Apparatus and method for measurement, and program

Patent metadata

Field	Value
Publication number	US-10508911-B2
Application number	US-201615762120-A
Country	US
Kind code	B2
Filing date	Sep 15, 2016
Priority date	Sep 29, 2015
Publication date	Dec 17, 2019
Grant date	Dec 17, 2019

Abstract

A three-dimensional measurement apparatus has a rotation control portion controlling rotation of a photographing portion by a rotation mechanism in such a way that the photographing portion is rotated with a center of rotation as an axis in a state in which a distance from the center of rotation of the rotation mechanism portion to a focal point position of the photographing portion is a constant distance; and a distance calculating portion calculating a distance to an object on a space on the basis of a plurality of photographed images obtained through photographing in positions different from one another by the photographing portion in a state in which the photographing portion is rotated.

First claim

The invention claimed is:

1. A measurement apparatus, comprising:
a rotation control portion controlling rotation of a photographing portion by a rotation mechanism in such a way that the photographing portion is rotated with a center of rotation as an axis in a state in which a distance from the center of rotation of the rotation mechanism to a focal point position of the photographing portion is a constant distance; and
a distance calculating portion calculating a distance to an object on a space on the basis of a plurality of photographed images obtained through photographing in positions different from one another by the photographing portion in a state in which the photographing portion is rotated,
wherein the distance calculating portion extracts line images constituted by pixel lines containing corresponding points from the photographed images, and calculates the distance to the object on the basis of a synthetic image which is obtained by arranging side by side and synthesizing the plurality of line images obtained from the plurality of photographed images.

2. The measurement apparatus according to claim 1 ,
wherein the distance calculating portion calculates the distance to the object on the basis of a geometric relationship among corresponding points in the plurality of photographed images.

3. The measurement apparatus according to claim 1 ,
wherein the distance calculating portion calculates the distance to the object on the basis of amplitude of a locus of the corresponding point in the synthetic image.

4. The measurement apparatus according to claim 1 , further comprising a rectification portion rectifying the photographed images,
wherein the distance calculating portion calculates the distance to the object on the basis of a rectified image obtained by the rectification.

5. The measurement apparatus according to claim 1 ,
wherein the rotation control portion controls the rotation of the photographing portion provided in an upper portion of a vehicle.

6. The measurement apparatus according to claim 1 ,
wherein the photographing portion is constituted by a two-dimensional image sensor.

7. The measurement apparatus according to claim 1 ,
wherein the photographing portion is constituted by a line sensor.

8. The measurement apparatus according to claim 1 ,
wherein the rotation control portion controls the rotation of the photographing portion in such a way that the photographing portion makes one rotation at a constant speed.

9. A measurement method, comprising:
controlling rotation of a photographing portion by a rotation mechanism in such a way that the photographing portion is rotated with a center of rotation as an axis in a state in which a distance from the center of rotation of the rotation mechanism to a focal point position of the photographing portion is a constant distance; and
calculating a distance to an object on a space on the basis of a plurality of photographed images obtained through photographing in positions different from one another by the photographing portion in a state in which the photographing portion is rotated,
wherein line images constituted by pixel lines containing corresponding points are extracted from the photographed images, and the distance to the object is calculated on the basis of a synthetic image which is obtained by arranging side by side and synthesizing the plurality of line images obtained from the plurality of photographed images.

10. A non-transitory, computer-readable medium containing instructions that, when executed by a processing device, perform a measurement method comprising:
controlling rotation of a photographing portion by a rotation mechanism in such a way that the photographing portion is rotated with a center of rotation as an axis in a state in which a distance from the center of rotation of the rotation mechanism to a focal point position of the photographing portion is a constant distance; and
calculating a distance to an object on a space on the basis of a plurality of photographed images obtained through photographing in positions different from one another by the photographing portion in a state in which the photographing portion is rotated,
wherein line images constituted by pixel lines containing corresponding points are extracted from the photographed images, and the distance to the object is calculated on the basis of a synthetic image which is obtained by arranging side by side and synthesizing the plurality of line images obtained from the plurality of photographed images.

Assignees

• Sony Corp

Inventors

• Tsurumi Shingo
• Eshima Masashi
• Kato Takaaki
• Kashitani Tatsuki
• Kaino Akihiko
• Fukuchi Masaki
• Motoyama Takuto
• Aoki Suguru

Classifications

• H04N23/69

  Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming · CPC title

• G01C3/08 Primary

  Use of electric radiation detectors · CPC title

• G06T2207/20221

  Image fusion; Image merging · CPC title

• B60R2300/8093

  for obstacle warning · CPC title

• B60Q9/00

  Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling} · CPC title