JPS60161512A - Three-dimensional eyesight system - Google Patents

Abstract

PURPOSE:To calculate the distance between an eyesight system and objective matter at a high speed with high accuracy, by calculating the distance information between the objective matter and the eyesight system by the positional change of the focal point on an image and the detection of image visibility so as to correspond to the small region on the image. CONSTITUTION:The image of the objective matter 3 constituting a three-dimensional model is formed on a solid image pick-up sensor 5 through a lens system 4. The distance of the lens system 4 and the solid image pick-up sensor 5 is changed by a lens system driving apparatus 6 and image data is stored in image memory 7 while small region image data Ii (x, y) around image coordinates (x, y) is delivered and a visibility is calculated with respect to an entire small region by a visibility calculation apparatus 8 and stored in a sharpness degree memory apparatus 9. Then, the visibility Ci (x, y) relating to a certain distance bi is compared with the visibility relating to the distance bi-1 before one point of time and, when the peak of the visibility is detected, the distance (b) from a position detector 13 is stored by a sampler 12.

Description

[Detailed Description of the Invention] [Original portion of the invention] The bad brother is the 3 yen + M red system, bamboo, business luck, 44 coffins, the distance between the lucky nho and the cutting board object. Ru V Ko light right na 3
Concerning dimensional visual systems.

[Background of the invention]

In an intelligent robot system, a viewing system for understanding the three-dimensional environment plays a role as a princess. This kind of sekkan system is superior! Divided into single-sided type and passive type,
Kita@ types include moire fringe usage and laser beam scanning methods, while passive types include stereo viewing methods. i
ll, f The JIJ type Daikan system has the advantage of being less affected by the properties of the sealing plate, the light source environment, etc., but it has the disadvantage that the purchase of the light irradiation equipment is often complicated. - 10,000, the stereo viewing method is J:! It is similar to the visual system of a 7-person hearing system. In order to obtain the distance of the object from the position information of the corresponding points on the two source images taken from different positions, the distance of the object becomes 11). However, the processing time required to extract all the corresponding points in the two images is enormous, and the possibility of extracting even one corresponding point by mistake is very low.

[Purpose of the invention]

The invention was made based on the above 6 self-deficiencies, and its purpose is to solve the above-mentioned problems in the 3-dimensional vision 7 stems of stool rice, and to achieve accurate distance palpitation in a short time. [Ruru] provides a three-dimensional visual system that makes it possible to see @.

[G cheap of invention]

In an imaging system consisting of a lens 1 and a sensor 2 shown in Fig. 1, when the focal length of the lens 1 is changed by 1*1e, the image of point 0 located at a distance d becomes 2. If the size of the opening is D, then the f-bonding δ is as follows.

Using the above-mentioned imaging thread, if we image the entire 3-source destruction area as shown in Figure 1 (1) J, we can obtain an image piece 5r (P
.

qlP, the sharpness Ci of the Q coordinate, for example, the evaluation value Ci-Σtsi(1'+1.(l)-1-8+(P, q
+11 2Si(P, q))"Ip...(2) changes according to the brush δ. In other words, when the brush δ is large, #clear bite Ci decreases, and δ=O Sharpness/At CI is maximum when .Here, blur δ is expressed by the formula (υ
In order to solve the problem of the focal length f, we can simplify the focal length f, find the sharpness Ci for each valley Si, and find the focal length *'1ffi that gives the maximum sharpness. Formula +IJ=Ojt7.1)11 dI -□...(3) 1)-fi? By using the needle KL9, the distance Mlfdt between the object corresponding to each image small area 8t and the water system in the first image will be 3.
It will be @ in the dimensional environment game composition.

The above is the main point of claim 1 of the present invention. In other words, the principle of softening the focus by increasing the contrast of a small area image, which is used in an autofocus camera, can be applied to a captured image. It is new in that it emits smoke in the entire small fox area and enables three-dimensional vision.

'J7m, a three-dimensional party system by making rice into stereo, that is, it consists of two picking threads, the corresponding points of the two circular images, of course, the correlation 8 of image 11J is raised, and the correlation value peak position is searched! 7x, target 3D motel ft using the principle of triangulation
In a groove forming system, if there are X corresponding points in the two images in advance for a certain number of corpses, the processing time for correlating heat peak position detection can be shortened by 10J, and the possibility of erroneous peak position detection can be reduced. It can also be used to reduce hair loss.

[Embodiments of the invention]

An example of the central IM of the present invention will be explained below with reference to FIGS. 3 and 4.

Congratulations on the example shown in Figure @3. Elbow plate that should be the bottom of the 3-piece model! ! IJ Kyo 3's mound is Shi/zu Ito 4 Nakogawa,
I earn #i on top of the solid-state camera 1 and 7 sensor 5. According to the distance between the lens base 4 and the solid-state image sensor 5, b
+>bz>..., bi,... % fall t
) i, the image 1 data is stored in the memory 7, the image coordinates IX, '/)'r: the small area 1 that is the center of gravity...
11 body data 1; (x, y) is cut out, and the sharpness calculation device 8 calculates the sharpness wave UitX, )'I of equation (2).

1Ii111 Therefore, Misaki Akichika is calculated for all the above small entertainment areas and stored in the Misaki uAI and IT storage device 9. #Brightness Ci IX,:Yn for a certain distance b1 is brightness 3 Ci' on the device i19 for a distance b i-+ in front of l scotoma
-11x, )'). The Tani Shinkansen change is converted into the converter lO as Eri...t4J. Visibility change ΔC ((
X + Y) is compared with 4C+-+l x,)') stored in the storage device 11 one time before,
Only when there is a change in sign of
The distance from 3 is indicated by 1. The distance between the lens and the sensor that gives rise to sharpness is in the slightest range, I
Although it differs depending on
In , the distance 1111th related to Zenshin no I will be paid. Kakeru of Lens Thread 4! Treated as IJ/I, the control device line 15 is the distance blX, y) on the storage device 14, and the short time i'f between the corresponding point in the small area and the visual system.
ftx, output f to l.

Congratulations on the embodiment of FIG. Two sets of photos (4a.

58) and (4b, 5t)) - Sword 14a, 5a), Shi/zu secret sea bream device modification 6a, Renozu position detection gain 13a missing 11m. 1ffll image memory 7a and required d, ? 13
From the output of a, the apparatus 16 in FIG.

Distance d between 5al and the object (X, yl are blurred. Ig team memo IJ of imaging system 14a, 5a) Each position coordinate tx, y on 7a) Self-transmitted image piece i T'X, Y ,) and the heak position of the imaging ho (4b, 5b) lazuka memo U7bVJ correlative stroke is II! it 1m memo +77 As position $IX, YJ on b, phase 1 row heat position I! Detector 18
Detected by n. The initial position fX, Yl of the heat position search system in the detector 18 is determined on the object 1212 distance information d (x, y) for each image small area from the sensor 416. The calculation results in a mechanical tolerance as shown in Figure 2 1al.As shown in the figure,
When the position (X, , )') on r is determined, the direction of the target point P2 is determined, and the distance d (X, )l') makes the position 1 square. Determine in which direction point P2 is located on the left side by moving the image + '41 + upper position IX, Y).

Since there is an outline, the corresponding point of nothing 77) Lost and sad 9
, the correlation peak of the device 18 becomes a corresponding point +X, Y) which corresponds to J:v slightly. Stereo celebration Ei, mI
#19 is two IJMJINi, 7 a, 7
A precise counter-board point is output from the corresponding points on b (IX, )'), fX, Y).

〔Effect of the invention〕

According to the present invention, J:11+ can be used to detect changes in the focal position on IIal and sharp changes in sharpness. In addition to the above system, it can be added to the stereo viewing system and used as the initial position information of the 2nd image corresponding point search system. It depends on what you offer.

[Brief explanation of drawings]

All of these images are inspired by the present invention, and Figure 1 shows a flash of focus and l1i11 sharpness, Figure 2 shows a stereo view of JpA, and Figure 3 Figure 4 shows a diagram of another embodiment of the vision system. l...lens, 2...1 filI Tsuka set, 3.
... vs. board salary, 4...7z, 5...lI! 11 years old...J, 6...#J/Y! ij force device. VJ 1 Figure (0-) Z Figure fJ3 Figure

Claims (1)

[Claims] In the Sekkan 7 stem, which consists of a Shi/zu yarn, an N-processor, a picture 1 group memory, and an image processing device, there is a means for making the focal point on the frame on the image clear, and lI! A hand that calculates the sharpness of a partial area in the family memory by and a generation that trembles between the cough focal length r and the distance between the plate object and the visual system.
7 stems of Fuyuan Butsukan.