[go: up one dir, main page]

WO2008155961A1 - 測距装置 - Google Patents

測距装置 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
English (en)
French (fr)
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/ja
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)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

本発明にかかる測距装置（１０）では、移動体に搭載された一対のカメラ（１，２）によって撮像された対象物の撮像画像の中から静止点が抽出され、この抽出できた静止点に対して複数回の距離計測が行われ、撮像タイミング間における前記移動体の移動量が検出される。そして、これら距離計測の結果および移動量の検出結果に基づいて、前記一対のカメラ（１，２）に関する複数のパラメータが補正される。したがって、このような測距装置（１０）では、距離計測に必要な複数のパラメータが適切に較正される。
PCT/JP2008/058928 2007-06-21 2008-05-15 測距装置 Ceased WO2008155961A1 (ja)

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 (ja) 2008-12-24

Family

ID=40156121

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058928 Ceased WO2008155961A1 (ja) 2007-06-21 2008-05-15 測距装置

Country Status (1)

Country Link
WO (1) WO2008155961A1 (ja)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011027447A (ja) * 2009-06-30 2011-02-10 Cheng Uei Precision Industry Co Ltd 光学定位装置及びその定位方法
JP2012083330A (ja) * 2010-09-14 2012-04-26 Ricoh Co Ltd ステレオカメラ装置、校正方法およびプログラム
CN102445181A (zh) * 2010-10-13 2012-05-09 原相科技股份有限公司 测距方法、测距系统与其处理方法
WO2013174354A3 (zh) * 2012-11-30 2014-01-16 中兴通讯股份有限公司 一种单摄像头测距的方法和系统
US9127930B2 (en) 2010-09-03 2015-09-08 Pixart Imaging Inc. Distance measurement system and method
JP2015175635A (ja) * 2014-03-13 2015-10-05 ヤマハ発動機株式会社 距離推定装置およびそれを備えた車両
EP3046077A1 (en) * 2015-01-15 2016-07-20 Boe Technology Group Co. Ltd. Three-dimensional camera assembly, terminal apparatus and ranging method
CN106092141A (zh) * 2016-07-19 2016-11-09 纳恩博（北京）科技有限公司 一种改善相对位置传感器性能的方法及装置
JP2016200557A (ja) * 2015-04-14 2016-12-01 国立大学法人東京工業大学 校正装置、距離計測装置及び校正方法
JP2017201334A (ja) * 2010-09-14 2017-11-09 株式会社リコー 画像処理装置、撮像装置、移動体およびプログラム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05248819A (ja) * 1992-03-06 1993-09-28 Kobe Steel Ltd カメラによる測定対象物の三次元位置測定のための較正対象データの較正方法及び三次元位置測定方法
JPH10341458A (ja) * 1997-06-10 1998-12-22 Toyota Motor Corp 車載ステレオカメラの校正方法、および、その方法を適用した車載ステレオカメラ
JP2003329439A (ja) * 2002-05-15 2003-11-19 Honda Motor Co Ltd 距離検出装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05248819A (ja) * 1992-03-06 1993-09-28 Kobe Steel Ltd カメラによる測定対象物の三次元位置測定のための較正対象データの較正方法及び三次元位置測定方法
JPH10341458A (ja) * 1997-06-10 1998-12-22 Toyota Motor Corp 車載ステレオカメラの校正方法、および、その方法を適用した車載ステレオカメラ
JP2003329439A (ja) * 2002-05-15 2003-11-19 Honda Motor Co Ltd 距離検出装置

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011027447A (ja) * 2009-06-30 2011-02-10 Cheng Uei Precision Industry Co Ltd 光学定位装置及びその定位方法
US9127930B2 (en) 2010-09-03 2015-09-08 Pixart Imaging Inc. Distance measurement system and method
JP2017201334A (ja) * 2010-09-14 2017-11-09 株式会社リコー 画像処理装置、撮像装置、移動体およびプログラム
JP2012083330A (ja) * 2010-09-14 2012-04-26 Ricoh Co Ltd ステレオカメラ装置、校正方法およびプログラム
CN102445181A (zh) * 2010-10-13 2012-05-09 原相科技股份有限公司 测距方法、测距系统与其处理方法
CN102445181B (zh) * 2010-10-13 2013-08-14 原相科技股份有限公司 测距方法、测距系统与其处理方法
WO2013174354A3 (zh) * 2012-11-30 2014-01-16 中兴通讯股份有限公司 一种单摄像头测距的方法和系统
JP2015175635A (ja) * 2014-03-13 2015-10-05 ヤマハ発動機株式会社 距離推定装置およびそれを備えた車両
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 (ja) * 2015-04-14 2016-12-01 国立大学法人東京工業大学 校正装置、距離計測装置及び校正方法
CN106092141A (zh) * 2016-07-19 2016-11-09 纳恩博（北京）科技有限公司 一种改善相对位置传感器性能的方法及装置
CN106092141B (zh) * 2016-07-19 2019-03-01 纳恩博（常州）科技有限公司 一种改善相对位置传感器性能的方法及装置
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

Similar Documents

Publication Publication Date Title
WO2008155961A1 (ja) 測距装置
WO2011085041A3 (en) Systems and methods for detecting an optically variable material
WO2018106671A3 (en) Distance sensor including adjustable focus imaging sensor
WO2010119329A3 (en) Object detection device
EP2222089A3 (en) Image processing device and method
WO2006110324A3 (en) Method and apparatus for providing strobed imaged capture
EP2743889A3 (en) Stereoscopic camera object detection system and method of aligning the same
WO2015054194A3 (en) System and method for camera based position and orientation measurement
TW200501729A (en) Method of aligning lens and sensor of camera
NZ597860A (en) A method and system for measuring the speed of a vehicle
WO2009028186A1 (ja) 電磁界空間分布可視化装置、電磁界空間分布可視化方法およびそのプログラム
WO2008112315A3 (en) Image feature identification and motion compensation
EP2268048A3 (en) Distance measuring apparatus having dual stereo camera
WO2008093585A1 (ja) 移動物体認識装置
EP2012286A3 (en) Apparatus, method and program for detecting act of looking aside
WO2008016566A3 (en) Focus system calibration for image capture systems
WO2009069417A1 (ja) 血液流動性計測システム及び血液流動性計測方法
EP2728840A3 (en) Electronic device and method for recognizing voice
WO2011137731A3 (zh) 终端设备中的发光器件控制方法、装置及终端设备
WO2008155974A1 (ja) 画像抽出装置、画像抽出プログラムおよび画像抽出方法
WO2013060348A8 (de) Elektronisches gerät, insbesondere mobiltelefon, zur strahlungsdetektion
WO2008136067A1 (ja) 木材の検査方法及び装置及びプログラム
WO2009005025A1 (ja) 移動物体検出装置
EP2012285A3 (en) Apparatus, method and program for detecting act of looking aside
WO2013035096A3 (en) System and method of tracking an object in an image captured by a moving device

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: 08752788

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: 08752788

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP