JP4887374B2 - ステレオビジョンにおいて散乱視差場を求める方法 - Google Patents
ステレオビジョンにおいて散乱視差場を求める方法 Download PDFInfo
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- JP4887374B2 JP4887374B2 JP2008542846A JP2008542846A JP4887374B2 JP 4887374 B2 JP4887374 B2 JP 4887374B2 JP 2008542846 A JP2008542846 A JP 2008542846A JP 2008542846 A JP2008542846 A JP 2008542846A JP 4887374 B2 JP4887374 B2 JP 4887374B2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/147—Details of sensors, e.g. sensor lenses
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
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- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
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Description
Carlo Tomasi及びTakeo Kanadeによる論文「Shape and Motion from Image Stream − Part 3 − Detection and Tracking of Point Features」,Technical Report CMU−CS−91−132,1991年4月 J.Shi及びC.Tomasiの論文「Good Features to Track」,IEEE Conference on Computer Vision and Pattern Recognition(CVPR94),Seattle,1994年6月 J.Mendelsohn,E.Simoncelli及びR.Bajcsyの論文「Discrete−Time Rigidity−Constrained Optical Flow」,7th International Conference on Computer Analysis of Images and Patterns,1997年9月10〜12日
出願人は、特に2台以上のカメラの場合にしばしば利用可能な基本マトリックスの知識をKLT技術が利用していないことに気付いた。
以下、限定するものではないが、本発明の適用例を示す添付図面に関して本発明を説明する。
図1は、複数のカメラでビデオ撮影するシステム全体を100で示す。特に、このシステム100は、同じ場面を異なる位置から撮ることができると共に、このようにして撮られた画像間の散乱視差場を決定できる。
- カメラの固有のパラメータ(焦点距離や投影中心など)及び付随的なパラメータ(回転-並進マトリックス)を計算することによりカメラT1、T2を構成するステップ(ブロック110);
- 画像IM1の特徴を抽出するステップ(ブロック120);
- 校正パラメータを考慮して第2の画像IM2上の特徴をトラッキングするステップ(ブロック130);及び
- 後に述べる第2の画像IM2中の許容領域内に存在するポイントを計算から除去するステップ(ブロック140)。
T1 第1のカメラ
T2 第2のカメラ
IM1 デジタル画像
IM2 デジタル画像
CM カメラ校正モジュール
PU 処理装置
Claims (10)
- ステレオビジョンにおいて散乱視差場を求める方法であって、
・2つの異なる位置にある第1のカメラ及び第2のカメラからそれぞれ同じ場面の第1の画像及び第2の画像を取り込むステップであって、前記第1の画像のピクセルからなる少なくとも1セットが前記第2の画像上のポイントの対応するセットに関連付けられる前記ステップ;
・前記第1の画像中の少なくとも1つのピクセルを選択するステップ;及び
・前記ピクセルに関連付けられた前記第2の画像のポイントを決定するステップであって、該ステップは前記ピクセルと前記ポイントとの間の視差ベクトルを変数として有する費用関数を最小化するステップを含み、前記費用関数が、前記ピクセルが中心位置にある窓内及び決定すべきポイントが中心位置にある対応する窓内での第1の画像と第2の画像との差に依存している、前記ピクセルに関連付けられた前記第2の画像のポイントを決定する前記ステップ;
を含み、前記費用関数が、前記ピクセルに関連付けられた前記第2の画像中のエピポーラ直線から、決定されるべき前記ポイントまでの距離に単調増加にて依存する項を含み、前記項は、前記第1のカメラ及び前記第2のカメラの一方又は双方の校正データの不確かさに依存して重み付けされた、方法。 - 校正データの前記不確かさは、前記第1のカメラ及び前記第2のカメラの一方又は双方を校正する際に生じると推定される誤差を含む、請求項1に記載の方法。
- 前記項が前記第1のカメラ及び第2のカメラの校正パラメータに依存している請求項1又は2に記載の方法。
- 前記項が前記ポイントと前記エピポーラ直線との距離の2乗に比例している請求項1〜3のいずれか一項に記載の方法。
- 前記ピクセルに関連付けられた前記第2の画像のポイントを決定するステップが、前記第2の画像内で前記エピポーラ直線の周りの前記ポイントの許容領域を画定することを含む請求項1〜4のいずれか一項に記載の方法。
- 前記許容領域が、前記エピポーラ直線に垂直な直線により画定された半平面内に含まれる請求項5に記載の方法。
- 前記費用関数が、前記第2の画像内の前記ピクセルが中心位置にある前記窓のピクセルにおける輝度勾配と、前記ピクセル上に中心位置がある前記窓のピクセルと同じ窓内の前記第2の画像のピクセルとの間の輝度差とから構成されるパラメータを含む、請求項1〜6のいずれか一項に記載の方法。
- 前記ピクセルに関連付けられた前記第2の画像のポイントを決定するステップが、前記ピクセルが中心位置にある前記窓内に含まれるすべてのピクセルに相対重みを加えることを含む、請求項1〜7のいずれか一項に記載の方法。
- 前記ピクセルが中心位置にある前記窓の中央領域内のピクセルに加えられる重みが、前記窓の外部領域内のピクセルに加えられる重みよりも大きい請求項8に記載の方法。
- 同じ場面を撮影できる第1の撮影カメラ及び第2の撮影カメラと、前記第1の撮影カメラ及び第2の撮影カメラから前記場面の夫々の同時画像を受信できる処理装置とを備え、前記処理装置が請求項1〜9のいずれか一項に記載の方法によって前記夫々の画像を処理するよう構成されているステレオビジョン用システム。
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PCT/IB2005/003598 WO2007063352A1 (en) | 2005-11-30 | 2005-11-30 | Method for determining scattered disparity fields in stereo vision |
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JP2009517683A JP2009517683A (ja) | 2009-04-30 |
JP4887374B2 true JP4887374B2 (ja) | 2012-02-29 |
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JP2008542846A Expired - Fee Related JP4887374B2 (ja) | 2005-11-30 | 2005-11-30 | ステレオビジョンにおいて散乱視差場を求める方法 |
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US (1) | US8275195B2 (ja) |
EP (1) | EP1958458B1 (ja) |
JP (1) | JP4887374B2 (ja) |
CN (1) | CN101356831B (ja) |
WO (1) | WO2007063352A1 (ja) |
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JPH0814828A (ja) * | 1994-06-29 | 1996-01-19 | Kobe Steel Ltd | ステレオ画像センサのキャリブレーション方法及びその装置 |
JP2005140623A (ja) * | 2003-11-06 | 2005-06-02 | Nippon Telegr & Teleph Corp <Ntt> | 画像計測方法、装置、プログラム及び記録媒体 |
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US8275195B2 (en) | 2012-09-25 |
WO2007063352A1 (en) | 2007-06-07 |
US20090207235A1 (en) | 2009-08-20 |
CN101356831B (zh) | 2010-09-01 |
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EP1958458A1 (en) | 2008-08-20 |
JP2009517683A (ja) | 2009-04-30 |
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