公开(公告)号：JP2002257543A

公开(公告)日：2002-09-11

申请号：JP2001059558

申请日：2001-03-05

Applicant: NAT AEROSPACE LAB OF JAPAN MEX

Inventor： SASA SHUICHI ,  GOMI HIROMI ,  YAMAMOTO HIROMICHI

IPC: G01C11/06 ,  G01B11/24 ,  G01B11/245

Abstract: PROBLEM TO BE SOLVED: To provide a stereo camera system capable of solving the problem in the stereo camera system, ensuring corresponding point search between two images to thereby make deduction of a parallax value accurate, thereby increasing certainty of object shape recognition, and heightening its reproduction accuracy. SOLUTION: In this high precision stereo vision using a continuous frame image, plural pairs of stereo images from different viewpoints of a non- deformable object, and the corresponding point search having high correlation between each pair of images is executed to detect the parallax, and the object shape is operated from the parallax value, and the corresponding point search is executed similarly between each pair, and the object shape is operated, and data are accumulated, and overall operation of accumulated information is executed, to thereby ensure the object shape estimation value.

公开(公告)号：JP2002245439A

公开(公告)日：2002-08-30

申请号：JP2001044546

申请日：2001-02-21

Applicant: NAT AEROSPACE LAB OF JAPAN MEX

Inventor： SASA SHUICHI ,  GOMI HIROMI ,  YAMAGUCHI ISAO ,  NINOMIYA TETSUJIRO ,  HAMADA YOSHIRO

IPC: G06T1/00 ,  G06T15/00 ,  G06T17/05 ,  G06T17/50

Abstract: PROBLEM TO BE SOLVED: To develop a high speed solution calculating method that does not need repeated calculations and also to provide a system for performing the high speed solution calculating method in a shape reproducing method for find ing out the shape of an object from the shadow of a gradation image acquired by a monocular camera. SOLUTION: This shape reproducing method from shadows employs the relational expression of the Tsai and Sha method obtained by modeling the relation among the luminance value of a lattice point (i and j) of an image obtained by photographing the object that is illuminated by parallel rays from a known direction and has known reflectance with the monocular camera, the inclinations (pi,j and qi,j) of the object at the lattice point and shape depth coordinates zi,j, and comprises a step for obtaining an approximate expression by substituting pi,j=zi,j-zi-1,j, and qi,j=zi,j-zi,j-1 by linear approximation for inclinations, a step for squaring the approximate expression, a step for obtaining zi,j as the solution of a quadratic expression with respect to the zi,j, and a step for totalizing individual lattice points, and obtains a solution not with the respected calculations but with a single calculation.