CN102239503B - 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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- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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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 Stereo matching treatment facility, Stereo matching disposal route and computer readable recording medium storing program for performing.More particularly, the present invention relates to method for generating three-dimensional data automatic according to stereo-picture.
Background technology
The image that obtains from artificial satellite, aircraft etc. is carried out Stereo matching uses generating three-dimensional terrain data [DSM (digital surface model) data] and has obtained extensive utilization as a kind of method of generating three-dimensional data automatic according to stereo-picture.Stereo matching is processed and is used for from two width images (namely, so-called stereo-picture from different viewpoints acquisitions) find and picked up the match point of identical position, and the Stereo matching processing also is used for calculating the degree of depth or its shape of interested target according to principle of triangulation by the parallax between the use match point.
Various Stereo matching treatment technologies have been proposed.For example, patent documentation 1 discloses a kind of utilization and has obtained the technology of widely used image correlation technology.This image correlation technology is to find in the following way the scheme of match point, that is: set correlation window as template in left image, phase cross-correlation coefficient in calculation template and right image between search window is as its matching degree, simultaneously the search window in mobile right image and search out the high position of matching degree.
This technology only moves to reduce the amount of processing by the restriction search window with core line direction in image, and thereby can obtain for each point in left image the amount of x direction displacement, namely in right image with left image in that parallax of some coupling.The core line is to be plotted as the line of a scope in can another image among stereo-picture for the set point in the piece image among stereo-picture, can have the point of this set point of coupling 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 core line is described.
Normally, the direction of core line is different from the direction of picture line.Yet coordinate transform can redirect the direction of core 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 the stereo-picture by redirecting in the above described manner, the match point search window can only 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 guarantee the matching technique (referring to patent documentation 2) of correct coupling for any zone of this occlusion area coupling by can't help Stereo matching.
Patent documentation 3 is described the technology that is used for Stereoscopic image processing apparatus, and this Stereoscopic image processing apparatus can be in the situation that do not exist the operator automatically to generate the three-dimensional data of complex target according to satellite stereo-picture or aviation stereo-picture.The technology of patent documentation 3 is corrected in the three-dimensional data that the appearance information of the buildings that gone out by the map data retrieval that uses from be stored in the map datum memory storage by three-dimensional treating apparatus etc. obtains the defective data part such as noise, omission etc. automatically.The map datum memory storage provides to DSM data automatic correction apparatus the map datum that represents the buildings profile.
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
When point that set point in search from be in one of Stereo matching paired image processing and another image is complementary, if the whole piece sweep trace in searching image (core line), will need to complete 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 speed and the accuracy that Stereo matching is processed.
Be used for the device of dealing with problems
Stereo matching treating apparatus 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 at a plurality of diverse locations, picking up; 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 sets the hunting zone that is used for Stereo matching less than the preset range conduct of image range therebetween by 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 for the arbitrfary point in one of this multiple image,, by reference to the point in another image that the reference parallax of being set by reference parallax setup unit is provided, search out the point that mates with this arbitrfary point in another image from the hunting zone of being set by the hunting zone setup unit.
Stereo matching disposal route 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 hunting zone, and the point by reference in the image that the reference parallax of setting in reference parallax setting step is provided betwixt, will be set as less than the preset range of view data scope the hunting zone for Stereo matching; And search step, for the arbitrfary point in one of this multiple image, set point in another width image of the reference parallax of setting in step by reference to being provided at reference to parallax, from set in the hunting zone of setting step in hunting zone search out another width image in the point of this arbitrfary point coupling.
Stored the program that is used for controlling the following every function of computing machine performance according to the computer readable recording medium storing program for performing of third aspect present invention: 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, by reference to the point in the image that the reference parallax of being set by reference parallax setup unit is provided, will be set as less than the preset range of image range the hunting zone for Stereo matching therebetween; And search unit, it is for the arbitrfary point in one of this multiple image,, by reference to the point in another image that the reference parallax of being set by reference parallax setup unit is provided, search out the point that mates with this arbitrfary point in another width image from the hunting zone of being set by the hunting zone setup unit.
Effect of the present invention
According to the present invention, the speed and the accuracy that improve the technology neutral body matching treatment of generating three-dimensional data automatic according to stereo-picture become possibility.
Description of drawings
Fig. 1 is the block diagram that illustrates according to the exemplary configuration of the Stereoscopic image processing apparatus 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 real world the exemplary plot of example condition on top;
Fig. 4 is the exemplary plot that the DSM data are shown, and these DSM data are processed generation by Stereo matching 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 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 the first embodiment;
Fig. 8 is the block diagram that illustrates according to the example arrangement of the Stereoscopic image processing apparatus of second embodiment of the invention;
Fig. 9 is the figure that the exemplary search plane is shown, and wherein for each zoning, sets Reference Elev and hunting zone;
Figure 10 is the process flow diagram that illustrates according to the exemplary operations of the height evaluation process of the second embodiment;
Figure 11 is the block diagram that illustrates according to the exemplary configuration of the Stereoscopic image processing apparatus 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 Stereoscopic image processing apparatus 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 Stereoscopic image processing apparatus 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 Stereoscopic image processing apparatus 1 of realizing on computers is shown.
Embodiment
Explain in detail embodiments of the invention referring now to accompanying drawing.In the accompanying drawings, identical or equivalent assemblies will represent with same reference numbers.
The＜the first embodiment 〉
Fig. 1 is the block diagram that illustrates according to the exemplary configuration of the Stereoscopic image processing apparatus of first embodiment of the invention.Stereoscopic image processing apparatus 1 comprises view data input block 10, Stereo 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 the many parts of view data that Stereo matching is processed.View data for example represents 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 aircraft, to comprise the overlapping scene that accounts for each photo scope 60%.Overlapping part 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 in the present invention is not limited to aerophoto, the digital picture that can also comprise the digital picture that obtains from satellite photo, be taken by ordinary digital camera, by the simulation photo that the common simulation camera is taken, carries out digital picture that scan digitizing obtains etc.
Search out in picture the position of picking up identical land point many parts of view data of the same area that the Stereo matching unit 11 shown in Fig. 1 is taken from representative from diverse location.That is, the Stereo matching unit searches out the paired point corresponding to identical land point in this multiple image.Usually by checking in two width images that image correlation between the zonule of the coupling around such land point detects the paired point corresponding to identical land point, and find the position with maximum correlation coefficient.
The Stereo matching treatment technology comprises various technology, such as the amount by determining general characteristic mate any point those technology, determine those relevant technology between left image and right image etc.The technology that is used for the Stereo matching processing of the present embodiment is not limited to any specific a kind of technology.For example, can use in Japan and examine the Stereo matching processing of describing in the open No.H08-16930 of patented claim KOKOKU.
High computational unit 2 generates the DSM data based on the parallax of processing by Stereo matching between the match point that obtains according to the triangulation ratio juris.For example, exist in paired aerophoto 101A and aerophoto 101B between the matched position of land target and produce predetermined displacement (parallax).Measure this displacement in Stereo matching is processed, thereby calculate the land target, comprise shallow table height and the land target coordinate in the horizontal direction of sea level elevation value, that is, and the three-dimensional data of land target.
Fig. 3 illustrates in real world the exemplary plot of example condition on 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 is carried out Stereo matching, and the image of the part of this image by picking up the real world shown in Fig. 3 obtains.Represent the altitude information of outermost surface due to the DSM data, 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 for search match point between two width images.For example, will determine in realistic space and will be set as benchmark by the parallax of the reference altitude of the scope of Stereo matching searching with reference to parallax setup unit 12.Hunting zone setup unit 13 is set and should be searched for to be used for finding the scope of match point by Stereo matching unit 11 based on the point in the image that has obtained the reference parallax of being set by reference parallax setup unit 12 therebetween.Usually will be set as less than the preset range of image range the hunting zone for Stereo matching.
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 line UL is set to the height SH corresponding to hunting zone in realistic space.
Fig. 5 shows the search plane of explaining hunting zone.In Fig. 5, the sweep trace corresponding with sweep trace A (core line) B in sweep trace (core line) A in the image that obtains by conversion aerophoto 101A and the image that obtains by conversion aerophoto 101B arranges mutual vertically.The plane A that consists of coordinate axis A and coordinate axis B is commonly referred to as the search plane.Come the center of upper each piece of denotation coordination axle A and coordinate axis B by perpendicular line and horizontal line, and the intersection point that intersects of perpendicular line and horizontal line has represented the coupling between two width images.Stereo matching unit 11 is search sweep line A and sweep trace B for the match point between two width images.Indicated parallax constant constant altitude thereon between two width images with the angles of 45 degree at search each straight line in plane.
In Fig. 5, for example, line gl refers to be shown in the line of the elevation initial point of the parallax at reference altitude place of top and indication 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 in Fig. 5 is corresponding to the line UL in Fig. 4, and line l is corresponding to the line BL in Fig. 4.Scope with the width R that is defined by line u and line l has represented hunting zone.
For example, Stereo matching unit 11 is from searching for the paired coupling on online A and line B between the line u shown in Fig. 5 and line l.Point from the line segment of the perpendicular line through the upper set point of sweep trace A on the sweep trace B of upper this set point coupling of search and sweep trace A, between the online u of this line segment and line l.Be that the given and to be searched target that goes out is in the situation of its match point on sweep trace A at the point on sweep trace B, the such match point of search from the horizontal line segment through upper this set point of sweep trace B, between the online u of this line segment and line l.
Fig. 6 shows the exemplary search scope.When the superlatively flat height of the fluctuating of known top and the difference between minimum altitude, can set the scope that comprises the land target of the superlatively flat height of fluctuating and the height difference between minimum altitude for its estimation maximum height of search.In Fig. 6, the parallax of fluctuating place is indicated by line ls.Hunting zone is by the line u that has betwixt scope R and line l indication, this scope R sets by the height difference of superlatively putting down between height and minimum altitude that comprises therein fluctuating based on parallax sp, and the estimation average height that described parallax sp adds the land target by the average height to rising and falling obtains.
When the sea level elevation of known top, can highly carry out promptly to carry out Stereo matching with the estimation of the superlatively flat height that comprises top and the height difference between minimum altitude and land target by the setting search scope and process.Due to the limited scope of search, thereby reduced by two width image mid points and may be mistaken as the probability of match point.
Fig. 7 is the exemplary operations that illustrates according to the height evaluation process of the first embodiment.10 inputs of view data input block will be applied in the multiple image (step S11) of processing with Stereo matching.For example based on the sea level on the average of domain of dependence and the estimation of land target, highly set with reference to parallax (step S12) with reference to parallax setup unit 12.Hunting zone setup unit 13 comes for reference parallax setting search scope (step S13) based on the sea level elevation difference in zone and the height of land target.
For the point in piece image, Stereo matching unit 11, by reference to providing with reference to the point in another width image of parallax, searches out the point (step S14) that matches in this another width image from the hunting zone of setting.High computational unit 2 is based on calculate height and the coordinate (step S15) of this point on map of each point in this multiple image in the position of coupling point together between image.
, by in the situation that will superlatively put down height difference between height and minimum altitude and the estimation of land target and highly take into account and set with reference to parallax and hunting zone, can promptly carry out Stereo matching according to the Stereoscopic image processing apparatus 1 of the first embodiment and process.In addition, owing to having searched for limited scope, thereby reduced point in two width images and be mistaken as the probability of match point.
The＜the second embodiment 〉
Fig. 8 shows the block diagram according to the exemplary configuration of the Stereoscopic image processing apparatus 1 of second embodiment of the invention.According to the second embodiment, the sea level elevation data of map-based data are set with reference to parallax and hunting zone.
The stereoscopic image processing device 1 of Fig. 8 also comprises map datum input block 14 and regional division unit 15 except the configuration of the first embodiment.Map datum input block 14 input in the view data of inputting as the map datum in the zone of feature.Map datum comprises the sea level elevation data of each net point in map.
Zone division unit 15 is divided the view data of inputting according to the sea level elevation data.If the sea level elevation data comprise very little height difference, image can not be divided and can be regarded as a zone.When map datum comprises than the larger height difference of the preset range in image range, image will be divided into a plurality of zones.
, according to the sea level elevation data, be each regional setting with reference to parallax of by regional division unit 15, being divided with reference to parallax setup unit 12.Hunting zone setup unit 13 is included in height difference in the sea level elevation data by consideration and the estimation of land target highly comes for each zoning setting search scope.
Fig. 9 shows the exemplary search plane, for each zoning, sets with reference to parallax and hunting zone on this plane.In the example of Fig. 9, according to the fluctuating ls of top, mark off 4 zones.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 respectively the width R2 that is defined by u2 and l2, 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, hunting zone is less than the hunting zone in Fig. 6.When existence has the fluctuating of height difference, can be by image range being divided into a plurality of zones and for each zoning setting search scope, hunting zone being restricted to and wherein existing match point among a small circle.Therefore, can carry out quickly and accurately Stereo matching processes.
Can carry out the zone division 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 image range.
Figure 10 shows the process flow diagram according to the exemplary operations of the height evaluation process of the second embodiment.When view data input block 10 input will be applied in the multiple image of processing with Stereo matching (step S21), 14 inputs of map datum input block in image as the map datum (step S22) in the zone of feature.Zone division unit 15 is divided into a plurality of zones (step S23) based on the sea level elevation data that are included in map datum with image.
Come to set with reference to parallax (step S24) for each zoning based on sea level elevation data and zoning with reference to parallax setup unit 12.Hunting zone setup unit 13 comes for this zone setting search scope (step S25) according to the height difference in each zoning.
The point (step S26) of coupling, for the point in one of image,, by reference to the point that provides in another image with reference to parallax, is put with this in another image of search in Stereo matching unit 11 from the hunting zone of setting for each zone.High computational unit 2 is based on calculate height and the coordinate (step S27) of this point on map of each point in this multiple image in the position of coupling point together between image.
Stereoscopic image processing apparatus 1 according to the second embodiment can be restricted to hunting zone wherein and can have match point among a small circle according to the sea level elevation data in map datum.Therefore, Stereoscopic image processing apparatus 1 can be carried out the Stereo matching processing quickly and accurately.
The＜the three embodiment 〉
Figure 11 shows the block diagram according to the exemplary configuration of the Stereoscopic image processing apparatus 1 of the 3rd embodiment.Also comprise reference point setup unit 16 according to the Stereoscopic image processing apparatus 1 of the 3rd embodiment except the configuration of the first embodiment.
Reference point setup unit 16 is selected reference point in a predetermined manner, and this reference point is can set one of point with reference to parallax according to the image by 10 inputs of view data input block therebetween.For example, reference point setup unit 16 is selected corresponding to the predetermined number point of destination of the size of image and scale as a reference point randomly.Alternatively, reference point setup unit 16 can be selected point by predetermined distribution.
The paired point that reference point setup unit 16 makes Stereo 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, the average of the height of three-dimensional data or intermediate value are set as Reference Elev, and the parallax on this Reference Elev is set as with reference to parallax.Alternatively, with reference to parallax setup unit 12, can be averaged each predetermined division zone, for each zone, to set with reference to parallax.
Hunting zone setup unit 13 is according to reference to parallax, carrying out the setting search scope.The distribution of the height of the three-dimensional data that for example, hunting zone setup unit 13 can be by considering selected point carrys out the setting search scope.When image range is divided into a plurality of zone, can carry out the setting search scope for each zoning.
Figure 12 shows the process flow diagram according to the exemplary operations of the height evaluation process of the 3rd embodiment.When 10 inputs of view data input block will be applied in the multiple image (step S31) of processing with Stereo matching, reference point setup unit 16 was selected reference point (step S32) in a predetermined manner from image.Stereo matching unit 11 is carried out Stereo matching for selected reference point and is processed, to extract match point paired in this multiple image (step S33).
Reference point setup unit 16 carrys out 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, with reference to parallax setup unit 12, 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.Setup unit 13 foundations in hunting zone are with reference to parallax setting search scope (step S36).
For the point in piece image, Stereo matching unit 11 searches out the point (step S37) that matches in another width image by reference to providing with reference to the point in another width image of parallax from the hunting zone of setting for 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, according to the Stereoscopic image processing apparatus 1 of the 3rd embodiment, hunting zone can be limited to and be suitable for image and wherein can have match point among a small circle.Therefore, Stereoscopic image processing apparatus 1 can be carried out the Stereo matching processing quickly and accurately.
The＜the four embodiment 〉
Figure 13 shows the block diagram according to the exemplary configuration of the Stereoscopic image processing apparatus 1 of the 4th embodiment.According to the Stereoscopic image processing apparatus 1 of the 4th embodiment from the reference point of outside input according to the 3rd embodiment.Stereoscopic image processing apparatus 1 shown in Figure 13 also comprises reference point input block 17 except the configuration of the 3rd embodiment.
The data of reference point locations in 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 inputted the data of coordinate in indicating image.
Reference point setup unit 16, with reference to parallax setup unit 12, hunting zone setup unit 13 and Stereo 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, the unique point of steel tower, buildings etc., that is, and be considered to be suitable as the setting apparatus (setter) of Reference Elev thus support the point of accurate Stereo matching.
Figure 14 shows the process flow diagram according to the exemplary operations of the height evaluation process of the 4th embodiment.When 10 inputs of view data input block will be applied in the multiple image (step S41) of processing with Stereo matching, the data (step S42) of the position of reference point in 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 inputted is sent to Stereo matching unit 11, and three-dimensional matching unit 11 processes to be extracted in for selected reference point execution Stereo matching the paired point (step S43) that matches each other between this multiple image.Reference point setup unit 16 carrys out 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 from step S35 with shown in Figure 12.
Except the 3rd embodiment, according to the Stereoscopic image processing apparatus 1 of the 4th embodiment, also can select to provide the suitable reference parallax that is applicable to image and the point of supporting accurate Stereo matching.Therefore, Stereoscopic image processing apparatus 1 can be carried out the Stereo matching processing quickly and accurately.
The＜the five embodiment 〉
Figure 15 shows the block diagram according to the exemplary configuration of the Stereoscopic image processing apparatus 1 of the 5th embodiment.According to the Stereoscopic image processing apparatus 1 of the 5th embodiment from the outside input according to the reference point of the 3rd embodiment and when the application Stereo matching and the match point of its coupling.Stereoscopic image processing apparatus 1 shown in Figure 15 comprises with reference to mating input block 18, rather than reference point input block 17 and the reference point setup unit 16 of foundation the 3rd embodiment.
The data to the position of the point that mates with this point on the Stereo matching meaning in the position of reference point in input block 18 input indication piece images and another image are mated in reference.For example, with reference to coupling, to input block 18, can show two parts of view data on the display device (not shown), and input is from the paired match point of display screen selection.Can alternatively input the data of the coordinate of match point paired in indication two width images with reference to coupling to input block 18.
With reference to parallax setup unit 12, hunting zone setup unit 13 and Stereo matching unit 11 with the 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 inputting.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 steel tower, buildings etc., namely be 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 10 inputs of view data input block will be applied in the multiple image (step S51) of processing with Stereo matching, with reference to coupling, input block 18 is inputted the data (step S52) of the position of the paired reference match point that matches each other among two width of indication in multiple image on the Stereo matching meaning.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 from step S35 with shown in Figure 12.
Can set with reference to parallax and hunting zone by selecting match point according to the Stereoscopic image processing apparatus 1 of the 5th embodiment, this match point provides the suitable reference parallax that is applicable to image and matches each other on the Stereo matching meaning.Therefore, Stereoscopic image processing apparatus 1 can be carried out the Stereo matching processing quickly and accurately.
Figure 17 is the block diagram that has shown the exemplary physical configuration of the Stereoscopic image processing apparatus 1 of realizing on computers.Can be by with the similar hardware configuration of common computer device, implementing according to the Stereoscopic image processing apparatus 1 of the embodiment of the present invention.As shown in figure 17, Stereoscopic image processing apparatus 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 the 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/reception or be used for showing 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 configure as follows.
Preferably, Stereo matching treatment facility according to a first aspect of the present invention is characterised in that: with reference to the parallax setup unit, preferably each width in multiple image is divided into two or more zones, these two or more zones correspond respectively to two or more zones of dividing in another width in multiple image, and with reference to the parallax setup unit, preferably for each zone, set with reference to parallax; And the hunting zone setup unit is set the hunting zone that is used for Stereo matching less than the preset range conduct of image range by reference to the point in the image that the reference parallax of setting for each zone is provided betwixt.
Preferably, the Stereo matching treatment facility comprises the map datum acquiring unit that obtains corresponding to the sea level elevation data of the map of multiple image, and with reference to the parallax setup unit, based on the sea level elevation data of being obtained by the map datum acquiring unit, sets with reference to parallax.
Alternatively, can carry out Stereo matching by the point to selecting in a predefined manner from multiple image with reference to the parallax setup unit and calculate parallax, and based on the parallax that calculates, set with reference to parallax.
In addition, the Stereo matching treatment facility can also be included in multiple image the reference point input block that obtains the position of the point for calculating parallax, and can carry out by the point that the reference point input block is obtained Stereo matching with reference to the parallax setup unit and calculate parallax and based on the parallax that calculates, set with reference to parallax.
Alternatively, the Stereo matching treatment facility can comprise a match point input block of the paired match point that matches each other on the Stereo matching meaning in the input multiple image, and with reference to the parallax setup unit, can set with reference to parallax based on the parallax that provides between the paired match point by coupling, input block being inputted.
Preferably, be characterised in that according to the Stereo matching disposal route of second aspect present invention: at the reference parallax, set in step, the paired image that the application Stereo matching is processed is divided into two or more zones corresponding with two or more zones of dividing in another image, and for each zone setting with reference to parallax; And in hunting zone, set in step, the point with reference in the image that the reference parallax of setting for each zone is provided betwixt, will be set as less than the preset range of image range the hunting zone for Stereo matching.
The Stereo matching disposal route preferably includes the map datum obtaining step that obtains corresponding to the sea level elevation data of the map of multiple image, and at the reference parallax, set in step, set with reference to parallax based on the sea level elevation data of obtaining in the map datum obtaining step.
Alternatively, at the reference parallax, set in step, can carry out Stereo matching by the point to selecting in a predefined manner from multiple image and calculate parallax, and can set with reference to parallax based on the parallax that calculates.
In addition, the Stereo matching disposal route can be included in multiple image the reference point input step that obtains the position of the point for calculating parallax, and at the reference parallax, set in step, can carry out Stereo matching by the point to obtaining in the reference point input step and calculate parallax, and can set with reference to parallax based on the parallax that calculates.
Alternatively, the Stereo matching disposal route can comprise that the coupling of the paired match point that matches each other on the Stereo matching meaning in the input multiple image is to input step, and at the reference parallax, set in step, can set with reference to parallax based on the parallax that provides between the paired match point of inputting in mating input step.
In addition, hardware configuration and process flow diagram shown in above are only examples, and can be changed arbitrarily or revise.
The critical piece in order to the processing of carrying out Stereoscopic image processing apparatus 1 that comprises control module 21, primary memory 22, external memory storage 23, operating unit 24, I/O unit 26, internal bus 20 etc. can be by common computer system but not by dedicated system, is implemented.For example, the computer program that is used for the execution 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 installation on computers, thereby makes the Stereoscopic image processing apparatus 1 that can configure be used to carrying out above-mentioned processing.In addition, store computer program on the memory storage that can have at the server apparatus on the communication network by such as the Internet etc., thereby make generic computer system can download and configure Stereoscopic image processing apparatus 1.
When the function of stereoscopic image processing device 1 realizes or by OS and application program collaborative work, realizes by by OS (operating system) and application program, being managed respectively, can store only application program part on recording medium or memory storage.
In addition, computer program can be embedded on carrier wave, in order to via communication network, distribute.For example, computer program can post up on BBS (bulletin board system) on communication network, and computer program can be via net distribution.When activating computer program and according to the control of OS, in the mode identical with carrying out other application programs, carry out computer program, can carry out above-mentioned processing.
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 Stereoscopic image processing apparatus
2 high computational unit
10 view data input blocks
11 Stereo matching unit
12 with reference to the parallax setup unit
13 hunting zone setup units
14 map datum input blocks
15 regional division 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 (9)
1. Stereo matching treatment facility comprises:
Image data acquisition unit, it obtains the view data of the multiple image of the presumptive area of at a plurality of diverse locations, picking up;
With reference to the parallax setup unit, it is divided into each width in described multiple image in two or more zones of mutual correspondence, and sets the reference parallax that is applicable to each zone;
The hunting zone setup unit, its by reference to provide therebetween by described with reference to the parallax setup unit for each zone set described with reference to the point in the described image of parallax, will be set as less than the preset range of the scope of described image the hunting zone for Stereo matching;
Search unit, it is for the arbitrfary point in one of described multiple image, by reference to provide by described with reference to the parallax setup unit set described with reference to the point in another image of parallax, search out in described another image the point with described arbitrfary point coupling from the described hunting zone of being set by described hunting zone setup unit; And
The map datum acquiring unit, it obtains the sea level elevation data corresponding to the map of described multiple image,
Wherein saidly with reference to the parallax setup unit, based on the sea level elevation data of being obtained by described map datum acquiring unit, set described with reference to parallax.
2. Stereo matching treatment facility according to claim 1, wherein saidly carry out Stereo matching with reference to the parallax setup unit by the point to selecting in a predefined manner from described multiple image and calculate parallax, and set described with reference to parallax based on the parallax that calculates.
3. Stereo matching treatment facility according to claim 2, comprise the reference point input block, and this reference point input block obtains in described multiple image will be for the position of the point that calculates parallax,
Wherein saidly carry out Stereo matching with reference to the parallax setup unit by the point to by described reference point input block, being obtained and calculate parallax, and set described with reference to parallax based on the parallax that calculates.
4. Stereo matching treatment facility according to claim 3, comprise a match point input block, this match point input block input matches each other on the Stereo matching meaning in described multiple image paired match point,
Wherein saidly with reference to the parallax setup unit, based on the parallax that provides between the described paired match point by the input of described match point input block, set described with reference to parallax.
5. Stereo matching disposal route 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, each width in 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 hunting zone, by reference to provide therebetween described set step with reference to parallax in for each zone set described with reference to the point in the image of parallax, will be set as less than the preset range of the scope of described view data the hunting zone for Stereo matching;
Search step, for the arbitrfary point in one of described multiple image, describedly with reference to parallax, set set in step described with reference to the point in another image of parallax by reference to being provided at, from set in the described hunting zone of setting step in described hunting zone search out described another image in the point of described arbitrfary point coupling; And
The map datum obtaining step, obtain the sea level elevation data corresponding to the map of described multiple image,
Wherein described, with reference to parallax, set step, based on the sea level elevation data of obtaining in described map datum obtaining step, set described with reference to parallax.
6. Stereo matching disposal route according to claim 5,
Wherein described, with reference to parallax, set step, calculate parallax for the point of selecting in a predefined manner by Stereo matching from described multiple image, and based on the parallax that calculates, set with reference to parallax.
7. Stereo matching disposal route according to claim 6, comprise the reference point input step, and this reference point input step obtains in described multiple image will be for the position of the point that calculates parallax,
Wherein described, with reference to parallax, set step, carry out Stereo matching by the point to obtaining and calculate parallax in described reference point input step, and set described with reference to parallax based on the parallax that calculates.
8. Stereo matching disposal route according to claim 7, comprise a match point input step, the paired match point that matches each other on the Stereo matching meaning in the described multiple image of this match point input step input, and
Set step described with reference to parallax, based on the parallax that provides between the paired match point of inputting in described match point input step, set described with reference to parallax.
9. Stereo matching treating apparatus comprises:
The image data acquisition device, be used for obtaining 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 setting device, be used for each width of described multiple image is divided into two or more zones of mutual correspondence, and set the reference parallax that is applicable to each zone;
The hunting zone setting device, be used for by reference to the point that provides therebetween by the described described image with reference to parallax of setting for each zone with reference to the parallax setting device, will be set as less than the preset range of the scope of described image the hunting zone for Stereo matching;
Searcher, be used for the arbitrfary point for one of described multiple image, by reference to provide by described with reference to the parallax setting device set 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 from the hunting zone of being set by described hunting zone setting device, and
The map datum deriving means, be used for obtaining the sea level elevation data corresponding to the map of described multiple image,
Wherein saidly with reference to the parallax setting device, based on the sea level elevation data of being obtained by described map datum deriving means, set described with reference to parallax.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008-300221 | 2008-11-25 | ||
| JP2008300221A JP5229733B2 (en) | 2008-11-25 | 2008-11-25 | Stereo matching processing device, stereo matching processing method and program |
| PCT/JP2009/069888 WO2010061861A1 (en) | 2008-11-25 | 2009-11-25 | Stereo matching process device, stereo matching process method, and recording medium |
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| CN102239503A CN102239503A (en) | 2011-11-09 |
| CN102239503B true CN102239503B (en) | 2013-11-13 |
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| JP5780413B2 (en) * | 2011-02-18 | 2015-09-16 | 国際航業株式会社 | Deposit amount estimation method, deposit amount estimation diagram, and deposit amount estimation program |
| CN102650518B (en) * | 2011-02-25 | 2015-01-21 | 株式会社理光 | Measuring method and equipment |
| JP5769248B2 (en) * | 2011-09-20 | 2015-08-26 | Ｎｅｃソリューションイノベータ株式会社 | Stereo matching processing device, stereo matching processing method, and program |
| US9374571B2 (en) | 2011-10-11 | 2016-06-21 | Panasonic Intellectual Property Management Co., Ltd. | Image processing device, imaging device, and image processing method |
| CN104025153B (en) * | 2011-12-30 | 2017-09-15 | 英特尔公司 | It is thick to arrive thin multiple parallax candidate Stereo matchings |
| JP5698301B2 (en) * | 2013-04-22 | 2015-04-08 | 株式会社パスコ | Plotting system, plotting method, and program |
| WO2015005163A1 (en) | 2013-07-12 | 2015-01-15 | 三菱電機株式会社 | High-resolution image generation device, high-resolution image generation method, and high-resolution image generation program |
| KR101690645B1 (en) | 2015-09-21 | 2016-12-29 | 경북대학교 산학협력단 | Method for estimating of disparity search range applied multi-level disparity image partitioning and device for matching of stereo image using thereof |
| 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 |
| KR102468897B1 (en) * | 2017-10-16 | 2022-11-21 | 삼성전자주식회사 | Method and apparatus of estimating depth value |
| CN111311667B (en) * | 2020-02-14 | 2022-05-17 | 苏州浪潮智能科技有限公司 | Content self-adaptive binocular matching method and device |
| KR102520189B1 (en) * | 2021-03-02 | 2023-04-10 | 네이버랩스 주식회사 | Method and system for generating high-definition map based on aerial images captured from unmanned air vehicle or aircraft |
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| JP4480212B2 (en) * | 1999-11-05 | 2010-06-16 | アジア航測株式会社 | Calculation method of aerial photo position and orientation |
| JP3618649B2 (en) * | 2000-08-22 | 2005-02-09 | アジア航測株式会社 | An extended image matching method between images using an indefinite window |
| JP2006113832A (en) * | 2004-10-15 | 2006-04-27 | Canon Inc | Stereoscopic image processor and program |
| JP4813263B2 (en) * | 2006-06-05 | 2011-11-09 | 株式会社トプコン | Image processing apparatus and processing method thereof |
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| CN1514300A (en) * | 2002-12-31 | 2004-07-21 | �廪��ѧ | Method of multi viewing angle x-ray stereo imaging and system |
| CN1956554A (en) * | 2005-09-03 | 2007-05-02 | 三星电子株式会社 | Apparatus and method for processing 3d picture |
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| JP2010128622A (en) | 2010-06-10 |
| WO2010061861A1 (en) | 2010-06-03 |
| KR101260132B1 (en) | 2013-05-02 |
| KR20110087303A (en) | 2011-08-02 |
| JP5229733B2 (en) | 2013-07-03 |
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