Research of the High-Speed Fusion of Disparity Images from Two Orthogonal Stereo Pairs

两正交立体视差图像高速融合研究

基本信息

批准号：
11450104
负责人：
TANAKA Yutaka
金额：
$ 3.84万
依托单位：
OKAYAMA UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B).
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-11450104/
关键词：
Mechatronics Visual Instruments Stereo Cameras Antonomous Running Vehicle Real-Time Measurement Palallax Image Recognition of Self-Position Camera Swinging Mechanism

项目摘要

The results obtained in this research are summarized as follows :(1) By taking the photography of the image reflected from a nose placed beside a camera simultaneously with an object image, the image can be obtained that is not affected by the illuminance and color of a light source. The surface of the reference nose is designed such that it can reflect the blurred image of the object, and the small image part beside the main image is utilized to the correction of all pixels corresponding the ones in the main image. The mapping is influenced slightly by the image depth but the influence can be reduced by placing the reference nose nearer to the lens position.(2) This study allowed to obtain the depth to every point of the planar surface using stereo camera method, and showed that measurement of the depth also to the curvilinear surface became feasible by painting the vertical color stripes on the surface.(3) The detection of the color boundary lines nearly parallel to video scanning lines is difficult by using the method of detecting the characteristic points along also those lines. A video-rate range finder has been developed to measure the depth to the color boundary lines at any angles including parallel boundary lines. This finder employs a pair of stereo cameras and each stereo axis connecting a pair of cameras is then set at right angle to each other, the one is placed horizontally and the other vertically against the floor. All the signal processing is carried out by electronic circuits, thus enabling the video-rate measurement of the distances to color marks without loading a control computer installed in an autonomous running vehicle.(4) Performances such as the correct and the acquisition ratios in depth measurements have been increased by combining the depth data obtained by the pair cameras. This study established the ground of the measurement and the configuration of the devices, and showed that this method is effective in the depth measurement.

在本研究中获得的结果总结如下：（1）通过将图像的摄影从与对象图像同时放置在摄像机旁边的鼻子中反射的摄影，可以获得不受光源的照明和颜色影响的图像。参考鼻子的表面设计使其可以反映对象的模糊图像，并且主图像旁边的小图像部分用于校正所有像素对应于主图像中的像素。映射受图像深度略微影响，但可以通过将参考鼻放置在镜头位置附近来降低影响。（2）本研究允许使用立体声摄像机方法获得平面表面每个点的深度，并显示出曲线表面的尺寸也可以通过在表面上进行垂直的颜色来实现垂直的颜色（3）。沿着这些线检测特征点的方法。已经开发了一个视频速率范围查找器，以在任何角度（包括平行边界线）以任何角度测量颜色边界线的深度。然后，该发现器采用了一对立体声摄像机，然后将连接一对摄像机的每个立体声轴彼此合适，将一个轴放置在水平上，另一个则垂直放置在地板上。所有信号处理都是通过电子电路进行的，从而实现了对颜色标记的距离的视频速率测量，而无需加载安装在自动运行车辆中的控制计算机。（4）通过将Pair Mameras的深度数据结合来增加诸如正确的深度和深度习得之类的性能，例如正确的深度测量，并增加了深度测量。这项研究确定了设备的测量和配置的基础，并表明该方法在深度测量中有效。