurement face extraction apparatus according to claim 1, wherein the image input means comprises two television cameras.

4. Measurement face extraction apparatus according to claim 3, wherein said conversion means includes stereo computation means for extracting a plurality of pairs of edges corresponding to the measurement face from the left image and the right image, and for calculating a plurality of edge positions corresponding to the measurement face in the three-dimensional space in accordance with the plurality of pairs of edges.

5. Measurement face extraction apparatus according to claim 4,

wherein said conversion means includes plane calculation means for calculating an equation of the projection plane corresponding to the measurement face in the three-dimensional space in accordance with the plurality of edge positions.

6. Measurement face extraction apparatus according to claim 5,

wherein said conversion means includes projection means for calculating an equation of a straight line passing through a focus position of each said television camera and each pixel-position of the corresponding one of the left and right images in three-dimensional space, and for calculating a cross point where each straight line passes through the projection plane in accordance with the equation of the straight line and the equation of the projection plane, wherein the cross point is the projected pixel-position on the projection plane.

7. Measurement face extraction apparatus according to claim 6,

wherein said memory means stores image information including at least one of color-value, neighboring edge-density and neighboring-texture of each pixel of each of the left and right images by unit of memory address corresponding to the projected position of each pixel on the projection plane.

8. Measurement face extraction apparatus according to claim 7,

wherein said extraction means includes means for interpolating image information for memory addresses for which image information is not stored, in accordance with image information of a neighboring memory address of said memory means.

9. Measurement face extraction apparatus according to claim 8,

wherein said extraction means extracts each memory address for which the stored image information of the left image and the right image are similar, the extracted memory addresses corresponding to the projected position of the measurement face on the projection plane.

10. Measurement face extraction apparatus according to claim 9, wherein said extraction means includes means for comparing a width of a group of the memory addresses extracted as the measurement face on the projection plane with a predetermined width value.

11. Measurement face extraction apparatus according to claim 7,

wherein a portion of the memory means that corresponds to positions near the two television cameras is finely divided into storage units, and a portion of the memory means that corresponds to positions remote from the two television cameras is coarsely divided into storage units.

12. Measurement face extraction apparatus according to claim 5,

wherein said conversion means includes camera-posture calculation means for calculating posture data of the two television cameras in the three-dimensional space for use in calculating the equation of the projection plane.

13. Measurement face extraction apparatus according to claim 1,

wherein said conversion means includes distance sensor means for sensing a position of the measurement face in the three-dimensional space.

14. Measurement face extraction method comprising the steps of:

inputting a left image and a right image of a three-dimensional space that includes a measurement face, the left image including a left image of the measurement face and the right image including right image of the measurement face;

extracting a plurality of pairs of points, each pair consisting of a point from the left image of the measurement face and a corresponding point from the right image of the measurement face;

calculating positions in the three-dimensional space for the pairs of points;

calculating a projection plane in the three-dimensional space that includes the measurement face utilizing the calculated positions;

projecting each pixel position in the left image and the right image onto the projection plane;

storing in each of a plurality of storage units information regarding a pixel position in the left image and a pixel position in the right image projected onto the projection plane, wherein each storage unit corresponds to a portion of the projection plane; and

extracting a group of storage units in which stored information regarding a pixel position in the left image is similar within a predetermined threshold to stored information regarding a pixel position in the right image.

15. A computer readable memory containing computer-readable instructions to extract a measurement face comprising:

instruction means for causing a computer to input a left image and a right image of a three-dimensional space that includes a measurement face, the left image including a left image of the measurement face and the right image including a right image of the measurement face;

instruction means for causing a computer to extract a plurality of pairs of points, each pair consisting of a point from the left image of the measurement face and a corresponding point from the right image of the measurement face;

instruction means for causing a computer to calculate positions in the three-dimensional space for the pairs of points;

instruction means for causing a computer to calculate a projection plane in the three-dimension space that includes the measurement face;

instruction means for causing a computer to project each pixel position in the left image and the right image onto the projection plane;

instruction means for causing a computer to store in each of a plurality of storage units information regarding a pixel position in the left image and a pixel position in the right image projected onto the projection plane, wherein each storage unit corresponds to an area of the projection plane; and

instruction means for causing a computer to extract a group of storage units in which stored information regarding a pixel position in the left image is similar within a predetermined threshold to stored information regarding a pixel position in the right image.