JP6681470B2 - 奥行き知覚3眼カメラシステム - Google Patents
奥行き知覚3眼カメラシステム Download PDFInfo
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Description
キャリブレーションずれを検出する方法
奥行きカメラシステム内のカメラの空間配置
Claims (5)
- 第1カメラ、第2カメラ、及び第3カメラを備える奥行きカメラシステムのキャリブレーションずれを検出する方法であって、前記第1カメラ、第2カメラ、及び第3カメラは、実質的に重畳する重畳視野を所定の方向に有し、前記方法は:
特徴点を前記第1カメラで撮影される第1画像中に検出し、
前記特徴点を前記第2カメラで撮影される第2画像中に検出し、
前記特徴点を前記第3カメラで撮影される第3画像中に検出し、前記第3カメラが、前記第1カメラ及び第2カメラと同一直線上には位置しておらず、
第1共役エピポーラ線を前記第2画像中に、前記第1画像中の前記特徴点の検出位置、及び複数のキャリブレーションパラメータに従って特定し、
第2共役エピポーラ線を前記第2画像中に、前記第3画像中の前記特徴点の検出位置、及び前記複数のキャリブレーションパラメータに従って特定し、
前記第2画像中の前記特徴点の検出位置と前記第1及び第2共役エピポーラ線との差異を計算し、
前記差異が閾値を上回ると、前記奥行きカメラシステムのキャリブレーションずれが発生していることを示す通知を出力する、
ことを具備する方法。 - 前記差異は、第1差異及び第2差異を含み、
前記差異を計算することは:
前記第2画像中の前記特徴点の前記検出位置と前記第1共役エピポーラ線との第1差異を計算し、
前記第2画像中の前記特徴点の前記検出位置と前記第2共役エピポーラ線との第2差異を計算する、
ことを具備する、請求項1に記載の方法。 - 更に、前記第1共役エピポーラ線と前記第2共役エピポーラ線の交点の位置を計算することを具備し、
前記差異を計算することは、前記第2画像中の前記特徴点の前記検出位置と前記交点の前記位置との間の距離を計算することを具備する、
請求項1に記載の方法。 - 前記第1カメラ及び前記第2カメラは、不可視光を撮影するように構成され、
前記第3カメラは、可視光を撮影するように構成される、
請求項1に記載の方法。 - 更に、前記第1カメラと前記第2カメラとの間に配置される投影装置により、不可視光凹凸パターンを前記重畳視野の方向に放出する、請求項4に記載の方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562271212P | 2015-12-22 | 2015-12-22 | |
US62/271,212 | 2015-12-22 | ||
US15/147,879 | 2016-05-05 | ||
US15/147,879 US9674504B1 (en) | 2015-12-22 | 2016-05-05 | Depth perceptive trinocular camera system |
PCT/US2016/064831 WO2017112393A1 (en) | 2015-12-22 | 2016-12-02 | Depth perceptive trinocular camera system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019500613A JP2019500613A (ja) | 2019-01-10 |
JP6681470B2 true JP6681470B2 (ja) | 2020-04-15 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2018533803A Active JP6681470B2 (ja) | 2015-12-22 | 2016-12-02 | 奥行き知覚3眼カメラシステム |
Country Status (6)
Country | Link |
---|---|
US (2) | US9674504B1 (ja) |
EP (1) | EP3394832A4 (ja) |
JP (1) | JP6681470B2 (ja) |
CN (1) | CN108780504B (ja) |
BR (1) | BR112018012776A2 (ja) |
WO (1) | WO2017112393A1 (ja) |
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