CN102239503A - Stereo matching process device, stereo matching process method, and recording medium - Google Patents
Stereo matching process device, stereo matching process method, and recording medium Download PDFInfo
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Abstract
An image input unit (10) acquires image data relating to a plurality of images obtained by capturing a predetermined region from a plurality of different positions. A reference parallax setting unit (12) sets a reference parallax corresponding to the plurality of images. A search range setting unit (13) sets as a stereo matching search range, a predetermined range smaller than the image range based on the image point giving the reference parallax set by the reference parallax setting unit (12). For an optional point within one of the images, a stereo matching unit (11) searches for a corresponding point of the other image in the search range set by the search range setting unit (13) based on the point of the other image giving the reference parallax set by the reference parallax setting unit (12).
Description
Technical field
The present invention relates to three-dimensional matching treatment equipment, three-dimensional matched processing method and computer readable recording medium storing program for performing.More particularly, the present invention relates to be used for generating automatically the method for three-dimensional data according to stereo-picture.
Background technology
The image that obtains from artificial satellite, aircraft etc. is carried out three-dimensional coupling obtained extensive utilization as a kind of method that generates three-dimensional data automatically according to stereo-picture to generate dimensional topography data [DSM (digital surface model) data].Three-dimensional matching treatment is used for from two width of cloth images (promptly, so-called stereo-picture from different viewpoints acquisitions) match point of identical position has been picked up in searching, and three-dimensional matching treatment also is used for calculating according to principle of triangulation by the parallax between the use match point degree of depth or its shape of interested target.
Various three-dimensional matching treatment technology have been proposed.For example, patent documentation 1 discloses the technology that a kind of utilization obtains widely used image correlation technique.This image correlation technique is to seek the scheme of match point in the following way, that is: in left image, set correlation window as template, cross-correlation coefficient mutually in calculation template and the right image between the search window is as its matching degree, and the search window that moves simultaneously in the right image also searches out the high position of matching degree.
This technology only moves the amount that reduces processing with nuclear line direction by the restriction search window in image, and thereby can obtain the amount of x direction displacement at each point in the left image, in the promptly right image with left image in that parallax of some coupling.The nuclear line is the line that is plotted as a scope at the set point in the piece image among the stereo-picture in can another image among stereo-picture, can have the point that mates this set point in this scope.In " Handbook of Image Analysis " (Mikio Takagi and Haruhisa Shimoda edit and supervise, and Tokyo University publishing house published in January, 1991, the 597th page to the 599th page), the nuclear line is described.
Normally, the direction of nuclear line is different from the direction of picture line.Yet coordinate transform can redirect the direction of nuclear line, makes its direction with picture line consistent.Obtained description in " Handbook of Image Analysis " that this coordinate transformating technology is pointed out in the above.In by the stereo-picture that redirects in the above described manner, the match point search window only can be restricted to and move on sweep trace.Therefore, can obtain parallax as the difference between the x coordinate figure of match point in left image and right image.
Stereo-picture comprises the shaded portions (occlusion area) of target.Proposed to mate the matching technique (referring to patent documentation 2) that correct coupling is guaranteed in any zone at this occlusion area by can't help three-dimensional coupling.
The prior art file
Patent documentation
Patent documentation 1: the open No.H03-167678 of uncensored Japanese patent application KOKAI
Patent documentation 2: the open NO.H04-299474 of uncensored Japanese patent application KOKAI
Patent documentation 3: the open NO.2002-157576 of uncensored Japanese patent application KOKAI
Summary of the invention
Problem to be solved by this invention
During set point is complementary in search and another image in one of paired image from be in three-dimensional matching treatment point, if the whole piece sweep trace in the searching image (nuclear line) then will need to finish for a long time this processing, this also will increase the probability of mispairing.
In view of above situation is made the present invention, and the objective of the invention is to improve the speed and the accuracy of three-dimensional matching treatment.
The device that is used to deal with problems
Three-dimensional matching treatment device according to first aspect present invention comprises: image data acquisition unit, and it obtains the view data of the multiple image of the presumptive area of picking up at a plurality of diverse locations; With reference to the parallax setup unit, its setting is applicable to the reference parallax of this multiple image; The hunting zone setup unit, it is by setting the hunting zone that is used for three-dimensional coupling less than the preset range conduct of image range therebetween with reference to the point in the image that the reference parallax of being set by reference parallax setup unit is provided; And search unit, it is at the arbitrfary point in one of this multiple image, by with reference to the point in another image that the reference parallax of being set by reference parallax setup unit is provided, from the hunting zone of setting by the hunting zone setup unit, search out the point that mates with this arbitrfary point in another image.
Three-dimensional matched processing method according to second aspect present invention comprises: the image data acquisition step, obtain the view data of the multiple image of the presumptive area of picking up from a plurality of diverse locations; Set step with reference to parallax, set the reference parallax that is applicable to this multiple image; Step is set in the hunting zone, by with reference to the point in the image that the reference parallax of setting in reference parallax setting step is provided betwixt, will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of view data scope; And search step, at the arbitrfary point in one of this multiple image, by with reference to being provided at, search out the point that mates with this arbitrfary point in another width of cloth image in the hunting zone of setting the step from setting in the hunting zone with reference to the point in another width of cloth image of the reference parallax of setting in the parallax setting step.
Stored according to the computer readable recording medium storing program for performing of third aspect present invention and to be used for control computer and to bring into play following every functional programs: image data acquisition unit, it obtains the view data of this multiple image of the presumptive area of picking up from a plurality of diverse locations; With reference to the parallax setup unit, its setting is applicable to the reference parallax of this multiple image; The hunting zone setup unit, it will less than the preset range of image range be set at the hunting zone that be used for three-dimensional coupling by with reference to the point in the image that the reference parallax of being set by reference parallax setup unit is provided therebetween; And search unit, it is at the arbitrfary point in one of this multiple image, by with reference to the point in another image that the reference parallax of being set by reference parallax setup unit is provided, from the hunting zone of setting by the hunting zone setup unit, search out the point that mates with this arbitrfary point in another width of cloth image.
Effect of the present invention
According to the present invention, raising becomes possibility according to speed and the accuracy that stereo-picture generates the technology neutral body matching treatment of three-dimensional data automatically.
Description of drawings
Fig. 1 is the block diagram that illustrates according to the exemplary configuration of the stereo-picture treatment facility of first embodiment of the invention;
Fig. 2 is the figure that the aerophoto that will convert view data to exemplarily is shown;
Fig. 3 illustrates in the real world exemplary plot of example condition on the top;
Fig. 4 is the exemplary plot that the DSM data are shown, and these DSM data come to generate by three-dimensional matching treatment from the image of the Image Acquisition of the part by picking up real world shown in Fig. 3;
Fig. 5 is the figure that the search plane that the hunting zone has been described is shown;
Fig. 6 is the figure that the exemplary search scope is shown;
Fig. 7 is the process flow diagram that illustrates according to the exemplary operations of the height evaluation process of first embodiment;
Fig. 8 is the block diagram that illustrates according to the example arrangement of the stereo-picture treatment facility of second embodiment of the invention;
Fig. 9 is the figure that the exemplary search plane is shown, and wherein sets Reference Elev and hunting zone at each zoning;
Figure 10 is the process flow diagram that illustrates according to the exemplary operations of the height evaluation process of second embodiment;
Figure 11 is the block diagram that illustrates according to the exemplary configuration of the stereo-picture treatment facility 1 of the 3rd embodiment;
Figure 12 is the process flow diagram that illustrates according to an exemplary operations of the height evaluation process of the 3rd embodiment;
Figure 13 is the block diagram that illustrates according to the exemplary configuration of the stereo-picture treatment facility 1 of the 4th embodiment;
Figure 14 is the process flow diagram that illustrates according to an example operation of the height evaluation process of the 4th embodiment;
Figure 15 is the block diagram that illustrates according to the exemplary configuration of the stereo-picture treatment facility 1 of the 5th embodiment;
Figure 16 is the process flow diagram that illustrates according to an exemplary operations of the height evaluation process of the 5th embodiment; And
Figure 17 is the block diagram that the exemplary physical configuration of the stereo-picture treatment facility of realizing on computers 1 is shown.
Embodiment
Explain embodiments of the invention in detail referring now to accompanying drawing.In the accompanying drawings, identical or equivalent assemblies will be represented with same reference numbers.
＜the first embodiment 〉
Fig. 1 is the block diagram that illustrates according to the exemplary configuration of the stereo-picture treatment facility of first embodiment of the invention.Stereo-picture treatment facility 1 comprises view data input block 10, three-dimensional matching unit 11, with reference to parallax setup unit 12 and hunting zone setup unit 13.Stereoscopic image processing device 1 is connected to high computational unit 2.
View data input block 10 has the function of input image data, and input will be used for many parts of view data of three-dimensional matching treatment.View data is for example represented the image of the aerophoto that converts digital picture to.View data comprises shooting direction, field angle of camera site, the image of image etc.
Fig. 2 exemplarily shows the example aerophoto that will convert view data to.Aerophoto shown in Fig. 2 comprises aerophoto 101A and the aerophoto 101B that the aircraft of flight from high obtains continuously.Aerophoto 101A and aerophoto 101B take the scene before the aircraft, to comprise the overlapping scene that accounts for each photo scope 60%.The part that overlaps shows from the image of the same area of diverse location shooting.
Image in the present embodiment is the image that generates by aerophoto is carried out digitizing, and this aerophoto is exemplified as aerophoto 101A and aerophoto 101B.The image that uses among the present invention is not limited to aerophoto, can also comprise the digital picture that obtains from satellite photo, by the ordinary digital camera shot digital images, carry out digital picture that scan digitizing obtains etc. by the simulation photo that the common simulation camera is taken.
Search out the position of picking up identical land point in the picture the many parts of view data of the same area that the three-dimensional matching unit 11 shown in Fig. 1 is taken from representative from diverse location.That is, three-dimensional matching unit searches out the paired point corresponding to identical land point in this multiple image.Usually detect paired point by checking that the image between the zonule of such land point coupling on every side in two width of cloth images is correlated with, and find position with maximum correlation coefficient corresponding to identical land point.
Three-dimensional matching treatment technology comprises various technology, such as those technology of mating any point by the amount of determining general characteristic, determine those relevant technology between left image and the right image or the like.The technology that is used for the three-dimensional matching treatment of present embodiment is not limited to any specific a kind of technology.For example, can use the three-dimensional matching treatment of in the open No.H08-16930 of the careful patented claim KOKOKU of Japan, describing.
High computational unit 2 generates the DSM data based on the parallax between the match point that obtains by three-dimensional matching treatment according to the triangulation ratio juris.For example, in paired aerophoto 101A and aerophoto 101B, exist between the matched position of land target and produce predetermined displacement (parallax).In three-dimensional matching treatment, measure this displacement, thereby calculate shallow table height and land target coordinate in the horizontal direction that the land target comprises the sea level elevation value, that is, and land Three-dimension Target data.
Fig. 3 illustrates in the real world exemplary plot of example condition on the top.Fig. 3 shows the sectional view of the part of real world, wherein has the land target on rugged topography.
Fig. 4 shows the exemplary plot of DSM data, and these DSM data generate by image being carried out solid coupling, and the image of the part of this image by picking up the real world shown in Fig. 3 obtains.Because the altitude information of the data represented outermost surface of DSM, so the height of the top that is covered by roof etc. has been indicated the height that comprises its sea level elevation value on roof.
The reference parallax setup unit 12 of Fig. 1 is set parallax, and this parallax serves as the benchmark that is used for search matched point between two width of cloth images.For example, will determine in realistic space and will be set at benchmark with reference to parallax setup unit 12 by the parallax of the reference altitude of the scope of Stereo matching searching.Hunting zone setup unit 13 is set based on the point in the image of the reference parallax that has obtained therebetween to be set by reference parallax setup unit 12 should be by three-dimensional matching unit 11 search to be used to seek the scope of match point.Usually will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of image range.
Fig. 4 conceptually shows corresponding to the Reference Elev of hunting zone and height.For example, the Reference Elev of the fluctuating top shown in Fig. 3 is set in the place, plane by line SL indication, and line SL differs predetermined altitude H apart from the height G of the elevation initial point of aircraft.With reference to the plane by line SL indication, the scope between line BL and the line UL is set to the height SH corresponding to hunting zone in the realistic space.
Fig. 5 shows the search plane of explaining the hunting zone.In Fig. 5, arranging mutual vertically in sweep trace (nuclear line) A in the image that obtains by conversion aerophoto 101A and the image that obtains by conversion aerophoto 101B with sweep trace A corresponding scanning line (nuclear line) B.The plane A that is made of coordinate axis A and coordinate axis B is commonly referred to as the search plane.The center of coming denotation coordination axle A and coordinate axis B to go up each piece by perpendicular line and horizontal line, and the intersection point that intersects of perpendicular line and horizontal line has been represented the coupling between two width of cloth images.Three-dimensional matching unit 11 is search sweep line A and sweep trace B for the match point between two width of cloth images.Indicated the constant constant altitude of parallax between two width of cloth images with the angles of 45 degree thereon at search each bar straight line in the plane.
In Fig. 5, for example, line gl is meant the parallax at the reference altitude place that is shown in top and indicates the line of the elevation initial point of aircraft.Line sp has indicated the height that obtains with reference to the parallax place, and corresponding to the line SL shown in Fig. 4.Width S P is corresponding to the height H shown in Fig. 4.Line u among Fig. 5 is corresponding to the line UL among Fig. 4, and line l is corresponding to the line BL among Fig. 4.Scope with the width R that is defined by line u and line l has been represented the hunting zone.
For example, three-dimensional matching unit 11 is from searching for the paired coupling on online A and the line B between line u shown in Fig. 5 and the line l.Search and sweep trace A go up the point on the sweep trace B of this set point coupling from the line segment of the perpendicular line of going up set point through sweep trace A, between online u of this line segment and the line l.At the point on the sweep trace B is that the given and to be searched target that goes out is in the situation of its match point on sweep trace A, and the such match point of search from the horizontal line segment of going up this set point through sweep trace B is between online u of this line segment and the line l.
Fig. 6 shows the exemplary search scope.When the superlatively flat height of the fluctuating of known top and the difference between the minimum altitude, can set the scope of the land target that is used to search for superlatively flat height that its estimation maximum height comprises fluctuating and the height difference between the minimum altitude.In Fig. 6, the parallax of fluctuating place is indicated by line ls.The hunting zone is by line u that has scope R betwixt and line l indication, this scope R sets by the height difference between the superlatively highly flat and minimum altitude that comprises fluctuating based on parallax sp therein, and described parallax sp obtains by the estimation average height of adding the land target to the average height that rises and falls.
When the sea level elevation of known top, can highly come promptly to carry out three-dimensional matching treatment with the superlatively flat height that comprises top and the height difference between the minimum altitude and the estimation of land target by the setting search scope.Because the limited scope of search, thereby reduced the probability that two width of cloth image mid points may be mistaken as match point.
Fig. 7 is the exemplary operations that illustrates according to the height evaluation process of first embodiment.10 inputs of view data input block will be applied in the multiple image (step S11) with three-dimensional matching treatment.For example highly set with reference to parallax (step S12) with reference to parallax setup unit 12 based on the sea level on the average of domain of dependence and the estimation of land target.Hunting zone setup unit 13 comes at reference parallax setting search scope (step S13) based on the sea level elevation difference in zone and the height of land target.
At the point in the piece image, three-dimensional matching unit 11 searches out the point (step S14) that matches in this another width of cloth image by with reference to providing with reference to the point in another width of cloth image of parallax from the hunting zone of setting.High computational unit 2 is based on the height and the coordinate (step S15) of this point on map that calculate each point in this multiple image in the position of coupling point together between the image.
By setting with reference to parallax and hunting zone will superlatively putting down under the situation that the height difference between height and the minimum altitude and the estimation of land target highly take into account, can promptly carry out three-dimensional matching treatment according to the stereo-picture treatment facility 1 of first embodiment.In addition, owing to searched for limited scope, thereby reduced the probability that point in two width of cloth images is mistaken as match point.
＜the second embodiment 〉
Fig. 8 shows the block diagram according to the exemplary configuration of the stereo-picture treatment facility 1 of second embodiment of the invention.According to second embodiment, set with reference to parallax and hunting zone based on the sea level elevation data of map datum.
The stereoscopic image processing device 1 of Fig. 8 also comprises map datum input block 14 and area dividing unit 15 except the configuration of first embodiment.Map datum input block 14 input in the view data of being imported as the map datum in the zone of feature.Map datum comprises the sea level elevation data of each net point in the map.
The view data of being imported is divided in area dividing unit 15 according to the sea level elevation data.If the sea level elevation data comprise very little height difference, then image can not be divided and can be regarded as a zone.When map datum comprises than the bigger height difference of the preset range in the image range, image will be divided into a plurality of zones.
According to the sea level elevation data, be each regional setting of being divided with reference to parallax setup unit 12 by area dividing unit 15 with reference to parallax.Hunting zone setup unit 13 highly comes to be each zoning setting search scope by considering to be included in the height difference in the sea level elevation data and the estimation of land target.
Three-dimensional matching unit 11 is according to reference parallax and the hunting zone set at each zoning, search matched point and be extracted into right match point between multiple image.High computational unit 2 generates the DSM data based on the parallax between the match point that obtains by three-dimensional matching treatment according to the triangulation ratio juris.
Fig. 9 shows the exemplary search plane, sets with reference to parallax and hunting zone on this plane at each zoning.In the example of Fig. 9, mark off 4 zones according to the fluctuating ls of top.The reference parallax in zone is respectively sp1, sp2, sp3 and sp4.The hunting zone of first area is the scope with the width R1 that is defined by u1 and l1.Other regional hunting zones are scopes of having the width R2 that is defined by u2 and l2 respectively, have the scope of the width R3 that is defined by u3 and l3 and have the scope of the width R4 that is defined by u4 and l4.
As shown in Figure 9, the hunting zone is less than the hunting zone among Fig. 6.When existence has the fluctuating of height difference, can wherein exist match point among a small circle by image range being divided into a plurality of zones and the hunting zone being restricted at each zoning setting search scope.Therefore, can carry out three-dimensional matching treatment quickly and accurately.
Can carry out area dividing makes the height difference in each zone be equal to or less than predetermined value.Alternatively, dividing number can determine according to the height difference in the image range.
Figure 10 shows the process flow diagram according to the exemplary operations of the height evaluation process of second embodiment.When view data input block 10 input will be applied in multiple image with three-dimensional matching treatment (step S21), 14 inputs of map datum input block in image as the map datum (step S22) in the zone of feature.Area dividing unit 15 becomes a plurality of zones (step S23) based on the sea level elevation data that are included in the map datum with image division.
Come to set with reference to parallax (step S24) based on sea level elevation data and zoning with reference to parallax setup unit 12 at each zoning.Hunting zone setup unit 13 comes at this zone setting search scope (step S25) according to the height difference in each zoning.
Three-dimensional matching unit 11 by with reference to the point that provides in another image with reference to parallax, is put the point (step S26) of coupling with this in another image of search at the point in one of image from the hunting zone of setting at each zone.High computational unit 2 is based on the height and the coordinate (step S27) of this point on map that calculate each point in this multiple image in the position of coupling point together between the image.
The stereo-picture treatment facility 1 of foundation second embodiment can be restricted to the hunting zone wherein according to the sea level elevation data in the map datum and can have match point among a small circle.Therefore, stereo-picture treatment facility 1 can be carried out three-dimensional matching treatment quickly and accurately.
＜the three embodiment 〉
Figure 11 shows the block diagram according to the exemplary configuration of the stereo-picture treatment facility 1 of the 3rd embodiment.Stereo-picture treatment facility 1 according to the 3rd embodiment also comprises reference point setup unit 16 except the configuration of first embodiment.
Reference point setup unit 16 is selected reference point in a predetermined manner, and this reference point is therebetween can be according to setting one of point with reference to parallax by the image of view data input block 10 inputs.For example, reference point setup unit 16 selects predetermined number point of destination corresponding to size of images and scale as the reference point randomly.Alternatively, reference point setup unit 16 can come point is selected by predetermined distribution.
The paired point that reference point setup unit 16 makes three-dimensional matching unit 11 be extracted in to match each other between this multiple image, one of point that this is paired are in the point of being selected by reference point setup unit 16.Reference point setup unit 16 calculates the three-dimensional data of each Chosen Point, and the three-dimensional data of each Chosen Point is sent to reference to parallax setup unit 12.
Set with reference to parallax based on the three-dimensional data that is received from reference point setup unit 16 in a predetermined manner with reference to parallax setup unit 12.For example, with reference to parallax setup unit 12 average or the intermediate value of the height of three-dimensional data is set at Reference Elev, and the parallax on this Reference Elev is set at reference to parallax.Alternatively, can be averaged each predetermined division zone, to set with reference to parallax at each zone with reference to parallax setup unit 12.
Hunting zone setup unit 13 is according to coming the setting search scope with reference to parallax.For example, the distribution of the height of the three-dimensional data that hunting zone setup unit 13 can be by considering selected point comes the setting search scope.When image range is divided into a plurality of zone, can come the setting search scope at each zoning.
Reference parallax and the hunting zone search matched point between this multiple image that three-dimensional matching unit 11 foundations have been set, and be extracted into right match point.In the situation of setting at each zoning with reference to parallax and hunting zone, from each hunting zone, search out match point.High computational unit 2 generates the DSM data based on the parallax between the match point that obtains by three-dimensional matching treatment according to the triangulation ratio juris.
Figure 12 shows the process flow diagram according to the exemplary operations of the height evaluation process of the 3rd embodiment.When view data input block 10 was imported the multiple image (step S31) that will be applied in three-dimensional matching treatment, reference point setup unit 16 was selected reference point (step S32) in a predetermined manner from image.Three-dimensional matching unit 11 is carried out three-dimensional matching treatment at selected reference point, to extract match point paired in this multiple image (step S33).
Reference point setup unit 16 comes the height (step S34) of calculating reference point based on the paired selected point of coupling.Set with reference to parallax (step S35) based on the height of reference point with reference to parallax setup unit 12.In this step, can set with reference to parallax (that is, reference point setup unit 16 can not calculate the height of selected point) based on the paired selected point of coupling with reference to parallax setup unit 12.Setup unit 13 foundations in hunting zone are with reference to parallax setting search scope (step S36).
At the point in the piece image, three-dimensional matching unit 11 is by searching out the point (step S37) that matches in another width of cloth image with reference to providing with reference to the point in another width of cloth image of parallax is next from hunting zone of setting at each zone.High computational unit 2 calculates the height and the coordinate (step S38) of point on map of each point based on the position that is matched with point together in this multiple image between these images.
Even without map datum, the hunting zone can be limited to according to the stereo-picture treatment facility 1 of the 3rd embodiment and be suitable for image and wherein can have match point among a small circle.Therefore, stereo-picture treatment facility 1 can be carried out three-dimensional matching treatment quickly and accurately.
＜the four embodiment 〉
Figure 13 shows the block diagram according to the exemplary configuration of the stereo-picture treatment facility 1 of the 4th embodiment.According to the stereo-picture treatment facility 1 of the 4th embodiment from the reference point of outside input according to the 3rd embodiment.Stereo-picture treatment facility 1 shown in Figure 13 also comprises reference point input block 17 except that the configuration of the 3rd embodiment.
The data of reference point locations in the reference point input block 17 input indicating images.For example, reference point input block 17 can be on the display device (not shown) display image data, and the point selected from display screen of input.Reference point input block 17 can be imported the data of coordinate in the indicating image.
Reference point setup unit 16, with reference to parallax setup unit 12, hunting zone setup unit 13 and three-dimensional matching unit 11 with the 3rd embodiment in identical mode operate.
According to the 4th embodiment, can set the reference point that is considered to suitable according to the image of input.Can select for example to comprise the artificial land of the course light target clarification of objective point of high-lager building, thereby the unique point of iron tower, buildings etc. promptly, is considered to be suitable as the setting apparatus (setter) of Reference Elev the point that the accurate solid of support is mated.
Figure 14 shows the process flow diagram according to the exemplary operations of the height evaluation process of the 4th embodiment.When view data input block 10 is imported the multiple image (step S41) that will be applied in three-dimensional matching treatment, the data (step S42) of the position of reference point in the reference point input block 17 input indicating images.Can select a plurality of reference point.
The position of the point that reference point setup unit 16 will be imported is sent to three-dimensional matching unit 11, and three-dimensional matching unit 11 is carried out three-dimensional matching treatment to be extracted in the paired point (step S43) that matches each other between this multiple image at selected reference point.Reference point setup unit 16 comes the height (step S44) of calculating reference point based on the paired selected point of coupling.After this, from setting with reference to parallax (step S45) to the processing of calculating match point height (step S48) identical to the processing of step S38 with shown in Figure 12 from step S35.
Except the 3rd embodiment, also can select to provide the suitable reference parallax that is applicable to image and support the accurately point of three-dimensional coupling according to the stereo-picture treatment facility 1 of the 4th embodiment.Therefore, stereo-picture treatment facility 1 can be carried out three-dimensional matching treatment quickly and accurately.
＜the five embodiment 〉
Figure 15 shows the block diagram according to the exemplary configuration of the stereo-picture treatment facility 1 of the 5th embodiment.According to the stereo-picture treatment facility 1 of the 5th embodiment from the outside input according to the reference point of the 3rd embodiment and when using three-dimensional coupling and the match point of its coupling.Stereo-picture treatment facility 1 shown in Figure 15 comprises the reference coupling to input block 18, rather than reference point input block 17 and the reference point setup unit 16 of foundation the 3rd embodiment.
Reference is mated putting the data of the position of the point that mates with this in the position of reference point in the input block 18 input indication piece images and another image on solid coupling meaning.For example, can on the display device (not shown), show two parts of view data to input block 18, and input is from the paired match point of display screen selection with reference to coupling.Can alternatively import the data of the coordinate of match point paired in indication two width of cloth images to input block 18 with reference to coupling.
With reference to parallax setup unit 12, hunting zone setup unit 13 and three-dimensional matching unit 11 with first embodiment in identical mode operate.
According to the 5th embodiment, can set the paired reference match point that is considered to be fit to according to the image of being imported.Can select for example to comprise the artificial land of the course light target clarification of objective point of high-lager building, the unique point of iron tower, buildings etc. promptly is considered to be suitable as the match point of point of the setting apparatus of Reference Elev.
Figure 16 shows the process flow diagram according to the exemplary operations of the height evaluation process of the 5th embodiment.When view data input block 10 is imported the multiple image (step S51) that will be applied in three-dimensional matching treatment, with reference to mating to mate the data (step S52) of the position of the paired reference match point that matches each other on the meaning among two width of cloth of input block 18 input indications in multiple image in solid.Can select a plurality of reference point.
After this, from setting with reference to parallax (step S53) to the processing of calculating match point height (step S56) identical to the processing of step S38 with shown in Figure 12 from step S35.
Stereo-picture treatment facility 1 according to the 5th embodiment can be set with reference to parallax and hunting zone by selecting match point, and this match point provides the suitable reference parallax that is applicable to image and matches each other on solid coupling meaning.Therefore, stereo-picture treatment facility 1 can be carried out three-dimensional matching treatment quickly and accurately.
Figure 17 is the block diagram that has shown the exemplary physical configuration of the stereo-picture treatment facility of realizing on computers 1.Stereo-picture treatment facility 1 according to the embodiment of the invention can be by implementing with the similar hardware configuration of common computer device.As shown in figure 17, stereo-picture treatment facility 1 comprises control module 21, primary memory 22, external memory storage 23, operating unit 24, display unit 25 and I/O unit 26.Primary memory 22, external memory storage 23, operating unit 24, display unit 25 and I/O unit 26 all are connected to control module 21 by internal bus 20.
Operating unit 24 comprises pointing device such as keyboard and mouse and the interfacing equipment that keyboard or other pointing devices is connected to internal bus 20.By operating unit 24 input and to control module 21 view data is provided, be used for the instruction of transmission or be used for display image instruction, set Reference Elev reference point in the position of image etc.
I/O unit 26 comprises connected wireless transmission/receiving equipment, radio modem or network termination apparatus and serial line interface or LAN (LAN (Local Area Network)) interface.Can receive view data by I/O unit 26, perhaps can be by I/O unit 26 transmission result of calculations.
Except above description content, preferred modification of the present invention can dispose as follows.
Preferably, three-dimensional matching treatment equipment according to a first aspect of the present invention is characterised in that: preferably each width of cloth in the multiple image is divided into two or more zones with reference to the parallax setup unit, these two or more zones correspond respectively to two or more zones of dividing in another width of cloth in multiple image, and preferably set with reference to parallax at each zone with reference to the parallax setup unit; And the hunting zone setup unit is by setting the hunting zone that is used for three-dimensional coupling less than the preset range conduct of image range with reference to the point in the image that the reference parallax of setting at each zone is provided betwixt.
Preferably, three-dimensional matching treatment equipment comprises the map datum acquiring unit that obtains corresponding to the sea level elevation data of the map of multiple image, and sets with reference to parallax based on the sea level elevation data of being obtained by the map datum acquiring unit with reference to the parallax setup unit.
Alternatively, can calculate parallax by the point of selecting is in a predefined manner carried out the solid coupling from multiple image with reference to the parallax setup unit, and set with reference to parallax based on the parallax that calculates.
In addition, three-dimensional matching treatment equipment can also be included in and obtain in the multiple image and will be used to calculate the reference point input block of position of the point of parallax, and can carry out three-dimensional coupling by the point that the reference point input block is obtained with reference to the parallax setup unit and calculate parallax and set with reference to parallax based on the parallax that is calculated.
Alternatively, three-dimensional matching treatment equipment can comprise a match point input block of the paired match point that matches each other in the input multiple image on solid coupling meaning, and can set with reference to parallax based on the parallax that provides between the paired match point of input block being imported by coupling with reference to the parallax setup unit.
Preferably, three-dimensional matched processing method according to second aspect present invention is characterised in that: set in the step at the reference parallax, with the paired image of using three-dimensional matching treatment be divided into another image in two or more corresponding zones of two or more zones of dividing, and at each zone setting with reference to parallax; And set in the step in the hunting zone, with reference to the point in the image that the reference parallax of setting at each zone is provided betwixt, will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of image range.
Three-dimensional matched processing method preferably includes the map datum obtaining step that obtains corresponding to the sea level elevation data of the map of multiple image, and set in the step at the reference parallax, set with reference to parallax based on the sea level elevation data of in the map datum obtaining step, obtaining.
Alternatively, set in the step, can calculate parallax by the point of selecting is in a predefined manner carried out the solid coupling from multiple image, and can set with reference to parallax based on the parallax that is calculated at the reference parallax.
In addition, three-dimensional matched processing method can be included in and obtain in the multiple image and will be used to calculate the reference point input step of position of the point of parallax, and set in the step at the reference parallax, can calculate parallax by the point that obtains is carried out the solid coupling in the reference point input step, and can set with reference to parallax based on the parallax that is calculated.
Alternatively, three-dimensional matched processing method can comprise that the coupling of the paired match point that matches each other in the input multiple image is to input step on solid coupling meaning, and set in the step at the reference parallax, can set with reference to parallax based on the parallax that provides between the paired match point of in mating, importing input step.
In addition, more than shown in hardware configuration and process flow diagram only be example, and can be changed arbitrarily or be revised.
Comprise control module 21, primary memory 22, external memory storage 23, operating unit 24, I/O unit 26, internal bus 20 etc. can be in order to the critical piece of the processing of carrying out stereo-picture treatment facility 1 by common computer system but not implement by dedicated system.For example, the computer program that is used to carry out aforesaid operations can be distributed as and be stored in computer readable recording medium storing program for performing (floppy disk, CD-ROM, DVD-ROM etc.) neutralization and install on computers, thereby makes and can dispose the stereo-picture treatment facility 1 that is used to carry out above-mentioned processing.In addition, can be on by the memory storage that server apparatus had on the communication network such as the Internet etc. storage computation machine program, thereby make generic computer system can download and dispose stereo-picture treatment facility 1.
When the function of stereoscopic image processing device 1 realizes or realizes by OS and application program collaborative work by being managed respectively by OS (operating system) and application program, can on recording medium or memory storage, store only application program part.
In addition, computer program can be embedded on the carrier wave, so that distribute via communication network.For example, computer program can post up on the BBS (bulletin board system) on the communication network, and computer program can be via net distribution.When activating computer program and coming computer program in the mode identical, can carry out above-mentioned processing with carrying out other application programs according to the control of OS.
The application is based on Japanese patent application No.2008-300221, and whole instructionss, claims and the accompanying drawing of Japanese patent application No.2008-300221 are incorporated this paper into by reference at this.
Marginal data
1 stereo-picture treatment facility
2 high computational unit
10 view data input blocks
11 three-dimensional matching units
12 with reference to the parallax setup unit
13 hunting zone setup units
14 map datum input blocks
15 area dividing unit
16 reference point setup units
17 reference point input blocks
18 with reference to a match point input block
21 control modules
22 primary memorys
23 external memory storages
24 operating units
25 display units
26 I/O units
30 control programs
Claims (according to the modification of the 19th of treaty)
1. three-dimensional matching treatment equipment comprises:
Image data acquisition unit, it obtains the view data of the multiple image of the presumptive area of picking up at a plurality of diverse locations;
With reference to the parallax setup unit, it is divided into two or more zones of mutual correspondence with each width of cloth in the described multiple image, and sets the reference parallax that is applicable to each zone;
The hunting zone setup unit, its by with reference to provide therebetween by described with reference to the parallax setup unit at each zone set described with reference to the point in the described image of parallax, will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of the scope of described image;
Search unit, it is at the arbitrfary point in one of described multiple image, by with reference to provide by described with reference to the parallax setup unit set described with reference to the point in another image of parallax, from the described hunting zone of setting by described hunting zone setup unit, search out in described another image point with described arbitrfary point coupling; And
The map datum acquiring unit, it obtains the sea level elevation data corresponding to the map of described multiple image,
Wherein saidly set described based on the sea level elevation data of obtaining by described map datum acquiring unit with reference to parallax with reference to the parallax setup unit.
2. (deletion)
3. (deletion)
4. three-dimensional matching treatment equipment according to claim 1, wherein saidly calculate parallax by the point of selecting is in a predefined manner carried out solid coupling from described multiple image, and set described based on the parallax that is calculated with reference to parallax with reference to the parallax setup unit.
5. three-dimensional matching treatment equipment according to claim 4 comprises the reference point input block, and this reference point input block obtains the position of the point that will be used to calculate parallax in the described multiple image,
Wherein saidly calculate parallax by the point that is obtained by described reference point input block being carried out solid coupling, and set described based on the parallax that is calculated with reference to parallax with reference to the parallax setup unit.
6. three-dimensional matching treatment equipment according to claim 5 comprises a match point input block, the paired match point that this match point input block input matches each other on solid coupling meaning in described multiple image,
Wherein saidly set described based on the parallax that between described paired match point, provides with reference to parallax by the input of described match point input block with reference to the parallax setup unit.
7. three-dimensional matched processing method comprises:
The image data acquisition step is obtained the view data of the multiple image of the presumptive area of picking up from a plurality of diverse locations;
Set step with reference to parallax, each width of cloth in the described multiple image is divided into two or more zones of mutual correspondence, and set the reference parallax that is applicable to each zone;
Step is set in the hunting zone, by with reference to provide therebetween described with reference to parallax set in the step at each zone set described with reference to the point in the image of parallax, will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of the scope of described view data;
Search step, at the arbitrfary point in one of described multiple image, by described described with reference to the point in another image of parallax, search out the point that mates with described arbitrfary point in described another image in the described hunting zone of setting the step from setting in described hunting zone with reference to what set in the parallax setting step with reference to being provided at; And
The map datum obtaining step obtains the sea level elevation data corresponding to the map of described multiple image,
Wherein set in the step with reference to parallax, set described with reference to parallax based on the sea level elevation data of in described map datum obtaining step, obtaining described.
8. (deletion)
9. (deletion)
10. three-dimensional matched processing method according to claim 7,
Wherein set in the step with reference to parallax, mate the parallax that calculates at the point of from described multiple image, selecting in a predefined manner by solid, and set with reference to parallax based on the parallax that is calculated described.
11. three-dimensional matched processing method according to claim 10 comprises the reference point input step, this reference point input step obtains the position of the point that will be used to calculate parallax in the described multiple image,
Wherein set in the step with reference to parallax, calculate parallax by the point that obtains is carried out the solid coupling in described reference point input step, and set described based on the parallax that is calculated with reference to parallax described.
12. three-dimensional matched processing method according to claim 11 comprises a match point input step, this match point input step is imported the paired match point that matches each other in the described multiple image on solid coupling meaning, and
Set in the step with reference to parallax described, set described with reference to parallax based on the parallax that provides between the paired match point of in described match point input step, importing.
13. a storage is used for the computer readable recording medium storing program for performing that control computer is brought into play following listed every functional programs:
Image data acquisition unit, it obtains the view data of the multiple image of the presumptive area of picking up from a plurality of diverse locations;
With reference to the parallax setup unit, it is divided into two or more zones of mutual correspondence with each width of cloth in the described multiple image, and sets the reference parallax that is applicable to each zone;
The hunting zone setup unit, its by with reference to provide therebetween by described with reference to the parallax setup unit at each zone set described with reference to the point in the image of parallax, will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of the scope of described image;
Search unit, it is at the arbitrfary point in one of described multiple image, by with reference to provide by described with reference to the parallax setup unit set described with reference to the point in another image of parallax, from the hunting zone of setting by described hunting zone setup unit, search out the point that mates with described arbitrfary point in described another image, and
The map datum acquiring unit, it obtains the sea level elevation data corresponding to the map of described multiple image,
Wherein saidly set described based on the sea level elevation data of obtaining by described map datum acquiring unit with reference to parallax with reference to the parallax setup unit.
Claims (13)
1. three-dimensional matching treatment equipment comprises:
Image data acquisition unit, it obtains the view data of the multiple image of the presumptive area of picking up at a plurality of diverse locations;
With reference to the parallax setup unit, its setting is applicable to the reference parallax of described multiple image;
The hunting zone setup unit, its by with reference to provide therebetween by described with reference to the parallax setup unit set described with reference to the point in the described image of parallax, will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of the scope of described image; And
Search unit, it is at the arbitrfary point in one of described multiple image, by with reference to provide by described with reference to the parallax setup unit set described with reference to the point in another image of parallax, from the described hunting zone of setting by described hunting zone setup unit, search out in described another image point with described arbitrfary point coupling.
2. three-dimensional matching treatment equipment according to claim 1, wherein
Described two or more corresponding respectively zones of two or more zones that each width of cloth of described multiple image are divided into and in another image, divide with reference to the parallax setup unit, and at each zone setting with reference to parallax, and
Described hunting zone setup unit by with reference to provide therebetween at each zone set described with reference to the point in the image of parallax, will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of the scope of described image.
3. three-dimensional matching treatment equipment according to claim 2 comprises the map datum acquiring unit, and this map datum acquiring unit obtains the sea level elevation data corresponding to the map of described multiple image,
Wherein saidly set described based on the sea level elevation data of obtaining by described map datum acquiring unit with reference to parallax with reference to the parallax setup unit.
4. three-dimensional matching treatment equipment according to claim 2, wherein saidly calculate parallax by the point of selecting is in a predefined manner carried out solid coupling from described multiple image, and set described based on the parallax that is calculated with reference to parallax with reference to the parallax setup unit.
5. three-dimensional matching treatment equipment according to claim 4 comprises the reference point input block, and this reference point input block obtains the position of the point that will be used to calculate parallax in the described multiple image,
Wherein saidly calculate parallax by the point that is obtained by described reference point input block being carried out solid coupling, and set described based on the parallax that is calculated with reference to parallax with reference to the parallax setup unit.
6. three-dimensional matching treatment equipment according to claim 2 comprises a match point input block, the paired match point that this match point input block input matches each other on solid coupling meaning in described multiple image,
Wherein saidly set described based on the parallax that between described paired match point, provides with reference to parallax by the input of described match point input block with reference to the parallax setup unit.
7. three-dimensional matched processing method comprises:
The image data acquisition step is obtained the view data of the multiple image of the presumptive area of picking up from a plurality of diverse locations;
Set step with reference to parallax, set the reference parallax that is applicable to described multiple image;
Step is set in the hunting zone, by setting set in the step described with reference to the point in the image of parallax with reference to providing described with reference to parallax therebetween, will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of the scope of described view data; And
Search step, at the arbitrfary point in one of described multiple image, by described described with reference to the point in another image of parallax, search out the point that mates with described arbitrfary point in described another image in the described hunting zone of setting the step from setting in described hunting zone with reference to what set in the parallax setting step with reference to being provided at.
8. three-dimensional matched processing method according to claim 7, wherein
Set in the step with reference to parallax described, will be applied in the paired image division of described three-dimensional coupling for another width of cloth image in described paired image in two or more corresponding respectively zones of two or more zones of dividing, and described at each zone setting with reference to parallax, and
Set in the step in described hunting zone,, will be set at the hunting zone that is used for three-dimensional coupling therebetween less than the preset range of the scope of described image with reference to the point in the image that the reference parallax of setting at each zone is provided.
9. three-dimensional matched processing method according to claim 8 comprises the map datum obtaining step, and this map datum obtaining step obtains the sea level elevation data corresponding to the map of described multiple image;
Wherein set in the step with reference to parallax, set described with reference to parallax based on the sea level elevation data of in described map datum obtaining step, obtaining described.
10. three-dimensional matched processing method according to claim 8,
Wherein set in the step with reference to parallax, mate the parallax that calculates at the point of from described multiple image, selecting in a predefined manner by solid, and set with reference to parallax based on the parallax that is calculated described.
11. three-dimensional matched processing method according to claim 10 comprises the reference point input step, this reference point input step obtains the position of the point that will be used to calculate parallax in the described multiple image,
Wherein set in the step with reference to parallax, calculate parallax by the point that obtains is carried out the solid coupling in described reference point input step, and set described based on the parallax that is calculated with reference to parallax described.
12. three-dimensional matched processing method according to claim 8 comprises a match point input step, this match point input step is imported the paired match point that matches each other in the described multiple image on solid coupling meaning, and
Set in the step with reference to parallax described, set described with reference to parallax based on the parallax that provides between the paired match point of in described match point input step, importing.
13. a storage is used for the computer readable recording medium storing program for performing that control computer is brought into play following listed every functional programs:
Image data acquisition unit, it obtains the view data of the multiple image of the presumptive area of picking up from a plurality of diverse locations;
With reference to the parallax setup unit, its setting is applicable to the reference parallax of described multiple image;
The hunting zone setup unit, its by with reference to provide therebetween by described with reference to the parallax setup unit set described with reference to the point in the image of parallax, will be set at the hunting zone that is used for three-dimensional coupling less than the preset range of the scope of described image;
Search unit, it is at the arbitrfary point in one of described multiple image, by with reference to provide by described with reference to the parallax setup unit set described with reference to the point in another image of parallax, from the hunting zone of setting by described hunting zone setup unit, search out in described another image point with described arbitrfary point coupling.
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| CN108377376B (en) * | 2016-11-04 | 2021-01-26 | 宁波舜宇光电信息有限公司 | Parallax calculation method, double-camera module and electronic equipment |
| US20230082100A1 (en) * | 2020-02-14 | 2023-03-16 | Inspur Suzhou Intelligent Technology Co., Ltd. | Content-adaptive binocular matching method and apparatus |
| US11651507B2 (en) * | 2020-02-14 | 2023-05-16 | Inspur Suzhou Intelligent Technology Co., Ltd. | Content-adaptive binocular matching method and apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20110087303A (en) | 2011-08-02 |
| JP2010128622A (en) | 2010-06-10 |
| CN102239503B (en) | 2013-11-13 |
| JP5229733B2 (en) | 2013-07-03 |
| WO2010061861A1 (en) | 2010-06-03 |
| KR101260132B1 (en) | 2013-05-02 |
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