DE202010012464U1 - Measuring system for distance determination by means of 3D camera - Google Patents

Measuring system for distance determination by means of 3D camera Download PDF

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Publication number
DE202010012464U1
DE202010012464U1 DE202010012464U DE202010012464U DE202010012464U1 DE 202010012464 U1 DE202010012464 U1 DE 202010012464U1 DE 202010012464 U DE202010012464 U DE 202010012464U DE 202010012464 U DE202010012464 U DE 202010012464U DE 202010012464 U1 DE202010012464 U1 DE 202010012464U1
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Prior art keywords
moving
objects
vehicles
camera
determination
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Expired - Lifetime
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DE202010012464U
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German (de)
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BERZINS HARALD
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BERZINS HARALD
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Priority to DE202010012464U priority Critical patent/DE202010012464U1/en
Publication of DE202010012464U1 publication Critical patent/DE202010012464U1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
    • G01C3/14—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with binocular observation at a single point, e.g. stereoscopic type
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0085—Motion estimation from stereoscopic image signals

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)

Abstract

Entfernungsbestimmung von unbewegten Objekten mit fest stehender Kamera für z. B. forensische Untersuchungen
Entfernungsbestimmung von bewegten und unbewegten Objekten (wie zum Beispiel Fahrzeugen) mit fest stehender Kamera.
Geschwindigkeitsbestimmung von bewegten Objekten (wie zum Beispiel Fahrzeugen) mit fest stehender Kamera
Entfernungsbestimmung von bewegten und unbewegten Objekten (z. B. Fahrzeugen) mit bewegter Kamera (z. B. aus Fahrzeugen)
Geschwindigkeitsbestimmung von bewegten Objekten (wie zum Beispiel Fahrzeugen) mit fest stehender Kamera
Geschwindigkeitsbestimmung von bewegten Objekten (wie zum Beispiel Fahrzeugen) mit bewegter Kamera (z. B. aus Fahrzeugen)
Positionsbestimmung von bewegten und unbewegten Objekten für Greifroboter
Positionsbestimmung von Hindernisse oder Objekte für bewegte Roboter oder selbstnavigierende Fahrzeuge
Enttarnung von getarnten Objekten über ein Entfernungsprofil
Zielerfassung für bewegte und statische WaffensystemeDistance determination of still objects with fixed camera for z. B. forensic investigations
Distance determination of moving and stationary objects (such as vehicles) with fixed camera.
Speed determination of moving objects (such as vehicles) with fixed camera
Distance determination of moving and stationary objects (eg vehicles) with moving camera (eg from vehicles)
Speed determination of moving objects (such as vehicles) with fixed camera
Speed determination of moving objects (such as vehicles) with a moving camera (eg from vehicles)
Position determination of moving and stationary objects for gripper robots
Positioning of obstacles or objects for moving robots or self-navigating vehicles
Removal of camouflaged objects via a distance profile
Target detection for moving and static weapon systems

Description

Das Messsystem bestehend aus

  • 1. Einer 3D Kamera mit variablem Objektivabstand Optional mit Kompasssensor, Neigungssensor, GPS
  • 2. Einen PC, idealer weise Laptop, Notebook oder NetBook
  • 3. Messsoftware
The measuring system consisting of
  • 1. A 3D camera with variable lens distance Optional with compass sensor, tilt sensor, GPS
  • 2. A PC, ideally as laptop, notebook or NetBook
  • 3. Measurement software

Das Messsystem ermittelt simultan alle Entfernungen der sichtbaren Objekte welche auf einem 3D-Foto zu sehen sind.The Measuring system simultaneously detects all distances of the visible objects which can be seen on a 3D photo.

Hierzu wird das Foto der linken Kamera als Referenzbild genommen. Das rechte Kamerabild wird in definierte Teilbilder zerlegt. Diese rechten Teilbilder werden mit dem linken Kamerabild iterativ verglichen. Dazu wird ein Teilbild auf der X-Achse des Bildes so lange verschoben bis eine Minimum an Bildfehler erreicht wurde. Aus der so ermittelten Verschiebung wird die Entfernung des Objektes trigonometrisch bestimmt.For this the photo of the left camera is taken as a reference image. The right Camera image is decomposed into defined partial images. This right Partial images are compared iteratively with the left camera image. For this purpose, a partial image on the X-axis of the image is moved so long until a minimum of aberrations has been achieved. From the thus determined Shift, the distance of the object is determined trigonometrically.

Alle Teilbilder können nun mit einer 3D-Engine im 3D-Raum positioniert werden, so dass ein virtuelles Abbild der Realität entsteht.All Partial images can Now be positioned with a 3D engine in 3D space, so that a virtual image of reality arises.

Einzelmessung können durchgeführt werden um von einzelnen Objekten im Kamerabild die Entfernung zur Kamera zu bestimmen.Single measurement can carried out are used to move individual objects in the camera image away from the camera Camera to determine.

Im Videomodus ermittelt das System von bewegten Objekten den Richtungsvektor und die Geschwindigkeit.in the Video mode, the system detects moving objects the direction vector and the speed.

Claims (1)

Entfernungsbestimmung von unbewegten Objekten mit fest stehender Kamera für z. B. forensische Untersuchungen Entfernungsbestimmung von bewegten und unbewegten Objekten (wie zum Beispiel Fahrzeugen) mit fest stehender Kamera. Geschwindigkeitsbestimmung von bewegten Objekten (wie zum Beispiel Fahrzeugen) mit fest stehender Kamera Entfernungsbestimmung von bewegten und unbewegten Objekten (z. B. Fahrzeugen) mit bewegter Kamera (z. B. aus Fahrzeugen) Geschwindigkeitsbestimmung von bewegten Objekten (wie zum Beispiel Fahrzeugen) mit fest stehender Kamera Geschwindigkeitsbestimmung von bewegten Objekten (wie zum Beispiel Fahrzeugen) mit bewegter Kamera (z. B. aus Fahrzeugen) Positionsbestimmung von bewegten und unbewegten Objekten für Greifroboter Positionsbestimmung von Hindernisse oder Objekte für bewegte Roboter oder selbstnavigierende Fahrzeuge Enttarnung von getarnten Objekten über ein Entfernungsprofil Zielerfassung für bewegte und statische WaffensystemeDistance determination of still objects with fixed camera for z. B. forensic investigations Distance determination of moving and stationary objects (such as vehicles) with fixed standing camera. Speed determination of moving objects (such as vehicles) with fixed camera Distance determination of moving and stationary objects (eg vehicles) with moving camera (eg from vehicles) Speed determination of moving Objects (such as vehicles) with fixed camera speed determination of moving objects (such as vehicles) with moving Camera (eg from vehicles) Position determination of moving and immobile objects for gripper robot Positioning of obstacles or objects for moving Robots or self-navigating vehicles Disarming camouflaged Objects over a distance profile Target detection for moving and static weapon systems
DE202010012464U 2010-09-10 2010-09-10 Measuring system for distance determination by means of 3D camera Expired - Lifetime DE202010012464U1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE202010012464U DE202010012464U1 (en) 2010-09-10 2010-09-10 Measuring system for distance determination by means of 3D camera

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202010012464U DE202010012464U1 (en) 2010-09-10 2010-09-10 Measuring system for distance determination by means of 3D camera

Publications (1)

Publication Number Publication Date
DE202010012464U1 true DE202010012464U1 (en) 2010-11-25

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DE202010012464U Expired - Lifetime DE202010012464U1 (en) 2010-09-10 2010-09-10 Measuring system for distance determination by means of 3D camera

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011018871A1 (en) 2011-04-28 2012-10-31 Matthias Kuntzsch Method for simulation of small depth of field with large focal aperture in compact three-dimensional camera, involves recording series of images, and computing distance of image pixels by parallax displacement of points
DE102013001018A1 (en) 2013-01-22 2014-07-24 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Method for operating e.g. truck, involves determining distance of vehicle to light signal system by determining distance of vehicle to traffic symbol, if traffic symbol is arranged in preset region of light signal system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011018871A1 (en) 2011-04-28 2012-10-31 Matthias Kuntzsch Method for simulation of small depth of field with large focal aperture in compact three-dimensional camera, involves recording series of images, and computing distance of image pixels by parallax displacement of points
DE102013001018A1 (en) 2013-01-22 2014-07-24 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Method for operating e.g. truck, involves determining distance of vehicle to light signal system by determining distance of vehicle to traffic symbol, if traffic symbol is arranged in preset region of light signal system

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