KR102036324B1 - Image displacement measurement method for correcting three dimensional position error of camera using dual camera - Google Patents

Abstract

According to an exemplary embodiment of the present invention, an image displacement measuring method capable of correcting a three-dimensional position error of a camera using a dual camera may include (a) preparing a main camera and a sub camera closely fixed to face different directions, and the main camera Photographing a main target attached to a distant structure with a camera, and simultaneously photographing a sub target fixed to a short distance with the sub camera; (b) using the image of the sub target photographed through the sub camera; Measuring a three-dimensional displacement of a; and (c) measuring and correcting a motion displacement according to the movement of the main camera from the measured three-dimensional displacement of the sub-target, thereby measuring the displacement of the main target. .

Description

IMAGE DISPLACEMENT MEASUREMENT METHOD FOR CORRECTING THREE DIMENSIONAL POSITION ERROR OF CAMERA USING DUAL CAMERA}

The present invention relates to an image displacement measuring method capable of correcting a three-dimensional position error of a camera using a dual camera.

Civil or architectural structures (hereinafter, simply referred to as "structures") are exposed to various external environmental changes, such as traffic, earthquakes, gusts, etc., so rational and accurate design construction is important, but it is important to maintain the optimal condition of the structure. . For this reason, there is a growing interest in devices for diagnosing the safety of structures.

In particular, long-term deformation due to creep and shrinkage of railroad bridges is a problem to satisfy the displacement criteria for the construction of aerial tracks. have. Accordingly, there is a search for a method capable of measuring a displacement of a structure such as a railway bridge at a distance from a non-contact type.

Recently, a method of measuring long-term displacement of a structure by digital imaging of a structure has been introduced. However, this method is only used to measure the dynamic displacement of the structure in a short period of time, there was a disadvantage that is not suitable for measuring the long-term displacement of the structure.

In other words, in order to apply an image capturing method to measure the deformation of a structure, stable image capturing of the structure should be possible over a long period of time due to the characteristics of the deformation of the structure.

However, in the case of a camera that needs to take an image of the structure for a long time, the micro-deformation occurs in the ground or the support on which the camera is installed, and thus the initial installation position and posture may change.

In this case, there was a fear that it would act as a large inhibitor in measuring the long-term deformation of the structure located at a distance.

Therefore, there is a demand for a technology development for an image displacement measurement method capable of correcting three-dimensional position errors capable of accurately measuring long-term deformation of a structure at a long distance.

Prior art related to the present invention is a patent application No. 10-2006-0099620, the prior document discloses the contents of the displacement measuring system and method of the structure.

An object of the present invention is to provide an image displacement measuring method capable of correcting the three-dimensional position error of the camera for measuring the long-term displacement of the bridge.

Another object of the present invention is to provide an image displacement measuring method capable of three-dimensional position error correction of the camera that can measure the long-term displacement of the bridge in a non-contact using a dual camera.

Another object of the present invention is to provide an image displacement measuring method capable of correcting a three-dimensional position error of a camera capable of constructing long-term displacement data with intermittent measured displacement measurement data.

Another object of the present invention is an image displacement measurement method using an algorithm capable of precisely correcting an error due to a change in the position of a camera that can occur when performing image displacement measurement for measuring long-term displacement of a bridge in three-dimensional space. To provide.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention, which are not mentioned above, can be understood by the following description, and more clearly by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

According to an exemplary embodiment of the present invention, an image displacement measuring method capable of correcting a three-dimensional position error of a camera using a dual camera may include (a) preparing a main camera and a sub camera closely fixed to face different directions, and the main camera Photographing a main target attached to a distant structure with a camera, and simultaneously photographing a sub target fixed to a short distance with the sub camera; (b) using the image of the sub target photographed through the sub camera; Measuring a three-dimensional displacement of a; and (c) measuring and correcting a motion displacement according to the movement of the main camera from the measured three-dimensional displacement of the sub-target, thereby measuring the displacement of the main target. .

Here, after step (a), the coordinates of the main target obtained from the main camera may be mapped based on Equation 1 below.

[Equation 1]

은 카메라 매트릭스이고,

는 카메라 내부 파라미터이고,

는 카메라 외부 파라미터임)(From here,

Is the camera matrix,

Is an internal camera parameter

Is an external parameter to the camera)

In addition, if the coordinates are {X, Y, Z} ^T in the initial motion of the main target, the image coordinates mapped by the camera matrix may be determined based on Equation 2 below.

[Equation 2]

In addition, the image coordinates in the i-th motion of the main target may be determined based on Equation 3 below.

 [Equation 3]

은 WC,i에서 WC,1으로 변환하는 행렬임)(From here,

Is a matrix that converts WC, i to WC, 1)

Further, when the sub target and the main target are fixed, {x, y, z, 1} ^T _{wc, 1} and {x, y, z, 1} ^{T in} Equations 2 and 3 _{Since wc and i} are positions of the main targets viewed based on the sub targets _{, wc and i} may be identically viewed based on Equation 3-1 below.

[Equation 3-1]

는 하기의 수학식 3-2에 근거하여 정해질 수 있다.In addition, the independent variables in the camera motion in the equation (3) and the equation (3-1)

May be determined based on Equation 3-2 below.

[Equation 3-2]

Further, while the main target and the sub target are fixed, randomly giving a three-dimensional movement to the main camera and the sub-camera to generate various data sets, and then calculate the independent variables of Equation 3-2 by using a regression method. can do.

In addition, in the step (c), the displacement of the main target measured after the motion displacement according to the movement of the main camera is corrected may be determined based on Equation 4 below.

[Equation 4]

Further, in the step (a), prior to measuring the displacement of the main target using the main camera, the displacement of the sub camera and the main camera through the image of the sub target obtained through the sub camera is measured. While correcting, the main target may be corrected to the correct position.

According to another embodiment of the present invention, (a) preparing a main camera and a sub-camera closely contacted to face different directions, and photographing the main target attached to the distant structure with the main camera, Photographing a sub-target fixed to a short distance, (b) measuring a three-dimensional displacement of the sub-target by using an image of the sub-target captured by the sub-camera, (c) measuring the sub-target of the measured sub-target Measuring and correcting the motion displacement according to the movement of the main camera from the three-dimensional displacement, and measuring the displacement of the main target, and (d) recording and storing the displacement of the main target in real time or at each set time period. Generating and storing long-term displacement data of the structure corresponding to And a step of identifying the long-term displacement of the group structure.

According to the present invention, it is possible to correct the three-dimensional movement of the installed camera, and there is an advantage of stably measuring the displacement occurring in the bridge over a long period of time.

In addition, according to the present invention there is an advantage that can accurately correct the displacement error caused by the camera movement caused by the wind, ground vibrations.

In addition, according to the present invention, since the short-term displacement data measured intermittently can be attached, there is an advantage that long-term displacement measurement can be performed even if the camera is inevitably collected due to weather or traffic conditions.

In addition, according to the present invention, since the camera is not exposed to the external environment for a long time, there is an advantage of preventing performance degradation of the camera.

In addition, according to the present invention, unlike the existing displacement measurement equipment to be measured at the bottom of the bridge, the displacement can be measured in the outer area of the bridge has the advantage of reducing the social cost, such as traffic blocking.

In addition to the effects described above, the specific effects of the present invention will be described together with the following description of specifics for carrying out the invention.

1 is a flowchart of a method of measuring a displacement of a camera capable of correcting a three-dimensional position error of a camera using a dual camera according to an exemplary embodiment of the present invention.
2 is a diagram illustrating a positional relationship between a main camera, a sub camera, a main target, and a sub target in step (a) of the image displacement measuring method capable of correcting a 3D position error of a camera using a dual camera according to an embodiment of the present invention. The figure shown.
3 is a graph showing displacement data before and after correction according to an image displacement measurement method capable of correcting a three-dimensional position error of a camera using a dual camera according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention.

In order to clearly describe the present invention, parts irrelevant to the description are omitted, and like reference numerals designate like elements throughout the specification. In addition, some embodiments of the invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are shown in different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) can be used. These terms are only to distinguish the components from other components, and the terms are not limited in nature, order, order or number of the components. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but between components It is to be understood that the elements may be "interposed" or each component may be "connected", "coupled" or "connected" through other components.

In addition, in the implementation of the present invention may be described by subdividing the components for convenience of description, these components may be implemented in one device or module, or one component is a plurality of devices or modules It can also be implemented separately.

In the description of the present invention, the structure may mean a civil or building structure, and as a specific example, a railroad bridge may correspond thereto. Since these structures can be deformed according to various external conditions such as traffic, environment, and weather, it is important to accurately design and construct them, but it is also important to keep track of the deformation state of the structure and keep it in an optimal state. For example, in the case of railway bridges, if long-term deformation due to creep and shrinkage occurs, it is difficult to satisfy the displacement criteria for the construction of the aerial track, and if the deformation occurs during the operation of the track, it may adversely affect the riding comfort of the train Inflicted. The present invention provides a more accurate and simple measurement of long-term displacement (hereinafter referred to as 'long-term displacement') for a structure such as a railway bridge in a non-contact at a distance.

1 is a flowchart of a method of measuring a displacement of a camera capable of correcting a three-dimensional position error of a camera using a dual camera according to an exemplary embodiment of the present invention.

Referring to FIG. 1, a dual camera preparation and a main target, a sub target photographing step S100, a three-dimensional displacement measuring step S200 of a sub target, and a displacement measuring step S300 of a main target are included.

Dual  Camera preparation and main target , serve target  Shooting Step (S100)

This step is to prepare a dual camera and the main target, sub-target shooting step, and prepare the main camera and the sub-camera closely fixed to look at different directions, and the main camera to shoot the main target attached to the distant structure, The sub-camera corresponds to photographing a sub-target fixed to a short distance.

2 is a diagram illustrating a positional relationship between a main camera, a sub camera, a main target, and a sub target. Referring to FIG. 2, in this step, the main target 110 may be installed in a target structure (for example, a railway bridge) for measuring long-term displacement.

The main target 110 may have a form in which a plurality of points set on the plate-shaped member are disposed at a set interval, but is not limited thereto. As a specific example, the main target 110 may be formed with one point formed at the center portion and one point formed at each corner.

The main camera 210 is a device for photographing the main target 110 installed in the structure for a long time, and may acquire image information of the main target 110.

Preferably, the main camera 210 may be positioned at a predetermined distance from the main target 110, but may be disposed at a distance far greater than the distance between the sub camera 220 and the sub target 120. The main camera 210 may be disposed to face the main target 110 in a straight line. As such a structure, unlike other conventional measuring equipment that is installed in the lower portion of the structure, such as railway bridge to measure the displacement, there is an advantage that can be measured in a non-contact displacement over a long distance. As a result, there is an advantage that can reduce social costs such as traffic blocking.

The sub target 120 may be fixedly installed on the opposite side (eg, on the opposite side of the ground) of the main target 110 with the main camera 210 therebetween. Accordingly, the sub target 120 may not have a displacement, that is, a position change, during the time of photographing the main target 110 using the main camera 210, and maintains the initial installation position as it is.

The sub camera 220 is closely coupled with the main camera 210 to face different directions. The sub camera 220 is disposed to maintain a predetermined distance from the sub target 120, and the main camera 210 may be disposed at a closer distance than the distance between the main targets 110. As a preferred example, the main camera 210 and the sub camera 220 may be disposed to face each other by being coupled to each other through side surfaces, and may be arranged to look in opposite directions to each other. ) May be coupled at an inclined angle to face the sub target 120 installed on the ground.

3D displacement measurement step of the sub target (S200)

This step is to measure the three-dimensional displacement of the sub-target, and corresponds to the step of measuring the three-dimensional displacement of the sub-target by using the image of the sub-target taken through the sub-camera.

Displacement measurement step of the main target (S300)

This step is a displacement measuring step of the main target, and corresponds to a step of measuring and correcting the motion displacement according to the movement of the main camera from the three-dimensional displacement of the sub-target measured in the previous step, and measuring the pure displacement of the main target.

Hereinafter, an algorithm for performing an image displacement measuring method capable of correcting a three-dimensional position error of a camera using a dual camera according to an embodiment of the present invention will be described.

Before the main target 110 (see FIG. 2) is measured through the main camera 210 (see FIG. 2), the main target 110 (see FIG. 2) may be divided into two parts.

Before measuring the displacement of the main target 110 (see FIG. 2) using the main camera 210 (see FIG. 2), the sub target 120 (see FIG. 2) acquired through the sub camera 220 (see FIG. 2). Displacement correction (that is, calibration) of the sub-camera 220 (see FIG. 2) and the main camera 210 (see FIG. 2) may be performed through the image of. In addition, the position of the main target 110 can be determined, and its position can be corrected to the correct position.

During the measurement of the displacement of the main target 110 (see FIG. 2) using the main camera 210 (see FIG. 2), the displacement before correction (that is, the structure of the structure) from the image captured by the main camera 210 (see FIG. 2). Sum of long-term displacement and motion displacement due to camera movement) can be calculated. In addition, the movement of the main camera 210 (see FIG. 2) may be grasped from the image captured by the sub camera 220 (see FIG. 2), and the motion displacement according to the movement of the main camera 210 (see FIG. 2) may be measured. . Accordingly, a long-term displacement of the structure may be obtained by performing a correction to remove the motion displacement measured by the sub camera 220 (see FIG. 2) from the displacement measured by the main camera 210 (see FIG. 2).

는 IC1 상의 좌표점을 의미한다.Specifically, in the following description, IC is an image coordinate system, WC is a world coordinate system, CC is a camera coordinate system, EXT is an extrinsic parameter, and K is a camera internal parameter ( intrinsic parameters), IC1 and CC1 are the main camera's IC and CC, WC, i is the WC in the i-th motion,

Denotes a coordinate point on IC1.

The coordinates of the main target 110 (see FIG. 2) obtained from the main camera 210 (see FIG. 2) may be mapped based on Equation 1 below.

 [Equation 1]

은 카메라 매트릭스이고,

는 카메라 내부 파라미터이고,

는 카메라 외부 파라미터를 말한다.From here,

Is the camera matrix,

Is an internal camera parameter

Refers to external parameters of the camera.

If the coordinates on the WC of the main target 110 (see FIG. 2) in the initial motion is {X, Y, Z} ^T , the coordinates on the IC1 may be expressed as follows based on Equation 2 below.

[Equation 2]

The coordinate on IC1 of the main target 110 (refer to FIG. 2) in the i th motion may be expressed by Equation 3 below.

[Equation 3]

은 WC,i에서 WC,1로 변환하는 행렬로서, 서브 카메라(220, 도 2 참조)를 통해 계산될 수 있다.From here,

Is a matrix for converting from WC, i to WC, 1 and may be calculated through the sub-camera 220 (see FIG. 2).

는 하기의 [수학식 3-1]과 같이 동일할 수 있다.If the main target 110 (see FIG. 2) is not moved, the coordinates of the main target 110 (see FIG. 2) on WC, 1 and WC, i

May be the same as Equation 3-1 below.

[Equation 3-1]

Equation 3-2 below is derived through Equation 1, Equation 2, Equation 3, and Equation 3-1.

[Equation 3-2]

Summarizing [Equation 3-2], the following Equation 3-3 is derived.

[Equation 3-3]

와

은 보조 카메라의 계측결과로 알 수 있다. 여기서,

는 계측 전 다양한 모션에서 찍힌 메인 카메라(210, 도 2 참조)와 서브 카메라(220, 도 2 참조)의 이미지로부터 구할 수 있다. 또한, 계측 중에는(예를 들어, k번째 모션이라고 할 경우) [수학식 3-3]에서

와

를 서브 카메라(220, 도 2 참조)를 통해 구하면, [수학식 3-3]의 우변 값을 구할 수 있다. 이렇게 계산된 우변 값을 통해 좌변의

를 예측할 수 있다.In the above Equation 3-3, the left side can be seen from the measurement result of the main camera 210 (refer to FIG. 2).

Wow

This can be seen from the measurement result of the auxiliary camera. here,

May be obtained from images of the main camera 210 (see FIG. 2) and the sub camera 220 (see FIG. 2) taken in various motions before measurement. In addition, during measurement (for example, the kth motion), the equation (3-3)

Wow

When R is obtained through the sub camera 220 (refer to FIG. 2), the right side value of Equation 3-3 can be obtained. The calculated right side value

Can be predicted.

Further, while the main target and the sub target are fixed, randomly giving a three-dimensional movement to the main camera and the sub-camera to generate various data sets, and then calculate the independent variables of Equation 3-2 by using a regression method. can do.

, 즉

는 카메라 움직임에 의해 발생되는 모션 변위이다. 따라서, 메인 카메라(210, 도 2 참조)를 통해 계측된

에서 서브 카메라(220, 도 2 참조)를 통해 예측된

를 빼면 순수한 메인 타겟(110, 도 2 참조)의 변위가 되며, 이는 하기의 [수학식 4]와 같이 표현된다.Predicted through the sub-camera 220 (see FIG. 2)

, In other words

Is the motion displacement caused by camera movement. Therefore, measured through the main camera 210 (see FIG. 2)

Predicted through the sub-camera 220 (see FIG. 2) in FIG.

If subtracted, it becomes the displacement of the pure main target 110 (see FIG. 2), which is expressed as Equation 4 below.

[Equation 4]

는 서브 타겟(120, 도 2 참조)을 기준으로 한 메인 타겟(110, 도 2 참조)의 변위이므로, 듀얼 카메라의 움직임과 무관하므로 구조물의 장기 변위 계측이 가능해 질 수 있다. 그리고 듀얼 카메라가 3차원으로 움직여도 카메라 움직임에 따른 오차를 3차원 공간상에서 보정할 수 있어 정밀한 장기 변위 계측이 가능해 질 수 있다. here,

Since is the displacement of the main target 110 (see FIG. 2) with respect to the sub-target 120 (see FIG. 2), it is possible to measure the long-term displacement of the structure because it is independent of the movement of the dual camera. And even if the dual camera moves in three dimensions, errors due to camera movement can be corrected in three-dimensional space, enabling accurate long-term displacement measurement.

As mentioned above, according to the structure and operation | movement of this invention, long-term displacement of structures, such as a bridge, can be measured effectively. In particular, camera movement caused by wind, temperature change, etc. causes displacement measurement error, and this error can be corrected.

Furthermore, according to the present invention, since the short-term displacement data measured intermittently can be pasted, there is an advantage that the long-term displacement measurement can be performed even if the camera is inevitably collected due to weather or traffic conditions.

Furthermore, according to the present invention, since the camera is not exposed to the external environment for a long time, the performance degradation problem of the camera can be reduced. And unlike other displacement measuring equipment that needs to be measured at the bottom of the bridge, it is possible to measure the distance displacement in the outer area of the bridge, there is an advantage that the social cost such as traffic blocking can be reduced.

After these steps, the displacement of the main target is recorded and stored in real time or at a set time period to generate and store long-term displacement data of the structure corresponding to a set period, while the structure is stored through long-term displacement data of the stored structure. The method may further include determining a long-term displacement of.

3 is a graph showing displacement data before and after correction according to an image displacement measurement method capable of correcting a three-dimensional position error of a camera using a dual camera according to an embodiment of the present invention.

Referring to FIG. 3, the results before and after the correction operation of removing the motion displacement measured by the sub camera from the displacement measured by the main camera may be confirmed. As can be seen from the graph, it can be seen that a large displacement error occurs due to camera movement, that is, camera motion, for both the X displacement result and the Y displacement result. It can be seen that the error due to the camera movement is corrected and only an error of about 5 mm is measured. Considering that the long-term deflection (that is, displacement) of structures such as bridges is several tens of millimeters, it can be seen that the present invention is effective for measuring device deflection in actual bridges.

As described above, the present invention has been described with reference to the drawings, but the present invention is not limited to the embodiments and drawings disclosed herein, and various modifications may be made by those skilled in the art within the scope of the technical idea of the present invention. It is obvious that modifications can be made. In addition, even if the above described embodiments of the present invention while not explicitly described and described the effect of the effect of the configuration of the present invention, it is obvious that the effect predictable by the configuration is also to be recognized.

110: main target
120: sub target
210: main camera
220: sub camera

Claims (17)

(a) preparing a main camera and a sub camera closely fixed to face different directions, photographing a main target attached to a distant structure with the main camera, and simultaneously photographing a sub target fixed at a short distance with the sub camera; step;
(b) measuring a three-dimensional displacement of the sub-target by using the image of the sub-target photographed by the sub-camera; And
(c) measuring and correcting the motion displacement according to the movement of the main camera from the measured three-dimensional displacement of the sub-target, and measuring the displacement of the main target;
After the step (a), the image displacement capable of correcting the three-dimensional position error of the camera using a dual camera, characterized in that for mapping the coordinates of the main target obtained from the main camera based on Equation 1 below Measurement method.
[Equation 1]

(From here,

Is the camera matrix,

Is an internal camera parameter

Is an external parameter to the camera)
delete The method of claim 1,
If the coordinates are {X, Y, Z} ^T in the initial motion of the main target, the image coordinates mapped by the camera matrix are determined based on Equation 2 below. Image displacement measurement method that can correct three-dimensional position error.
[Equation 2]

The method of claim 3,
And image coordinates in the i th motion of the main target are determined based on Equation 3 below. 3.
[Equation 3]

(From here,

Is a matrix that converts WC, i to WC, 1)
The method of claim 4, wherein
When the sub target and the main target are fixed, {x, y, z, 1} ^T _{wc, 1} and {x, y, z, 1} ^T _{wc, in} Equation 2 and Equation 3 _{, i} is the position of the main target viewed based on the sub-target, so that the image displacement measurement capable of correcting the three-dimensional position error of the camera by using the dual camera, characterized in that the same view based on Equation 3-1 below Way.
[Equation 3-1]

The method of claim 5,
Equations 3 and 3 are independent variables in camera motion in Equation 3-1.

The image displacement measurement method capable of correcting the three-dimensional position error of the dual camera, characterized in that determined based on Equation 3-2.
[Equation 3-2]

The method of claim 6,
In the state where the main target and the sub-target are fixed, randomly giving a three-dimensional motion to the main camera and the sub-camera to make various data sets, and then calculate the independent variables of Equation 3-2 by using a regression method. An image displacement measuring method capable of correcting dual camera three-dimensional position error.
The method of claim 4, wherein
In the step (c), the displacement of the main target measured after the motion displacement according to the movement of the main camera is corrected is determined based on Equation 4 below. Image displacement measurement method that can correct three-dimensional position error.
[Equation 4]

The method of claim 1,
In the step (a), prior to measuring the displacement of the main target using the main camera, the displacement of the sub camera and the main camera through the image of the sub target obtained through the sub camera is corrected On the other hand, by using a dual camera, characterized in that for correcting the main target to the image displacement measurement method that can correct the three-dimensional position error of the camera.
(a) preparing a main camera and a sub camera closely fixed to face different directions, photographing a main target attached to a distant structure with the main camera, and simultaneously photographing a sub target fixed at a short distance with the sub camera; step;
(b) measuring a three-dimensional displacement of the sub-target by using the image of the sub-target photographed by the sub-camera;
(c) measuring and correcting the motion displacement according to the movement of the main camera from the measured three-dimensional displacement of the sub-target, and measuring the displacement of the main target; And
(d) record and store the displacement of the main target in real time or at a set time period to generate and store long-term displacement data of the structure corresponding to a set period, and to store the long-term displacement of the structure through the long-term displacement data of the stored structure. Including;
After the step (a), the image displacement capable of correcting the three-dimensional position error of the camera using a dual camera, characterized in that for mapping the coordinates of the main target obtained from the main camera based on Equation 1 below Measurement method.
[Equation 1]

(From here,

Is the camera matrix,

Is an internal camera parameter

Is an external parameter to the camera)
delete The method of claim 10,
If the coordinates are {X, Y, Z} ^T in the initial motion of the main target, the image coordinates mapped by the camera matrix are determined based on Equation 2 below. Image displacement measurement method that can correct three-dimensional position error.
[Equation 2]

The method of claim 12,
And image coordinates in the i th motion of the main target are determined based on Equation 3 below. 3.
[Equation 3]

(From here,

Is a matrix that converts WC, i to WC, 1)
The method of claim 13,
When the sub target and the main target are fixed, {x, y, z, 1} ^T _{wc, 1} and {x, y, z, 1} ^T _{wc, in} Equation 2 and Equation 3 _{, i} is the position of the main target viewed based on the sub-target, so that the image displacement measurement capable of correcting the three-dimensional position error of the camera by using the dual camera, characterized in that the same view based on Equation 3-1 below Way.
[Equation 3-1]

The method of claim 14,
Equations 3 and 3 are independent variables in camera motion in Equation 3-1.

The image displacement measurement method capable of correcting the three-dimensional position error of the dual camera, characterized in that determined based on Equation 3-2.
[Equation 3-2]

The method of claim 15,
In the state where the main target and the sub-target are fixed, randomly giving a three-dimensional motion to the main camera and the sub-camera to make various data sets, and then calculate the independent variables of Equation 3-2 by using a regression method. An image displacement measuring method capable of correcting dual camera three-dimensional position error.
The method of claim 13,
In the step (c), the displacement of the main target measured after the motion displacement according to the movement of the main camera is corrected is determined based on Equation 4 below. Image displacement measurement method that can correct three-dimensional position error.
[Equation 4]

Images