JPH01173811A - Distance measuring method by image pickup device - Google Patents
Distance measuring method by image pickup deviceInfo
- Publication number
- JPH01173811A JPH01173811A JP87336587A JP33658787A JPH01173811A JP H01173811 A JPH01173811 A JP H01173811A JP 87336587 A JP87336587 A JP 87336587A JP 33658787 A JP33658787 A JP 33658787A JP H01173811 A JPH01173811 A JP H01173811A
- Authority
- JP
- Japan
- Prior art keywords
- target
- distance
- target object
- monitor screen
- imaging device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 15
- 238000003384 imaging method Methods 0.000 claims description 24
- 238000003331 infrared imaging Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 19
- 238000005259 measurement Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
Landscapes
- Measurement Of Optical Distance (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
Description
【発明の詳細な説明】
（ａｌ！要〕
Ｒ＠Ｖｔ鱈を用いて撮像地点から目標物までの距離を求
める測距方法に関し、
簡単な方法で、しかも、目視のききにくい条件の中でも
測距できることを目的とし、
ｌ１ｉ２像装■にて目標物を撮像することによって得ら
れた目標物のモニタ画面上の画素数又１五走査線数の画
性情報と、目標物の実際の大きさ、撮像装置の水平方向
視野角、モニタ画面の全幅画木数、又は、撮像装置の俯
角、垂直方向視野角、取付は高さ、モニタ画面の全走査
線数の予め知られている既知情報とを、予め定められて
いる演Ω式に代入して撮像装置から目標物までの距離を
求める。[Detailed description of the invention] (al! essential) Regarding a distance measurement method for determining the distance from an imaging point to a target using an R@Vt cod, the present invention is a simple method that can be used to measure distances even under conditions where visual observation is difficult. With the aim of being able to do this, the image quality information of the number of pixels or the number of scanning lines on the monitor screen of the target obtained by imaging the target with the 11i2 imaging system, the actual size of the target, The horizontal viewing angle of the imaging device, the total width of the monitor screen, or the depression angle of the imaging device, the vertical viewing angle, the mounting height, and the total number of scanning lines of the monitor screen are known in advance. , and calculates the distance from the imaging device to the target object by substituting it into a predetermined Ω equation.
（産業上の利用分野〕
本発明は、Ｉｌｌ＠装置を用いて搬像地点から目標物ま
での距離を求める測距方法に関する。(Industrial Application Field) The present invention relates to a distance measuring method for determining the distance from an image carrier point to a target object using an Ill@ device.
Ｒ＠カメラによって目標物を撮像してモニタ画面上で監
視するシステムで、Ｂ像地点と目標物との位置関係を求
める場合、ＩＩＩＩな方法で、しがも、目視のききにく
い条件の中でも目標物までの距離を求め得る方法が望ま
れている。In a system that images a target object using an R@ camera and monitors it on a monitor screen, when determining the positional relationship between the B image point and the target object, there is a third-class method that can be used to capture the target object even in conditions where it is difficult to visually see the target object. A method that can determine the distance to an object is desired.
上記のようなシステムにおいて、目標物までの距離を求
める場合、従来では、画像カメラとは別にレーデ測距機
等の特別の装置を用いていた。In the above-described system, conventionally, when determining the distance to a target, a special device such as a radar range finder has been used in addition to the image camera.
従来の測距方法は、レーザー測距機等の特別の装置を用
いているので、簡単に測距を行ない得ない問題点があっ
た。又、夜間や霧の中等、目視のききにくい条件では目
標物の位置がねかりにくく、測距しにくい問題点があっ
た。Conventional distance measuring methods use special equipment such as a laser range finder, so there is a problem in that distance measurement cannot be carried out easily. In addition, there is a problem in that it is difficult to determine the position of the target in conditions where it is difficult to see the target, such as at night or in fog, making it difficult to measure the distance.
本発明は、簡単な方法で、しかも、目視のきざにくい条
件の中でも測距できる測距方法を提供することを目的と
する。SUMMARY OF THE INVENTION An object of the present invention is to provide a distance measuring method that is simple and can measure distances even under conditions where visual observation is difficult.
（問題点を解決するための手段）
第１図は本発明の原理図を示す。同図中、１は撮像装置
、２は搬像８置１から距離し離れた地点にある目標物、
３は撮像装置１にて得られる目標物２の画像を表示する
例えばテレビジョン受像機等で構成されるモニタ画面で
ある。本発明は、目標物２のモニタ画面３上の画素数又
は走査線数の画像情報と、目標物２の実際の人ぎさ、囮
像装買１の水平方向視野角、モニタ画面３の全幅画素数
、又は、撮像装置１の俯角、垂直方向視野角、取付は高
さ、モニタ画面３の全走査線数の予め知られている既知
情報とを、予め定められている演ｐ式に代入して画像装
置１から上記目標物２までの距離、Ｌを求める。(Means for solving the problems) FIG. 1 shows a diagram of the principle of the present invention. In the figure, 1 is an imaging device, 2 is a target located at a distance from the carrier image 8 and 1,
Reference numeral 3 denotes a monitor screen constituted by, for example, a television receiver, which displays an image of the target object 2 obtained by the imaging device 1. The present invention provides image information of the number of pixels or scanning lines of the target object 2 on the monitor screen 3, the actual intensity of the target object 2, the horizontal viewing angle of the decoy image device 1, and the full width pixels of the monitor screen 3. Substituting the known information such as the angle of depression of the imaging device 1, the vertical viewing angle, the mounting height, and the total number of scanning lines of the monitor screen 3 into a predetermined calculation formula. Then, the distance L from the image device 1 to the target object 2 is determined.
モニタ画面３から目標物２の画素数Ｘを読取り、この画
素数Ｘと、モニタ画面３の全幅画素数Ｘ１撮像装置１の
水平方向視野角α、目標物２の実際の大きさＷとを演算
式
％式％
に代入して演ｎし、距離りを求める。又、モニタ画面３
から目標物２の接地点における走査線数ｎを読取り、こ
の走査線数ｎと、撮像５Ａ置１の俯角β垂直方向視野角
δ、取付は高さＨ、モニタ画面３の全走査線数Ｎとを演
算式
に代入して演算し、距！ｉ１Ｌを求める。Read the number of pixels X of the target object 2 from the monitor screen 3, and calculate the number of pixels X, the total width pixel number of the monitor screen 3, the horizontal viewing angle α of the imaging device 1, and the actual size W of the target object 2. Substitute into the formula % formula % and calculate the distance. Also, monitor screen 3
The number n of scanning lines at the grounding point of the target object 2 is read from , and the number n of scanning lines, the depression angle β of the imaging 5A position 1, the vertical viewing angle δ, the mounting height H, and the total number N of scanning lines of the monitor screen 3. Substitute and calculate into the calculation formula, and calculate the distance! Find i1L.
本発明は、レーザ測距機等の特別な装置を設けずに、簡
単な方法で測距できる。According to the present invention, distance can be measured by a simple method without providing a special device such as a laser range finder.
第２図は本発明の第１実施例の構成図を示し、同図（Ａ
）は配置図、同図（Ｂ）はモニタ画面図である。第３図
は第２図押示す測距方法の動作ブロック図を示す。FIG. 2 shows a configuration diagram of the first embodiment of the present invention, and the same figure (A
) is a layout diagram, and (B) is a monitor screen diagram. FIG. 3 shows an operational block diagram of the distance measuring method shown in FIG. 2.
第１図（Ａ）において、赤外線撮像カメラ１によりここ
から距離り離れた位置にある目標物２を撮像し、同図（
Ｂ）に示すモニタ画面３を１ｑる。In FIG. 1(A), an infrared imaging camera 1 captures an image of a target 2 located a distance away from the target object 2 (
View the monitor screen 3 shown in B).
赤外線ｌ１ｌｌｌＩｆＱカメラによるモニタ画面は、水
平方向、垂直方向に規則正しく並んだ多数の画素から成
り、その画像は目標物の表面温度に対応した明るさで表
わされるモノクロ画像である。従って、背偵と異なった
表面温度の目標物２をカメラ１の視よにとらえると、モ
ニタ画面３には背傾とは異なる明るさの画素の集合が表
示される。The monitor screen formed by the infrared 11ll1IfQ camera consists of a large number of pixels regularly arranged in the horizontal and vertical directions, and the image is a monochrome image whose brightness corresponds to the surface temperature of the target object. Therefore, when the camera 1 captures a target object 2 having a surface temperature different from that of the target object 2, a set of pixels having a brightness different from that of the target object 2 is displayed on the monitor screen 3.
ここで、操作者がモニタ画面３を視て目標物２が何であ
るかを判断しく第３図中ブロック５０）、（例えば人、
小型自動車、大型自動中等）に対応して予め知られてい
るその長さ（幅）Ｗを決定する。（ブロック５１）。一
方、カメラ１の画像によってモニタ画面３に妙像された
目標物２の幅方向の画素数Ｘを例えばマイクロコンピュ
ータ等の制ｔＩｌ装置４で読取る（ブロック５２）。Here, the operator looks at the monitor screen 3 and determines what the target object 2 is (block 50 in FIG. 3) (for example, a person,
The length (width) W, which is known in advance, is determined corresponding to the vehicle (small vehicle, large vehicle, etc.). (Block 51). On the other hand, the number of pixels X in the width direction of the target object 2, which is imaged on the monitor screen 3 by the image of the camera 1, is read by the controller 4, such as a microcomputer (block 52).
第２図（Ａ）に示す位置関係において、カメラ１の水平
方向の視野角をα、モニタ画面３の全幅の画素数をＸと
すると、カメラ１から目標物２までの距１１Ｌは、
なる式で表わされ、（１）式が制ｔｉｌ＋装置４の演篩
部に予め設定されている。ここに、視野角α、全幅画素
数×１目標物２の実際の幅Ｗは既知であるので、制御Ｉ
Ｉ装置４にて目標物２の画集数Ｘ ｌｆｉ読取られれば
、ここにＪ３いて０）式によって演算が行なわれ（ブロ
ック５３）、目標物２までの距離りが求められ、距１ｉ
１ｆｆＬを適当な表示部に表示する（ブロック５４）。In the positional relationship shown in FIG. 2 (A), if the horizontal viewing angle of the camera 1 is α and the number of pixels in the full width of the monitor screen 3 is X, then the distance 11L from the camera 1 to the target object 2 is calculated by the following formula. The equation (1) is set in advance in the sieve section of the control device 4. Here, since the viewing angle α and the actual width W of the target object 2 (full width pixel number × 1) are known, the control I
When the number of collections of images of the target object 2 Xlfi is read by the I device 4, calculation is performed using the formula J3 and 0) (block 53), the distance to the target object 2 is determined, and the distance
1ffL is displayed on an appropriate display (block 54).
このように、本発明では従来例のようにレーザ測距機の
ような特別な装置を用いないでも簡単な方法で目標物ま
での距離を測定でき、しかも、赤外線撮像カメラを用い
ているので、夜間や霧の中等、目視のききにくい条件で
も確実に測距できる。As described above, in the present invention, the distance to the target can be measured by a simple method without using a special device such as a laser range finder as in the conventional example, and moreover, since an infrared imaging camera is used, Distance can be reliably measured even in conditions where visual visibility is difficult, such as at night or in fog.
第４図は本発明の第２実施例の構成図を示し、同図（Ａ
）は配置図、同図（Ｂ）はモニタ画面である。第５図は
第４図に示す測距方法の動作ブロック図を示す。FIG. 4 shows a configuration diagram of a second embodiment of the present invention, and the same figure (A
) is a layout diagram, and (B) of the same figure is a monitor screen. FIG. 5 shows an operational block diagram of the distance measuring method shown in FIG.
第４図（Ａ）において、例えば平坦地５から＾さＨの位
置にあるカメラ１により、ここから距離Ｌ１１すれた位
置にある目標物２を撮像し、同図（Ｂ）に示すモニタ画
面３を得る。ここで、目標物２のカメラ１に対する俯角
をθとすると、［１標物２までの距１ＩＩＬは、
なる式で表わされる。In FIG. 4(A), for example, the camera 1 located at a distance H from the flat land 5 captures an image of the target object 2 located at a distance L11 from there, and the monitor screen 3 shown in FIG. 4(B) is captured. get. Here, if the angle of depression of the target object 2 with respect to the camera 1 is θ, then the distance 1IIL to the target object 2 is expressed by the following formula.
モニタ画面３の走査線をＮとすると、カメラ１の！１！
直方向視野角δの範囲は走査線Ｎの全画面に相当し、１
番目の走査線は視野範囲の下端、Ｎ番目の走査線は視野
範囲の上端になり、Ｎ／２番目の走査線は視野範囲の中
心になる。ここで、カメラ１の俯角（カメラ１の向きを
９変できる。ジンバル機構に取付けられたエンコーダに
よって電気的に読取られる）をβとし、目標物２の平坦
地５における接地点がモニタ画面３上で下からｎ番目の
走査線である場合、目標物２のカメラ１に対する俯角θ
は、
なる式で表わされる。If the scanning line of monitor screen 3 is N, camera 1's! 1!
The range of the vertical viewing angle δ corresponds to the entire screen of the scanning line N, and is 1
The th scan line is the lower end of the viewing range, the Nth scan line is the upper end of the viewing range, and the N/2nd scan line is the center of the viewing range. Here, the depression angle of the camera 1 (the direction of the camera 1 can be changed by 9; it is electrically read by the encoder attached to the gimbal mechanism) is β, and the grounding point of the target 2 on the flat ground 5 is on the monitor screen 3. If it is the nth scanning line from the bottom, the depression angle θ of the target object 2 with respect to the camera 1 is
is expressed by the formula.
０式を０式に代入すると、目標物２までの距離りは、
なる式で表わされ、（４）式が制ｒＩＡ装置４の演樟部
に予め設定されている。ここに、カメラ１の俯角β、カ
メラ１の垂直方向視野角δ、画面３の全幅走査線Ｎ１カ
メラ１の取付高さＨは既知であるので、制御２１１装置
４にて目標物２の接地点走査数ｎが読取られれば（第５
図中ブロック６ｏ）、ここにおいて（４）式によって演
口が行なわれ（ブロック６１）、目標物２までの距離り
が求められ、距１ｌｌｌＩ［を表示部に表示する（ブロ
ック６２）。When the equation 0 is substituted into the equation 0, the distance to the target object 2 is expressed by the following equation, and equation (4) is set in advance in the calculation section of the control rIA device 4. Here, since the depression angle β of the camera 1, the vertical viewing angle δ of the camera 1, the full width scanning line N1 of the screen 3, and the mounting height H of the camera 1 are known, the control 211 device 4 determines the grounding point of the target object 2. If the number of scans n is read (fifth
In block 6o) in the figure, a performance is performed using equation (4) (block 61), the distance to the target object 2 is determined, and the distance 1lllI[ is displayed on the display section (block 62).
この第２実施例は、第１実施例のように目標物２の種類
や大きさがわからないでも測距できる。In the second embodiment, unlike the first embodiment, distance measurement is possible even if the type and size of the target object 2 are not known.
第５図は本発明の第３実施例の構成図を示す。FIG. 5 shows a configuration diagram of a third embodiment of the present invention.
同図において、予め知られている角麿γだけ傾斜をもつ
傾斜地６から高さト１の位δにあるカメラ１により、こ
こから距１１１ＬＩ１１１れた位置にある目標物２を搬
像し、第４図（Ｂ）に丞すようなモニタ画面３を得る。In the figure, a camera 1 located at a height δ from a slope 6 having an inclination of a pre-known angle γ carries an image of a target 2 located at a distance 111LI111 from there. 4. A monitor screen 3 as shown in Fig. 4 (B) is obtained.
ここで、目標物２までの平坦面上の距離しは、
なる式で表わされる。この場合、カメラ１直下の地点Ａ
から目標物２の接地点までの高さをｈとすると、ｔａｎ
γ＝ｈ／Ｌであり、θは前記０式である。Here, the distance to the target object 2 on the flat surface is expressed by the following formula. In this case, point A directly below camera 1
If the height from to the grounding point of target object 2 is h, then tan
γ=h/L, and θ is the above formula 0.
従って、目標物２までの平坦面上の距離りは、（Ｂ）
なる式で表わされ、ｆ３）式がＭｔｌｌ装Ｗｉ４の演算
部に予め設定されている。ここに、前述の第２実施例と
同様に、カメラ１の俯角β、カメラ１の垂直方向視野角
δ、画面３の全幅走査線Ｎ１カメラ１の取付高ざＨｌ及
び、傾斜地６の傾斜角γは既知であるので、制御８欝４
にて目標物２の接地点走査数ｎが読取られれば、ここに
おいて６）式によって演算が行なわれ、目標物２までの
平坦面上の距離りが求められる。Therefore, the distance to the target object 2 on the flat surface is expressed by the formula (B), and the formula f3) is set in advance in the calculation unit of the Mtll device Wi4. Here, as in the second embodiment described above, the depression angle β of the camera 1, the vertical viewing angle δ of the camera 1, the full width scanning line N1 of the screen 3, the mounting height Hl of the camera 1, and the inclination angle γ of the slope 6. is known, so control 8 欬 4
When the number n of scans of the grounding point of the target object 2 is read, calculation is performed according to equation 6), and the distance to the target object 2 on the flat surface is determined.
以上説明した如く、本発明によれば、ｍ像装置によって
得られたモニタ画面上の目標物の画像情報と、既知情報
とを式に代入して演算を行なうことにより目標物までの
距離を求めているため、撮像装置の他にレーザー測距機
等の特別な装置を用いて測距を行なっていた従来例に比
して簡単に、かつ、短時間で測距を行ない得、又、撮像
装ｆ’７に赤外線撮像カメラを用いているので、夜間や
霧の中等、目視のききにくい条件でも目標物を容易に測
距できる。As explained above, according to the present invention, the distance to the target is calculated by substituting the image information of the target on the monitor screen obtained by the m-image device and the known information into the equation. As a result, distance measurement can be performed more easily and in a shorter time than in the conventional method, which uses a special device such as a laser range finder in addition to the imaging device. Since an infrared imaging camera is used in the f'7, targets can be easily ranged even under conditions where visual visibility is difficult, such as at night or in fog.
４、 回向のｆｆ！ｌ甲な説明
第１図は本発明の原理図、
第２図は本発明の第１実施例の構成図、第３図は１１２
図に示す測距方法の動作ブロック図、
第４図は本発明の第２実施例の構成図、第５図は第４図
に示す測距り法の動作ブロック図、
第６図は本発明の第３実施例の構成図である。4. Eko no ff! 1. Figure 1 is a diagram of the principle of the present invention, Figure 2 is a configuration diagram of the first embodiment of the present invention, and Figure 3 is a 112
FIG. 4 is a configuration diagram of the second embodiment of the present invention; FIG. 5 is an operational block diagram of the distance measuring method shown in FIG. 4; FIG. 6 is a block diagram of the distance measuring method according to the present invention. FIG. 3 is a configuration diagram of a third embodiment of the present invention.
図において、
１は撮像装置（赤外線搬像カメラ）、
２は目標物、
３はモニタ画面、
４は制願装置、
５は平坦地、
６は傾斜地、
Ｗは目標物２の実際の大きさ、
αは撮像装置１の水平方向視野角、
βは踊！＆Ｖ装置１の俯角、
δは踊ｆ＆装置１の垂直方向視野角、
Ｈは撮像装置１の取付け＾さ、
Ｘはモニタ画面３の全幅画素数、
Ｎはモニタ画面３の全走査線数、
Ｘはモニタ内面３での目標物２の画素数、ｎはモニタ画
面３での目標物２の接地点の走査線数、
θは目標物２のＩＩ像装Ｍ１に対する俯角、γは傾斜地
６の傾斜角、
しは起像装置１から目標物２までの距離を示す。In the figure, 1 is an imaging device (infrared carrier camera), 2 is a target, 3 is a monitor screen, 4 is a control device, 5 is a flat ground, 6 is a slope, W is the actual size of the target 2, α is the horizontal viewing angle of the imaging device 1, and β is the dance! &V is the depression angle of the device 1, δ is the vertical viewing angle of the device 1, H is the mounting angle of the imaging device 1, X is the total width pixel number of the monitor screen 3, N is the total number of scanning lines of the monitor screen 3, is the number of pixels of the target object 2 on the inner surface of the monitor 3, n is the number of scanning lines of the grounding point of the target object 2 on the monitor screen 3, θ is the depression angle of the target object 2 with respect to the II imaging device M1, and γ is the slope of the slope 6. The angle indicates the distance from the imaging device 1 to the target object 2.
特許出願人 富 士 通 株式会社 既知情報 本発明の原理図 第１図 （Ａ） （Ｂ） 本発明の第２実施例の構成図 第４図 第４図に示す測距方法の動作ブロック図第５図 本発明の第３実施例の構成図 第６図Patent applicant: Tomitsu Co., Ltd. Known information Principle diagram of the present invention Figure 1 (A) (B) Configuration diagram of the second embodiment of the present invention Figure 4 Figure 5 is an operational block diagram of the ranging method shown in Figure 4. Configuration diagram of the third embodiment of the present invention Figure 6
Claims (2)
によって得られた該目標物（２）のモニタ画面（３）上
の画素数又は走査線数の画像情報と、上記目標物（２）
の実際の大きさ、上記撮像装置（１）の水平方向視野角
、上記モニタ画面（３）の全幅画素数、又は、上記撮像
装置（１）の俯角、垂直方向視野角、取付け高さ、上記
モニタ画面（３）の全走査線数の予め知られている既知
情報とを、 予め定められている演算式に代入して上記撮像装置（１
）から上記目標物（２）までの距離（Ｌ）を求めること
を特徴とする撮像装置による測距方法。(1) Image information of the number of pixels or number of scanning lines on the monitor screen (3) of the target (2) obtained by imaging the target (2) with the imaging device (1) and the target Thing (2)
the actual size of the imaging device (1), the horizontal viewing angle of the imaging device (1), the number of full-width pixels of the monitor screen (3), or the depression angle, vertical viewing angle, mounting height of the imaging device (1), the above By substituting the known information of the total number of scanning lines of the monitor screen (3) into a predetermined arithmetic expression,
) to the target object (2).
を特徴とする特許請求の範囲第１項記載の撮像装置によ
る測距方法。(2) A distance measuring method using an imaging device according to claim 1, wherein the imaging device (1) is an infrared imaging camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP87336587A JPH01173811A (en) | 1987-12-28 | 1987-12-28 | Distance measuring method by image pickup device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP87336587A JPH01173811A (en) | 1987-12-28 | 1987-12-28 | Distance measuring method by image pickup device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01173811A true JPH01173811A (en) | 1989-07-10 |
Family
ID=18300694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP87336587A Pending JPH01173811A (en) | 1987-12-28 | 1987-12-28 | Distance measuring method by image pickup device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01173811A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0843030A (en) * | 1994-08-02 | 1996-02-16 | Mitsubishi Heavy Ind Ltd | Distance detector using monitor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4959665A (en) * | 1972-10-06 | 1974-06-10 | ||
| JPS60262008A (en) * | 1984-06-08 | 1985-12-25 | Mitsubishi Heavy Ind Ltd | Apparatus for detecting position of ship moored |
| JPS6145919A (en) * | 1984-08-09 | 1986-03-06 | Niles Parts Co Ltd | Distance measuring device for vehicle |
| JPS6176908A (en) * | 1984-09-21 | 1986-04-19 | Fujitsu Ltd | Distance measuring system |
| JPS61219825A (en) * | 1985-03-27 | 1986-09-30 | Nec Corp | Apparatus for measuring distance between cars |
| JPS62110110A (en) * | 1985-11-07 | 1987-05-21 | Fujitsu Ltd | Range finder for infrared image |
-
1987
- 1987-12-28 JP JP87336587A patent/JPH01173811A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4959665A (en) * | 1972-10-06 | 1974-06-10 | ||
| JPS60262008A (en) * | 1984-06-08 | 1985-12-25 | Mitsubishi Heavy Ind Ltd | Apparatus for detecting position of ship moored |
| JPS6145919A (en) * | 1984-08-09 | 1986-03-06 | Niles Parts Co Ltd | Distance measuring device for vehicle |
| JPS6176908A (en) * | 1984-09-21 | 1986-04-19 | Fujitsu Ltd | Distance measuring system |
| JPS61219825A (en) * | 1985-03-27 | 1986-09-30 | Nec Corp | Apparatus for measuring distance between cars |
| JPS62110110A (en) * | 1985-11-07 | 1987-05-21 | Fujitsu Ltd | Range finder for infrared image |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0843030A (en) * | 1994-08-02 | 1996-02-16 | Mitsubishi Heavy Ind Ltd | Distance detector using monitor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101296326B (en) | Night vision system, in particular for a vehicle and method for producing a night vision image | |
| US20050069195A1 (en) | Apparatus and method for establishing correspondence between images | |
| US5422673A (en) | Video camera with automatic focus control | |
| CA2502012A1 (en) | Electronic display and control device for a measuring device | |
| KR20050103597A (en) | Monitor system use panorama image and control method the system | |
| JP5339070B2 (en) | Displacement measuring apparatus and measuring method | |
| JP2634401B2 (en) | Convergence measurement device for color television receivers | |
| JPH01173811A (en) | Distance measuring method by image pickup device | |
| JPH05292543A (en) | Visual device | |
| JPH0969973A (en) | Position adjusting method for solid-state image pickup element | |
| WO2021241537A1 (en) | Damage diagram creation assistance method and device | |
| JP2000304520A (en) | Shape measuring apparatus and shape measuring method of solder fillet | |
| Barnes et al. | Infrared polarimetric camera system development | |
| JP3498852B2 (en) | Pan head information display controller | |
| JP2007508562A (en) | Dimension measurement method with digital camera | |
| JP3196122B2 (en) | Imaging device | |
| JP2008209289A (en) | Calibration method of dust monitor | |
| JPH09318351A (en) | Distance survey apparatus and size measuring method of object | |
| JPH0719815A (en) | Position detection method | |
| Bongiorno et al. | Automatic spectrometer/RGB camera spatial calibration | |
| JP2000180263A (en) | Automatic measuring method of and automatic measuring device for thermal image | |
| JPS6361108A (en) | Apparatus for confirming three-dimensional object | |
| JPH0474905A (en) | Detecting mechanism for position of camera | |
| JP2004020473A (en) | 3-dimensional surveying method using image sensor | |
| JPS61207936A (en) | Infrared thermometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Effective date: 20040820 Free format text: JAPANESE INTERMEDIATE CODE: A621 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20070719 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20070724 |
|
| A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20070921 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Effective date: 20071128 Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20071211 |
|
| R150 | Certificate of patent (=grant) or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Year of fee payment: 3 Free format text: PAYMENT UNTIL: 20110111 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110111 Year of fee payment: 3 |
|
| S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313531 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110111 Year of fee payment: 3 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Year of fee payment: 4 Free format text: PAYMENT UNTIL: 20120111 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Year of fee payment: 4 Free format text: PAYMENT UNTIL: 20120111 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130111 Year of fee payment: 5 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130111 Year of fee payment: 5 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Year of fee payment: 6 Free format text: PAYMENT UNTIL: 20140111 |