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.

本研究获得的结果概括如下：(1)通过将放置在相机旁边的鼻子反射的图像与物体图像同时拍摄，可以获得不受物体照度和颜色影响的图像。一个光源。参考鼻子的表面被设计成能够反映物体的模糊图像，并且利用主图像旁边的小图像部分来校正与主图像中的像素相对应的所有像素。映射受到图像深度的轻微影响，但可以通过将参考鼻子放置在更靠近镜头位置的位置来减少影响。（2）本研究允许使用立体相机方法获得平面上每个点的深度，并表明通过在曲面上绘制垂直的彩色条纹，也可以实现对曲线表面的深度测量。(3)采用沿线检测特征点的方法，难以检测与视频扫描线几乎平行的彩色边界线。还有那些线条。视频速率测距仪已被开发出来，可以测量任何角度（包括平行边界线）颜色边界线的深度。该取景器采用一对立体相机，连接一对相机的每个立体轴彼此成直角，一个水平放置，另一个垂直放置在地板上。所有信号处理均由电子电路完成，从而无需加载安装在自动驾驶车辆上的控制计算机即可实现对颜色标记距离的视频速率测量。（4）深度正确性和采集率等性能通过结合这对相机获得的深度数据，测量结果得到了增加。本研究奠定了测量的基础和装置的配置，表明该方法在深度测量中是有效的。