Title:
STEREO MEASUREMENT DEVICE AND METHOD
Document Type and Number:
WIPO Patent Application WO/2019/130409
Kind Code:
A1
Abstract:
Provided are a stereo measurement device and method that make stable automatic parameter estimation possible even if an internal or external camera parameter is changed according to the actual environment. This stereo measurement device processes left and right image information from a stereo camera unit that obtains the left and right image information using left and right cameras and includes camera control units for the cameras. The stereo measurement device is characterized by comprising a feature point extraction unit for extracting feature points from image scenes in the left and right image information, a parameter calculation unit for estimating a camera parameter, a stability evaluation unit for calculating a reference value for determining whether the estimated parameter is stable, a stability determination unit for determining the stability of the estimated parameter on the basis of the calculated reference value, and a feedback control unit for receiving the result of the stability determination and providing feedback to the camera control unit if the parameter is not stable, and in that the parameter is estimated again for the left and right image information after camera control.
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Inventors:
LI YUAN (JP)
ITOH MASAYA (JP)
ASAI DAISUKE (JP)
ITOH MASAYA (JP)
ASAI DAISUKE (JP)
Application Number:
PCT/JP2017/046545
Publication Date:
July 04, 2019
Filing Date:
December 26, 2017
Export Citation:
Assignee:
HITACHI LTD (JP)
International Classes:
G01C3/00
Foreign References:
| JP2005017286A | 2005-01-20 | |||
| JP2015021891A | 2015-02-02 | |||
| JP2016121917A | 2016-07-07 | |||
| JP2012142792A | 2012-07-26 | |||
| JP2007327938A | 2007-12-20 |
Attorney, Agent or Firm:
POLAIRE I.P.C. (JP)
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