WO2012057392A1 - Système de mesure de distance à l'aide d'une pluralité d'appareils de prise de vue et son procédé - Google Patents

Système de mesure de distance à l'aide d'une pluralité d'appareils de prise de vue et son procédé Download PDF

Info

Publication number
WO2012057392A1
WO2012057392A1 PCT/KR2010/008083 KR2010008083W WO2012057392A1 WO 2012057392 A1 WO2012057392 A1 WO 2012057392A1 KR 2010008083 W KR2010008083 W KR 2010008083W WO 2012057392 A1 WO2012057392 A1 WO 2012057392A1
Authority
WO
WIPO (PCT)
Prior art keywords
distance
cameras
distance measuring
target
image processing
Prior art date
Application number
PCT/KR2010/008083
Other languages
English (en)
Korean (ko)
Inventor
김두현
전동운
조기호
Original Assignee
건국대학교 산학협력단
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 건국대학교 산학협력단 filed Critical 건국대학교 산학협력단
Publication of WO2012057392A1 publication Critical patent/WO2012057392A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
    • G01C3/18—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with one observation point at each end of the base

Definitions

  • the present invention relates to a distance measuring system and a method using a plurality of cameras, and more particularly, to a user who needs to pay attention to a plurality of targets at the same time using two different cameras, that is, a part of different images acquired from a plurality of cameras.
  • the present invention relates to a system and a method for measuring a distance between an unmanned aerial vehicle and a target installed with a camera.
  • unmanned aerial vehicles are equipped with various kinds of cameras to perform missions.
  • Most drones are usually equipped with one camera. In this case, it is difficult to detect and track a plurality of targets or targets, and there is a difficulty in taking off and landing using an image acquired from a camera.
  • GPS Globalstar, ultrasonic waves, infrared sensors (IR), etc. are used as equipment for measuring position and altitude in an unmanned aerial vehicle, but types of sensors that can be used for each height are determined. It takes That is, the prior art as described above requires a costly budget for accurate measurement, and has a disadvantage in that it is difficult to use at a wide range of heights. In addition, there is a problem in that it is difficult to acquire a plurality of ROIs with one camera, so that image-based location is difficult.
  • the present invention has been made in view of the above problems, and provides a distance measuring system and method using a plurality of cameras that can measure the distance between the unmanned aerial vehicle and the target by matching images acquired through a plurality of cameras. There is a purpose.
  • the present invention for achieving the technical problem relates to a distance measuring system using a plurality of cameras, a plurality of camera devices installed at a specific position of the unmanned aerial vehicle, each camera device for obtaining an image for the target; And an image processing apparatus for matching the images acquired through the camera apparatus and measuring a distance between the unmanned aerial vehicle and a target. Characterized in that it comprises a.
  • the present invention relates to a distance measuring method using a plurality of cameras, (a) a plurality of camera devices installed at a specific position of the unmanned aerial vehicle to obtain an image for a specific target at the same angle of view, respectively; And (b) extracting a region of interest in each image acquired by the image processing apparatus through a plurality of camera apparatuses, and comparing the positions of the target and the plurality of regions of interest to measure a distance between the unmanned aerial vehicle and the target. ; Characterized in that it comprises a.
  • the present invention as described above, it is possible to automatically take off and land of the unmanned aerial vehicle by providing the relative height information to the user using a plurality of, preferably two cameras. That is, the present invention can effectively monitor and process the two camera images as described above, has the following specific effects.
  • GPS information can be supplemented.
  • the user can easily operate equipment such as driverless cars or unmanned aerial vehicles, and can quickly understand the surroundings.
  • FIG. 1 is an overall configuration diagram conceptually showing a distance measuring system using a plurality of cameras according to an embodiment of the present invention.
  • FIG. 2 is an exemplary diagram illustrating a region of interest in each image acquired through two camera apparatuses according to an embodiment of the present invention, and showing an interval from each region of interest to a target.
  • FIG 3 is an exemplary view showing a state in which each image obtained through two camera apparatuses is divided into block areas according to an embodiment of the present invention.
  • FIG 4 is an exemplary view illustrating a region in which each of the first image and the second image and the first image and the second image overlap each other according to an embodiment of the present invention.
  • FIG. 5 is an exemplary view illustrating a distance from a target for each number of overlapping blocks after dividing each image into a block area using two images acquired through two camera apparatuses according to an embodiment of the present invention.
  • FIG. 6 is a flowchart illustrating a distance measuring method using a plurality of cameras according to an embodiment of the present invention.
  • first distance measuring unit 220 second distance measuring unit
  • a distance measuring system using a plurality of cameras according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5.
  • FIG. 1 is an overall configuration diagram conceptually showing a distance measuring system S using a plurality of cameras according to an embodiment of the present invention, as shown in the camera device 100, the image processing device 200 and monitoring Device 300.
  • the camera apparatus 100 is a plurality of camera apparatuses installed at a predetermined distance on the same horizontal line of the unmanned aerial vehicle, and acquires images of targets (landing destinations) at the same angle of view, respectively.
  • the number of the camera device 100 is set to two, but the present invention is not limited thereto.
  • the image processing apparatus 200 performs a function of measuring a distance between the unmanned aerial vehicle and a target by matching images acquired through the plurality of camera apparatuses 100, as shown in FIG. 1. , A first distance measuring unit 210 and a second distance measuring unit 220.
  • FIG. 2 extracts regions of interest a and A from each image (first image and second image) acquired through two camera apparatuses 100 according to an embodiment of the present invention, respectively.
  • the first distance measuring unit 210 extracts the ROIs A and A in each image acquired through the plurality of camera apparatuses 100, and extracts the target region and the plurality of target objects.
  • the distance between the unmanned aerial vehicle and the target is measured by comparing the positions of the ROIs.
  • the interval of the ROI may vary depending on the distance between the unmanned aerial vehicle and the target (landing destination). Therefore, the first distance measuring unit 210 measures the distance (altitude) to the target based on the distance from each region of interest to the target.
  • the ROI is an area existing in the image acquired through the camera apparatus 100 and may exist at a distance adjacent to the target.
  • the second distance measuring unit 220 divides the plurality of (two) images acquired through the plurality of (two) camera apparatus 100 into the block area, and then determines the similarity of the blocks between the images divided into the blocks. , Measure the distance to the target (altitude).
  • FIG. 3 is an exemplary view illustrating the division of each image (first image and second image) acquired through two camera apparatuses 100 according to an embodiment of the present invention into block regions.
  • FIG. 1 is a view illustrating each of the first image and the second image and a region where the first image and the second image overlap each other according to an exemplary embodiment of the present invention.
  • the second distance measuring unit 220 divides a plurality of (two) images acquired through the plurality of camera apparatuses 100 into block regions, respectively.
  • the number of overlapping blocks between the plurality of divided images (two) is determined, and a distance (altitude) from a preset target is set according to the number of overlapping blocks.
  • 5 is a distance (altitude) from the target for each number of overlapping blocks after dividing each image into block regions using two images acquired through two camera apparatuses 100 according to an embodiment of the present invention.
  • the number of overlapping blocks as shown in the figure 7 is 100m, 6 is 75m, 5 is 50m, 4 is 4m, 2 is set to 15m.
  • the image processing apparatus 200 may encode various processing information for calculation for distance measurement or transmission to an external device.
  • one of the first distance measuring unit 210 or the second distance measuring unit 220 may be selectively used, and the first distance measuring unit 210 and the second distance measuring unit ( 220 may be used at the same time, and then optionally referred to the measured information.
  • the monitoring apparatus 300 controls the image processing apparatus 200 according to the user's input information, and thus, various status information regarding the unmanned aerial vehicle including various control information of the user for distance measurement and distance information to a target.
  • Monitor controls the image processing apparatus 200 according to the user's input information, and thus, various status information regarding the unmanned aerial vehicle including various control information of the user for distance measurement and distance information to a target.
  • the monitoring device 300 is connected to the image processing apparatus 200 by wire or wireless so as to be connected in a near or remote position.
  • FIG. 6 is a flowchart illustrating a distance measuring method using a plurality of cameras according to an embodiment of the present invention. As shown in FIG. 6, a plurality of camera apparatuses 100 installed on an unmanned aerial vehicle at a predetermined distance on the same horizontal line are provided. Each image of the target is acquired at the same angle of view (S10).
  • the image processing apparatus 200 matches the images acquired through the plurality of camera apparatuses 100, and measures a distance between the unmanned aerial vehicle and the target object (S20).
  • the first distance measuring unit 210 of the image processing apparatus 200 extracts the regions of interest a and A in each image acquired through the plurality of camera apparatuses 100 (S22). ), The distance between the target and the plurality of (two) areas of interest (a, A) is compared (S24), and the distance between the unmanned aerial vehicle and the target is measured (S26).
  • the image processing apparatus 200 encodes various types of processing information for transmission to an external device (S30).
  • the monitoring apparatus 300 controls the image processing apparatus 200 according to the user's input information, and thus, various status information regarding the unmanned aerial vehicle including various control information of the user for distance measurement and distance information to a target.
  • Monitor (S40) various status information regarding the unmanned aerial vehicle including various control information of the user for distance measurement and distance information to a target.
  • step S20 ' the second distance measuring unit 220 divides a plurality of images obtained through the plurality of camera apparatuses 100 into block regions (S22'), and then divides the plurality of divided images.
  • the number of overlapping blocks between the two images is determined (S24 ′), and a distance (altitude) from a predetermined target is set according to the number of overlapping blocks (S26 ′).
  • At least one of the above-described process S20 and process S20 ' may be set to be executed.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Measurement Of Optical Distance (AREA)
  • Image Analysis (AREA)

Abstract

La présente invention porte sur un système de mesure de distance à l'aide d'une pluralité d'appareils de prise de vue et sur son procédé. Le but de l'invention est de proposer un système et un procédé de mesure de distance à l'aide d'une pluralité d'appareils de prise de vue, ce qui consiste à mesurer la distance d'un objet volant sans pilote à une cible par appariement d'images acquises par la pluralité d'appareils de prise de vue. A cet effet, le système de la présente invention comprend : une pluralité d'appareils de prise de vue installés en des positions spécifiques sur un objet volant sans pilote, chacun acquérant une image d'une cible ; et un dispositif de traitement d'image pour mesurer la distance de l'objet volant sans pilote à la cible par appariement des images acquises par l'appareil de prise de vue.
PCT/KR2010/008083 2010-10-27 2010-11-16 Système de mesure de distance à l'aide d'une pluralité d'appareils de prise de vue et son procédé WO2012057392A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020100105417A KR20120044052A (ko) 2010-10-27 2010-10-27 복수개의 카메라를 이용한 거리측정 시스템 및 그 방법
KR10-2010-0105417 2010-10-27

Publications (1)

Publication Number Publication Date
WO2012057392A1 true WO2012057392A1 (fr) 2012-05-03

Family

ID=45994086

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/008083 WO2012057392A1 (fr) 2010-10-27 2010-11-16 Système de mesure de distance à l'aide d'une pluralité d'appareils de prise de vue et son procédé

Country Status (2)

Country Link
KR (1) KR20120044052A (fr)
WO (1) WO2012057392A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110307837A (zh) * 2019-07-22 2019-10-08 张琦 一种基于图像识别的无人机导航系统及方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101494395B1 (ko) * 2014-07-01 2015-02-17 엘아이지넥스원 주식회사 스테레오 비전을 이용한 탐색장치를 포함하는 유도 비행체 및 이의 표적 추적 방법
KR101494394B1 (ko) * 2014-07-01 2015-02-17 엘아이지넥스원 주식회사 스테레오 비전을 이용한 탐색장치 및 그 방법
KR101600862B1 (ko) * 2014-08-26 2016-03-08 연세대학교 산학협력단 복수의 uav를 이용한 스테레오 비전 시스템

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR0130601B1 (ko) * 1994-10-12 1998-04-09 황해웅 지상 폭발고도 측정장치 및 방법
KR20060106429A (ko) * 2005-04-08 2006-10-12 한국항공우주연구원 항공기 고도보정 방법
KR100947106B1 (ko) * 2009-10-30 2010-03-12 새한항업(주) 기준점 데이터가 적용된 수치 영상이미지의 실시간 업데이팅 영상처리시스템

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR0130601B1 (ko) * 1994-10-12 1998-04-09 황해웅 지상 폭발고도 측정장치 및 방법
KR20060106429A (ko) * 2005-04-08 2006-10-12 한국항공우주연구원 항공기 고도보정 방법
KR100947106B1 (ko) * 2009-10-30 2010-03-12 새한항업(주) 기준점 데이터가 적용된 수치 영상이미지의 실시간 업데이팅 영상처리시스템

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110307837A (zh) * 2019-07-22 2019-10-08 张琦 一种基于图像识别的无人机导航系统及方法

Also Published As

Publication number Publication date
KR20120044052A (ko) 2012-05-07

Similar Documents

Publication Publication Date Title
WO2020105898A1 (fr) Système de drone en vol autonome basé sur des mégadonnées et procédé de vol autonome associé
KR101776823B1 (ko) 외부 감시카메라를 이용한 모바일 로봇의 위치인식 방법 및 시스템
WO2015005573A1 (fr) Procédé de construction de données de terrain observé en vol à l'aide d'une structure à voilure tournante
WO2016122069A1 (fr) Procédé de mesure de l'usure d'un pneu et dispositif associé
KR101594128B1 (ko) 이동식 교통 단속 시스템
WO2016065623A1 (fr) Systèmes et procédés de surveillance doté de repère visuel
WO2019124639A1 (fr) Système de relais de communication sans fil utilisant un dispositif automatisé et procédé associé
WO2015115802A1 (fr) Dispositif et procédé d'extraction d'informations de profondeur
KR101239532B1 (ko) 로봇의 위치 인식 장치 및 방법
WO2013133470A1 (fr) Système d'imagerie thermique capable de pister une partie spécifique dans une image thermique, et procédé permettant de pister une partie spécifique au moyen dudit système
WO2012057392A1 (fr) Système de mesure de distance à l'aide d'une pluralité d'appareils de prise de vue et son procédé
CN103675609A (zh) 电力巡线设备及系统
WO2020235734A1 (fr) Procédé destiné à estimer la distance à un véhicule autonome et sa position au moyen d'une caméra monoscopique
CN106791586A (zh) 一种对移动目标进行监控的方法及监控设备、装置、系统
WO2023113058A1 (fr) Procédé de commande de drone pour un atterrissage précis
WO2017119545A1 (fr) Procédé pour guider sans danger un aéronef vers un poste de stationnement d'un aéroport à l'aide d'un scanner équipé d'un capteur laser 2d et d'un moteur
WO2012057389A1 (fr) Système d'extraction d'une zone cible à l'aide d'une pluralité de caméras et son procédé
US12022197B2 (en) Image capturing system, method, and analysis of objects of interest
WO2018016793A1 (fr) Dispositif de commande de drone utilisant un capteur composite et procédé associé
JP2005253189A (ja) 配電線巡視システムおよび方法
JP2013106267A (ja) 自動追尾カメラシステム
CN110267004A (zh) 一种小型无人机探测监控系统
WO2017007077A1 (fr) Procédé de surveillance
CN108225316A (zh) 载体姿态信息的获取方法和装置及系统
CN115826596B (zh) 基于多旋翼无人机的智能火电厂烟囱巡检方法及系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10859006

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10859006

Country of ref document: EP

Kind code of ref document: A1