JP2001195596A - Correspondent point reliability estimating device for image and correspondent point searching device - Google Patents
Correspondent point reliability estimating device for image and correspondent point searching deviceInfo
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- JP2001195596A JP2001195596A JP2000007790A JP2000007790A JP2001195596A JP 2001195596 A JP2001195596 A JP 2001195596A JP 2000007790 A JP2000007790 A JP 2000007790A JP 2000007790 A JP2000007790 A JP 2000007790A JP 2001195596 A JP2001195596 A JP 2001195596A
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、異なる視点から
撮影された複数の画像について局所的な画像の対応点を
推定し、その対応点の信頼度を推定する対応点信頼度推
定装置と、推定された信頼度の最大値を探索することに
より対応点を探索する対応点探索装置に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a corresponding point reliability estimating apparatus for estimating corresponding points of local images of a plurality of images taken from different viewpoints and estimating the reliability of the corresponding points, and an estimating method. The present invention relates to a corresponding point search device that searches for a corresponding point by searching for a maximum value of the reliability obtained.
【０００２】[0002]
【従来の技術】従来、複数の画像における対応点の探索
方法としては、ブロックマッチングにより相互相関値、
差分の２乗和、差分の絶対値和などにより対応度を算出
し、最も対応度の高い点を対応点と決定し、その点にお
ける対応度を対応点の信頼度として利用することが一般
的であった。2. Description of the Related Art Conventionally, as a method of searching for a corresponding point in a plurality of images, a cross-correlation value,
It is common to calculate the degree of correspondence based on the sum of squares of the differences, the sum of the absolute values of the differences, etc., determine the point with the highest degree of correspondence as the corresponding point, and use the degree of correspondence at that point as the reliability of the corresponding point. Met.
【０００３】[0003]
【発明が解決しようとする課題】ブロックマッチングの
相互相関値、差分の２乗和、差分の絶対値和などにより
対応度を算出し、最も対応度の高い点を対応点と決定す
る手法では、対応度が高いにもかかわらず、誤った対応
点である場合が発生する。すなはち、決定しようとする
対応点の周囲の画像が一様なテキスチャであったり、テ
キスチャが周期性を持っている場合などには、同程度の
対応度を示す点が多数存在し、雑音の影響を受けて対応
点を誤って決定してしまう場合があるという問題があっ
た。そこで本発明の目的は、前述の問題点を解決し、前
記対応点の信頼度をより精度高く評価できる画像の対応
点信頼度推定装置とこの推定装置により得られた推定に
基づき精度高く前記対応点が探索可能な画像の対応点探
索装置とを提供せんとするものである。In the technique of calculating the degree of correspondence based on the cross-correlation value of block matching, the sum of squares of the difference, the sum of absolute values of the difference, and the like, and determining the point with the highest degree of correspondence as the corresponding point, Even though the degree of correspondence is high, there may be cases where the corresponding points are incorrect. That is, when the image around the corresponding point to be determined has a uniform texture, or when the texture has periodicity, there are many points showing the same degree of correspondence, and noise There is a problem that the corresponding point may be erroneously determined under the influence of the above. Accordingly, an object of the present invention is to solve the above-described problems, and to provide a corresponding point reliability estimating apparatus for an image capable of evaluating the reliability of the corresponding point with higher accuracy. It is intended to provide a corresponding point searching device for an image in which a point can be searched.
【０００４】[0004]
【課題を解決するための手段】この目的を達成するた
め、本発明画像の対応点信頼度推定装置は、複数のカメ
ラで撮影された複数の視点からの画像について、被写体
上の同一の点を特定する対応点探索の特定した対応点の
信頼度を推定する装置であって、対応点探索における探
索範囲の一部または全部にわたっての対応度の分布を出
力する対応度遅延回路と、出力された前記対応度の分布
から対応度の集中度を算出し、前記特定した対応点以外
に対応度の高い点が前記探索範囲内の一部または全部に
どれ程存在するかを調べ、これを数値化し、多い場合に
は低い値を少ない場合には高い値を出力するための対応
度集中度計算回路と、該対応度集中度計算回路の出力を
前記特定した対応点の対応度に乗じて、その特定した対
応点の信頼度を数値化して出力する乗算器とを具えてな
ることを特徴とするものである。また、本発明画像の対
応点信頼度推定装置は、該推定装置の前記乗算器の出力
を対応点の位置に応じたタイミングで保持するためのラ
ッチ回路をさらに具えてなることを特徴とするものであ
る。In order to achieve this object, an apparatus for estimating a corresponding point reliability of an image according to the present invention uses the same point on an object for an image from a plurality of viewpoints taken by a plurality of cameras. A device for estimating the reliability of a specified corresponding point in a specified corresponding point search, comprising: a correspondingness delay circuit that outputs a distribution of correspondingities over a part or the entirety of a search range in the corresponding point search; Calculate the degree of concentration of the degree of correspondence from the distribution of the degree of correspondence, and examine how many points other than the identified corresponding points have a high degree of correspondence in part or all within the search range, and quantify this. A degree of correspondence concentration calculation circuit for outputting a low value when the number is large and a high value when the number is small, and multiplying the output of the degree of correspondence concentration calculation circuit by the degree of correspondence of the specified corresponding point, Numerical value of the reliability of the identified corresponding point Those characterized by comprising comprises a multiplier which to output. Further, the apparatus for estimating the corresponding point reliability of an image according to the present invention further comprises a latch circuit for holding the output of the multiplier of the estimating apparatus at a timing corresponding to the position of the corresponding point. It is.
【０００５】またさらに、本発明画像の対応点探索装置
は、複数のカメラで撮影された複数の視点からの画像に
ついて、被写体上の同一の点を特定する対応点を探索す
る装置であって、対応点探索における探索範囲の一部ま
たは全部にわたっての対応度の分布を出力する対応度遅
延回路と、出力された前記対応度の分布から対応度の集
中度を算出し、前記特定した対応点以外に対応度の高い
点が前記探索範囲内の一部または全部にどれ程存在する
かを調べ、これを数値化し、多い場合には低い値を少な
い場合には高い値を出力するための対応度集中度計算回
路と、該対応度集中度計算回路の出力を前記特定した対
応点の対応度に乗じて、その特定した対応点の信頼度を
数値化して出力する乗算器と、前記乗算器の出力である
複数の対応点の信頼度からその最大値を探索する信頼度
最大値探索手段とを具えてなることを特徴とするもので
ある。Further, the apparatus for searching for corresponding points of an image according to the present invention is an apparatus for searching for corresponding points for specifying the same point on a subject in images from a plurality of viewpoints taken by a plurality of cameras, A correspondence delay circuit that outputs a distribution of the correspondence over a part or the entirety of the search range in the corresponding point search, and calculates a degree of concentration of the correspondence from the output distribution of the correspondence, and calculates a correspondence degree other than the identified corresponding point. The degree of correspondence is determined by examining how many points with a high degree of correspondence exist in part or all within the search range, quantifying this, and outputting a low value if the number is large and a high value if the number is small. A concentration degree calculation circuit, a multiplier that multiplies the output of the correspondence degree concentration degree calculation circuit by the degree of correspondence of the specified corresponding point, and quantifies and outputs the reliability of the specified corresponding point. The output of multiple corresponding points To become comprises a reliability maximum value searching means for searching a maximum value from the time and is characterized in.
【０００６】[0006]
【発明の実施の形態】カメラの位置や光軸の向き、画角
を予め測定しておけば、複数のカメラで撮影された複数
の視点からの画像のうち、ある画像（以後、基準画像と
呼ぶ）上の１画素は、その画素に対する被写体上の点か
ら基準画像を撮影したカメラまでの距離を与えると、他
のカメラで撮影された画像上での画素位置が特定され
る。従って、基準画像を撮影したカメラから被写体まで
の距離を変えながら、他のカメラで撮影した画像上で特
定された画素位置について、ブロックマッチング法でブ
ロック相互相関係数などを求めると、被写体までの距離
と相互相関値の関係が求められる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS If the position of a camera, the direction of an optical axis, and the angle of view are measured in advance, a certain image (hereinafter referred to as a reference image and a reference image) among images from a plurality of viewpoints taken by a plurality of cameras is obtained. When one pixel above is given a distance from a point on the subject to the pixel to the camera that captured the reference image, a pixel position on an image captured by another camera is specified. Therefore, when the block cross-correlation coefficient and the like are obtained by the block matching method for the pixel position specified on the image taken by another camera while changing the distance from the camera taking the reference image to the subject, the distance to the subject is obtained. The relationship between the distance and the cross-correlation value is determined.
【０００７】従来の技術では、この関係から最大の相関
値を示す点を求め被写体までの距離を決定してきたが、
この発明では前述の従来技術の課題を解決するため、そ
の決定した点近傍の相関値の分布に着目し、決定した点
以外で高い相関値を示す点が広く分布していれば求めた
相関値に小さい係数を乗じ、決定した対応点以外にはあ
まり高い相関値を示す点がなければ求めた相関値に大き
い係数を乗じ、その値をその対応点の信頼度と定義して
いる。この信頼度は誤った対応点では低い値に推定され
る。信頼度の低い領域は対応点が決定できないと判定し
たり、別の距離推定手法を用いて距離推定をやり直すこ
とにより、誤った対応点を正しい対応点としてそのまま
処理してしまう従来技術の欠点を解決できる。In the prior art, the point indicating the maximum correlation value is determined from this relationship to determine the distance to the subject.
In the present invention, in order to solve the above-mentioned problem of the prior art, focusing on the distribution of correlation values in the vicinity of the determined point, the correlation value obtained if the points exhibiting high correlation values other than the determined point are widely distributed. Is multiplied by a small coefficient, and if there is no point showing a very high correlation value other than the determined corresponding point, the obtained correlation value is multiplied by a large coefficient, and the value is defined as the reliability of the corresponding point. This reliability is estimated to be a low value at an incorrect corresponding point. In the area of low reliability, it is determined that the corresponding point cannot be determined, or the distance estimation is performed again by using another distance estimation method. Solvable.
【０００８】以下添付図面を参照し、実施例により本発
明の実施の形態をさらに詳細に説明する。図１に本発明
に係る画像の対応点信頼度推定装置一実施例構成ブロッ
ク線図を示す。１はＮ段の遅延素子からなる対応度遅延
回路である。信号ａは対応度遅延回路への対応度入力信
号であって、対応点探索に用いられる探索範囲内の考慮
の対象となる対応点の対応度（例えば、ブロック相互相
関値など）が順次入力される。説明を簡単にするため対
応度が高いほど信号値が大きいとする。信号ｂ0 ，
ｂ1，・・・・・，ｂN は対応度遅延回路１の各段の対
応度出力信号であって、探索範囲内の探索の最小ステッ
プ幅のＮ倍の長さの範囲にわたっての対応度の分布を示
す信号である。ここで、前記遅延素子の遅延量はほぼ１
対応点の時間的遅延量相当である。The embodiments of the present invention will be described in more detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing an embodiment of an apparatus for estimating a corresponding point reliability of an image according to the present invention. Reference numeral 1 denotes a correspondence delay circuit including N stages of delay elements. The signal a is a correspondence degree input signal to the correspondence degree delay circuit, and the correspondence degree (for example, a block cross-correlation value or the like) of the corresponding point to be considered in the search range used for the corresponding point search is sequentially input. You. For simplicity of explanation, it is assumed that the higher the degree of correspondence, the larger the signal value. The signals b 0 ,
b 1 ,..., b N are correspondence output signals of each stage of the correspondence delay circuit 1 and correspond to N times the minimum step width of the search within the search range. Is a signal indicating the distribution of. Here, the delay amount of the delay element is substantially 1
This is equivalent to the time delay of the corresponding point.
【０００９】２は対応度集中度計算回路であって、入力
された対応度の分布を表す（Ｎ＋１）個の対応度信号ｂ
0 ，ｂ1 ，・・・・・，ｂN から信号ｂN/2 以外に対応
度の高い値が多くあれば低い値を、そうでなければ高い
値を出力する。この対応度集中度計算回路の第１の実施
例としては、Reference numeral 2 denotes a degree-of-correspondence concentration calculation circuit, which comprises (N + 1) degree-of-correspondence signals b representing the distribution of the degree of correspondence inputted.
0, b 1, · · · · ·, a high value of the corresponding index from b N in addition to the signal b N / 2 is much lower value if, and outputs a high value otherwise. As a first embodiment of this correspondence degree concentration degree calculation circuit,
【数１】 に示される定義を用いることができる。(Equation 1) Can be used.
【００１０】また、この対応度集中度計算回路の第２の
実施例としては、As a second embodiment of the degree-of-correspondence calculation circuit,
【数２】 に示される定義を用いることができる。(Equation 2) Can be used.
【００１１】信号ｃは対応度集中度計算回路の出力信号
であって、上述の対応度集中度計算回路第１または第２
の実施例の定義式で示される対応度分布の集中度を表す
信号である。３は乗算器であって信号ｃと信号ｂN/2 の
積の信号ｄを出力する。信号ｄは対応点の信頼度を表す
信号である。この信頼度を新たな対応度と定義して対応
点探索を実施することもできる（請求項３の画像の対応
点探索装置に対応）。４はラッチ回路であって、対応点
の位置を示す対応点位置入力信号ｅにより対応点の対応
度が信号ｂN/2 として出力されるタイミングで信号ｄを
ラッチすることにより対応度の信頼度を所定の期間保持
して出力する。以上いくつかの実施例により本発明の実
施の形態を説明してきたが、本発明はこれに限定される
ことなく、発明の要旨内で各種の変形、変更の可能なこ
とは自明であろう。The signal c is an output signal of the correspondence degree concentration calculation circuit, and is the first or second correspondence degree concentration degree calculation circuit.
5 is a signal showing the degree of concentration of the correspondence distribution represented by the definition formula of the embodiment. A multiplier 3 outputs a signal d which is a product of the signal c and the signal b N / 2 . The signal d is a signal indicating the reliability of the corresponding point. The reliability can be defined as a new degree of correspondence, and a corresponding point search can be performed (corresponding to the image corresponding point search apparatus of claim 3). Reference numeral 4 denotes a latch circuit, which latches the signal d at a timing at which the corresponding degree of the corresponding point is output as the signal b N / 2 according to the corresponding point position input signal e indicating the position of the corresponding point, so that the reliability of the corresponding degree is obtained. Is output for a predetermined period. Although the embodiments of the present invention have been described with reference to some examples, it is obvious that the present invention is not limited to these embodiments and that various modifications and changes can be made within the gist of the invention.
【００１２】[0012]
【発明の効果】本発明によれば、従来この種技術で最も
対応度の高い点を対応点と決定する手法では、対応度が
高いにもかかわらず、同程度の対応度を示す点が多数探
索され、雑音の影響を受けて真の対応点を誤って決定し
てしまう欠点があったのを解決し、前記対応点の評価、
探索の信頼度を高め得る画像の対応点信頼度推定装置お
よび対応点探索装置を提供できるようになった。According to the present invention, in the conventional method of determining the point having the highest degree of correspondence in this type of technique as the corresponding point, many points exhibiting the same degree of correspondence despite the high degree of correspondence. Searched, to resolve the disadvantage of incorrectly determining the true corresponding point under the influence of noise, the evaluation of the corresponding point,
It has become possible to provide an image corresponding point reliability estimating apparatus and a corresponding point searching apparatus that can increase the reliability of search.
【図１】 本発明に係る画像の対応点信頼度推定装置一
実施例構成ブロック線図。FIG. 1 is a block diagram showing an embodiment of an apparatus for estimating a corresponding point reliability of an image according to the present invention.
１ 対応度遅延回路 ２ 対応度集中度計算回路 ３ 乗算回路 ４ ラッチ回路 ａ 対応度入力信号 ｂ0 ，ｂ1 ，・・・・・，ｂN 対応度遅延回路１の各
段の対応出力信号 ｃ 対応度集中度計算回路の出力信号 ｄ 信号ｃと信号ｂN/2 の積の信号 ｅ 対応点位置入力信号1 Correspondence delay circuit 2 Correspondence concentration degree calculation circuit 3 Multiplication circuit 4 Latch circuit a Correspondence input signal b 0 , b 1 ,..., B N Correspondence output signal of each stage of the correspondence delay circuit 1 c Output signal of the degree-of-correspondence calculation circuit d Signal of product of signal c and signal b N / 2 e Input signal of corresponding point position
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｈ０４Ｎ 13/02 Ｇ０６Ｆ 15/70 ３５０Ｂ (72)発明者 片山 美和 東京都世田谷区砧１丁目10番11号 日本放 送協会 放送技術研究所内 (72)発明者 金次 保明 東京都世田谷区砧１丁目10番11号 日本放 送協会 放送技術研究所内 Ｆターム(参考） 2F065 AA06 FF05 FF09 JJ03 JJ05 JJ19 JJ26 QQ00 QQ11 QQ23 QQ26 QQ27 QQ28 QQ29 QQ38 QQ41 5C023 AA11 AA37 BA01 CA02 EA05 EA13 5C061 AB04 AB08 BB03 BB07 CC01 5L096 CA05 FA09 HA01 9A001 HH23 ──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) H04N 13/02 G06F 15/70 350B (72) Inventor Miwa Katayama 1-10-11 Kinuta, Setagaya-ku, Tokyo Japan Broadcasting Corporation Broadcasting Research Institute (72) Inventor Yasuaki Kinji 1-10-11 Kinuta, Setagaya-ku, Tokyo Japan Broadcasting Research Institute Japan Broadcasting Corporation F-term (Reference) 2F065 AA06 FF05 FF09 JJ03 JJ05 JJ19 JJ19 JJ26 QQ00 QQ11 QQ23 QQ26 QQ27 QQ28 QQ29 QQ38 QQ41 5C023 AA11 AA37 BA01 CA02 EA05 EA13 5C061 AB04 AB08 BB03 BB07 CC01 5L096 CA05 FA09 HA01 9A001 HH23
Claims (3)
らの画像について、被写体上の同一の点を特定する対応
点探索の特定した対応点の信頼度を推定する装置であっ
て、 対応点探索における探索範囲の一部または全部にわたっ
ての対応度の分布を出力する対応度遅延回路と、 出力された前記対応度の分布から対応度の集中度を算出
し、前記特定した対応点以外に対応度の高い点が前記探
索範囲内の一部または全部にどれ程存在するかを調べ、
これを数値化し、多い場合には低い値を少ない場合には
高い値を出力するための対応度集中度計算回路と、 該対応度集中度計算回路の出力を前記特定した対応点の
対応度に乗じて、その特定した対応点の信頼度を数値化
して出力する乗算器とを具えてなることを特徴とする画
像の対応点信頼度推定装置。1. An apparatus for estimating the reliability of an identified corresponding point in a corresponding point search for identifying an identical point on an object, for an image from a plurality of viewpoints captured by a plurality of cameras, comprising: A correspondence delay circuit that outputs a distribution of the correspondence over a part or the entirety of the search range in the search, and calculates a degree of concentration of the correspondence from the output distribution of the correspondence to correspond to a point other than the specified corresponding point. Find out how many points are present in some or all of the search range,
This is converted into a numerical value, and a correspondence degree concentration calculation circuit for outputting a low value when the number is large and a high value when the number is small, and outputs the correspondence degree calculation circuit to the degree of correspondence of the identified corresponding point. A multiplier for multiplying and multiplying and quantifying the reliability of the specified corresponding point and outputting the numerical value.
器の出力を対応点の位置に応じたタイミングで保持する
ためのラッチ回路をさらに具えてなることを特徴とする
画像の対応点信頼度推定装置。2. The apparatus according to claim 1, further comprising a latch circuit for holding an output of said multiplier at a timing corresponding to a position of the corresponding point. Estimation device.
らの画像について、被写体上の同一の点を特定する対応
点を探索する装置であって、 対応点探索における探索範囲の一部または全部にわたっ
ての対応度の分布を出力する対応度遅延回路と、 出力された前記対応度の分布から対応度の集中度を算出
し、前記特定した対応点以外に対応度の高い点が前記探
索範囲内の一部または全部にどれ程存在するかを調べ、
これを数値化し、多い場合には低い値を少ない場合には
高い値を出力するための対応度集中度計算回路と、 該対応度集中度計算回路の出力を前記特定した対応点の
対応度に乗じて、その特定した対応点の信頼度を数値化
して出力する乗算器と、 前記乗算器の出力である複数の対応点の信頼度からその
最大値を探索する信頼度最大値探索手段とを具えてなる
ことを特徴とする画像の対応点探索装置。3. An apparatus for searching for corresponding points that specify the same point on a subject from images taken from a plurality of viewpoints captured by a plurality of cameras, wherein a part or all of a search range in the corresponding point search is provided. A correspondence delay circuit that outputs a distribution of the correspondence degree over a range, and calculates a concentration degree of the correspondence degree from the output distribution of the correspondence degree, and a point having a high degree of correspondence other than the identified corresponding point is within the search range. To see how much is present in some or all of
This is converted into a numerical value, and a correspondence degree concentration calculation circuit for outputting a low value when the number is large and a high value when the number is small, and outputs the correspondence degree calculation circuit to the degree of correspondence of the identified corresponding point. A multiplier that multiplies and outputs the reliability of the identified corresponding point in numerical form, and a reliability maximum value search unit that searches for the maximum value from the reliability of the plurality of corresponding points output from the multiplier. An apparatus for searching a corresponding point of an image, comprising:
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| JP4097869B2 JP4097869B2 (en) | 2008-06-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8708890B2 (en) | 2010-01-15 | 2014-04-29 | Olympus Corporation | Endoscope apparatus and method of measuring subject |
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| JPS633388A (en) * | 1986-06-23 | 1988-01-08 | Hitachi Ltd | Image positioning system |
| JPH07129898A (en) * | 1993-11-05 | 1995-05-19 | Toyota Central Res & Dev Lab Inc | Obstacle detecting device |
| JPH0973540A (en) * | 1995-09-04 | 1997-03-18 | Sharp Corp | Motion vector calculation device |
| JPH1040385A (en) * | 1996-07-24 | 1998-02-13 | Toshiba Corp | Object shape restoring device and its method |
| JPH1047955A (en) * | 1996-08-06 | 1998-02-20 | Fuji Electric Co Ltd | Method for detecting distance by video |
| JP2001153633A (en) * | 1999-11-26 | 2001-06-08 | Fujitsu Ltd | Stereoscopic shape detecting method and its device |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS633388A (en) * | 1986-06-23 | 1988-01-08 | Hitachi Ltd | Image positioning system |
| JPH07129898A (en) * | 1993-11-05 | 1995-05-19 | Toyota Central Res & Dev Lab Inc | Obstacle detecting device |
| JPH0973540A (en) * | 1995-09-04 | 1997-03-18 | Sharp Corp | Motion vector calculation device |
| JPH1040385A (en) * | 1996-07-24 | 1998-02-13 | Toshiba Corp | Object shape restoring device and its method |
| JPH1047955A (en) * | 1996-08-06 | 1998-02-20 | Fuji Electric Co Ltd | Method for detecting distance by video |
| JP2001153633A (en) * | 1999-11-26 | 2001-06-08 | Fujitsu Ltd | Stereoscopic shape detecting method and its device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8708890B2 (en) | 2010-01-15 | 2014-04-29 | Olympus Corporation | Endoscope apparatus and method of measuring subject |
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