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WO2008155961A1 - Distance measuring device - Google Patents

Distance measuring device Download PDF

Info

Publication number
WO2008155961A1
WO2008155961A1 PCT/JP2008/058928 JP2008058928W WO2008155961A1 WO 2008155961 A1 WO2008155961 A1 WO 2008155961A1 JP 2008058928 W JP2008058928 W JP 2008058928W WO 2008155961 A1 WO2008155961 A1 WO 2008155961A1
Authority
WO
WIPO (PCT)
Prior art keywords
distance
measuring device
distance measuring
moving
cameras
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.)
Ceased
Application number
PCT/JP2008/058928
Other languages
French (fr)
Japanese (ja)
Inventor
Hiroshi Yamato
Yuichi Kawakami
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Konica Minolta Inc
Original Assignee
Konica Minolta Inc
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 Konica Minolta Inc filed Critical Konica Minolta Inc
Publication of WO2008155961A1 publication Critical patent/WO2008155961A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A distance measuring device (10) which extracts a stationary point from the photographed images of the object that are photographed by a pair of cameras (1, 2) mounted on a moving vehicle, measures a distance to the extracted stationary point more than once, and detects the moving distance of the moving vehicle between photographing timings. According to the measurement result of the distance and the detection result of the moving distance, a plurality of parameters are corrected with respect to the pair of cameras (1, 2). Therefore, in the distance measuring device (10), the plurality of parameters required for a distance measurement are properly corrected.
PCT/JP2008/058928 2007-06-21 2008-05-15 Distance measuring device Ceased WO2008155961A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-164292 2007-06-21
JP2007164292 2007-06-21

Publications (1)

Publication Number Publication Date
WO2008155961A1 true WO2008155961A1 (en) 2008-12-24

Family

ID=40156121

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058928 Ceased WO2008155961A1 (en) 2007-06-21 2008-05-15 Distance measuring device

Country Status (1)

Country Link
WO (1) WO2008155961A1 (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011027447A (en) * 2009-06-30 2011-02-10 Cheng Uei Precision Industry Co Ltd Optical localizing apparatus and localizing method therefor
JP2012083330A (en) * 2010-09-14 2012-04-26 Ricoh Co Ltd Stereo camera device, calibration method and program
CN102445181A (en) * 2010-10-13 2012-05-09 原相科技股份有限公司 Distance measurement method, distance measurement system and processing method thereof
WO2013174354A3 (en) * 2012-11-30 2014-01-16 中兴通讯股份有限公司 Single-camera distance ranging method and system
US9127930B2 (en) 2010-09-03 2015-09-08 Pixart Imaging Inc. Distance measurement system and method
JP2015175635A (en) * 2014-03-13 2015-10-05 ヤマハ発動機株式会社 Distance estimation system and vehicle including the same
EP3046077A1 (en) * 2015-01-15 2016-07-20 Boe Technology Group Co. Ltd. Three-dimensional camera assembly, terminal apparatus and ranging method
CN106092141A (en) * 2016-07-19 2016-11-09 纳恩博（北京）科技有限公司 A kind of method and device improving relative position sensor performance
JP2016200557A (en) * 2015-04-14 2016-12-01 国立大学法人東京工業大学 Calibration device, distance measurement apparatus and calibration method
JP2017201334A (en) * 2010-09-14 2017-11-09 株式会社リコー Image processing apparatus, imaging apparatus, moving object, and program

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05248819A (en) * 1992-03-06 1993-09-28 Kobe Steel Ltd Calibrating method of data of calibration object for measuring three dimensional position of object by camera and measuring method of three dimensional position
JPH10341458A (en) * 1997-06-10 1998-12-22 Toyota Motor Corp Method for correcting on-vehicle stereo camera and onvehicle stereo camera applied with the method
JP2003329439A (en) * 2002-05-15 2003-11-19 Honda Motor Co Ltd Distance detection device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05248819A (en) * 1992-03-06 1993-09-28 Kobe Steel Ltd Calibrating method of data of calibration object for measuring three dimensional position of object by camera and measuring method of three dimensional position
JPH10341458A (en) * 1997-06-10 1998-12-22 Toyota Motor Corp Method for correcting on-vehicle stereo camera and onvehicle stereo camera applied with the method
JP2003329439A (en) * 2002-05-15 2003-11-19 Honda Motor Co Ltd Distance detection device

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011027447A (en) * 2009-06-30 2011-02-10 Cheng Uei Precision Industry Co Ltd Optical localizing apparatus and localizing method therefor
US9127930B2 (en) 2010-09-03 2015-09-08 Pixart Imaging Inc. Distance measurement system and method
JP2017201334A (en) * 2010-09-14 2017-11-09 株式会社リコー Image processing apparatus, imaging apparatus, moving object, and program
JP2012083330A (en) * 2010-09-14 2012-04-26 Ricoh Co Ltd Stereo camera device, calibration method and program
CN102445181A (en) * 2010-10-13 2012-05-09 原相科技股份有限公司 Distance measurement method, distance measurement system and processing method thereof
CN102445181B (en) * 2010-10-13 2013-08-14 原相科技股份有限公司 Ranging method, ranging system and processing method thereof
WO2013174354A3 (en) * 2012-11-30 2014-01-16 中兴通讯股份有限公司 Single-camera distance ranging method and system
JP2015175635A (en) * 2014-03-13 2015-10-05 ヤマハ発動機株式会社 Distance estimation system and vehicle including the same
EP3046077A1 (en) * 2015-01-15 2016-07-20 Boe Technology Group Co. Ltd. Three-dimensional camera assembly, terminal apparatus and ranging method
US10291902B2 (en) 2015-01-15 2019-05-14 Boe Technology Group Co., Ltd. Three-dimensional camera assembly, terminal apparatus and ranging method
JP2016200557A (en) * 2015-04-14 2016-12-01 国立大学法人東京工業大学 Calibration device, distance measurement apparatus and calibration method
CN106092141A (en) * 2016-07-19 2016-11-09 纳恩博（北京）科技有限公司 A kind of method and device improving relative position sensor performance
CN106092141B (en) * 2016-07-19 2019-03-01 纳恩博（常州）科技有限公司 A kind of method and device improving relative position sensor performance
US10495482B2 (en) 2016-07-19 2019-12-03 Ninebot (Beijing) Tech. Co., Ltd Method, apparatus and computer storage medium for improving performance of relative position sensor

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