JPS5853707A - Correcting method for distortion in picture of television camera in tridimensional distance measuring device - Google Patents

Abstract

PURPOSE:To make it possible to perform accurate tridimensional distance measurement, by measuring the amount of the distortion in the picture of each TV camera in advance at every small divided area of each monitoring screen and memorizing the result, and correcting the measuring coordinates of the right and left monitoring screens by the distortion amount of each area. CONSTITUTION:As an object to be picked up, a test pattern 10 having an equal longitudinal and lateral interval is provided, and picture signals of the TV cameras 2 and 3 are displayed on monitors 4 and 5, respectively. Aiming marks 12, which can be arbitrarily moved by an external control circuit 11 and by which position coordinates can be measured, are superimposed on the picture signals of the cameras 2 and 3 and displayed on the screens of the monitors 4 and 5. The aiming marks 12 are aligned on each intersection of the test pattern 10 on both screens of the monitors, and the coordinates of all the inersections are measured. At this time, the screens of the monitors are divided into small areas P11, P12... having the correcting amounts of the distorted pictures which are measured in advance, and the correct coordinates wherein an arbitrary measuring point Lij is corrected by the distortion amount for that part can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an image distortion correction method for a television camera in a three-dimensional distance measuring device using a three-dimensional television. The principle of a three-dimensional television is shown in Fig. s1. The object 1 is imaged by two television cameras 2.3 with their optical axes parallel to each other, and its third part is displayed on a monitor television 4.5.

If 96.7 of the left and right monitor televisions 4.5 is observed through a stereoscopic mirror 8 whose optical axes are parallel, a stereoscopic image 9 can be seen behind the monitor televisions 4.5.

Next, a three-dimensional distance measuring device using a conventional stereoscopic television will be explained. A conventional three-dimensional distance measurement device copy is imaged with two TV cameras with parallel optical axes to create two left and right Eirin signals), and these Eirin signals are displayed on two monitor TVs to display each image. While observing the left and right aK41 3D images, photograph the subject on the left and right () 4 x 11M! M
Ill was measured and calculated from this coordinate value and the distance between the two television cameras.

In this method, a KTF television camera is used to photograph the subject. In the television camera, the scanning of the photocathode is delayed by an electromagnetic or electric field, resulting in image distortion, that is, deflection distortion and scanning distortion, and three-dimensional scratches. Distortion O That is, three-dimensional distance measurement #1: The distortion of the three-dimensional image with the paddle is as shown in FIG. S's Ichizono subject toms, 70sl coordinates (XIeZ &) - (Xr
, Zr) It is clear that 1 is included in Fig. 3.
htz Uni measurement coordinates (XL, Z&), (Xr, Zr)
If you include the error due to the distortion of the 3D image, the coordinates of subject 1 will also change from (x, y) to (x, y')
' becomes.

Therefore, when the error α, /, r due to the distortion of the 3D image is included in the measurement coordinates, the X, Y, Z is In this case, constant distance accuracy decreases. However, - is a value determined by the monitor magnification and the focal length of the lens, and is the 2d lens spacing.

The present invention provides an image distortion correction method for a television camera in a front lens dimensional distance measuring device using a stereoscopic television in order to eliminate the above-mentioned drawbacks. Fig. 4 SS diagram shows an embodiment according to the present invention. 114 As shown in Figure 114, a test pattern of 10 tons of lines drawn at equal intervals both vertically and horizontally is used as a Km photographic object. In addition, the TV camera 2 displays the image 4# of the aiming mark 12, which can be moved arbitrarily by an external control circuit 11 on the J-plane of the monitor televisions 4 and 5, and whose position coordinates can be measured.
．． 3 video value IK superimposed left and right O peak Nita TV 4.5K
ll show. Therefore, aim marks 1 are placed at each intersection of the test pattern 10 on both the left and right monitor TVs 4 and 5.
2 and measure the coordinates of all intersections on the left and right 4-=television 4.5 screens. The image distortion of a television camera is not constant on the scanning plane of the television camera's imaging tube. Therefore, as shown in FIG. 5, the screen of the left monitor TV 4 is subdivided into Pll * PIt...Pll, and each subdivided PIs * PIt @...Pl
Each area of
ll” (”Xtt a lh N u ), ΔPn
=(ΔX6.

Δ”IIL・・・・・・ΔP11−(Δ”jj*ΔzI
l) correspond to each other.

Then, if any measurement point LB(](B, town ρ can be seen in light, the image distortion of the TV camera can be corrected to obtain h f
lj constant II II LH' beam, γ(Xll +ΔX
11, JJ + Δ Town), and use the same method to correct the image distortion O of the TV camera on the right? ζ, it is possible to obtain highly accurate three-dimensional distance measurement results.According to the detailed description above, and according to 9th issue 11, image distortion of the TV camera can be corrected by correcting the measurement coordinates on the screen of the monitor TV. This allows accurate three-dimensional distance measurement.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the principle of stereoscopic television, FIG. 112 and FIG. 3 are diagrams showing the principle of three-dimensional distance measurement, and FIGS. 4 and 5 are diagrams explaining an embodiment according to the present invention. l...Subject, 2.3...TV camera, 4.5...
・Monitor TV, 6. 7. The image of the subject on the monitor TV screen, 8. Stereoscopic mirror, 9. Stereoscopic image, 10. Test pattern, 11. Control circuit, 12. Aiming mark. (7317) Law of Attorney Kensuke Chika (and 1 other person) Figure 1 Figure 4

Claims (1)

[Claims] A stereoscopic television device that photographs a subject using a combination of television cameras, creates two left and right video signals, and guides these video signals to the left and right eyes of two monitor televisions, respectively, to observe a three-dimensional image. 1) Superimpose the image signal of the aiming mark, which can be moved arbitrarily on the screen of the monitor TV using an external control signal and whose position coordinates can be measured, on the image signal of the TV camera, and display it on the left and right monitor TV respectively. A three-dimensional distance measuring device consists of a measuring section that measures the distance by aligning the aiming mark with the subject, inputting the aiming mark O coordinates into a computer, and calculating the distance by calculating the position of the subject from the two left and right measurement coordinates. The amount of image distortion of the camera is measured by subdividing the monitor 1llF and measuring each subdivided portion, and storing the measurement in the computer O storage device. An image distortion correction method for a television camera in a three-dimensional distance measuring device, which aims to perform three-dimensional distance measurement with high accuracy by correcting the amount of image distortion of a portion.