JP7140474B2 - ステレオ三角測量のためのシステム - Google Patents
ステレオ三角測量のためのシステム Download PDFInfo
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- JP7140474B2 JP7140474B2 JP2017148984A JP2017148984A JP7140474B2 JP 7140474 B2 JP7140474 B2 JP 7140474B2 JP 2017148984 A JP2017148984 A JP 2017148984A JP 2017148984 A JP2017148984 A JP 2017148984A JP 7140474 B2 JP7140474 B2 JP 7140474B2
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- JP
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- Prior art keywords
- camera
- light
- source
- reflected
- scanner
- 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.)
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Classifications
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- 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
- G01C3/02—Details
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Geophysics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Stereo-Broadcasting Methods (AREA)
Description
本発明のみならず、それらの開示する実施形態の詳細な説明の多様な長所、様相、及び新しい特徴は、以下の詳細な説明及び図面からより良く理解される。
本発明の特徴及び長所は図面に連結されて以下の詳細な説明からより明確になる。
110、112、232 カメラ
120、234 スキャナー
130 客体
150 自動車プラットフォーム
210 プロセッサ
220 メモリ
222 揮発性メモリ
224 不揮発性メモリ
226 大容量ストレージ
230 センサー
300 (RGB)スキャナー
Claims (5)
- 客体を検出するシステムであって、
レッド、グリーン、及びブルーの中の少なくとも2つの区分された平行な光(collimated light)を含むソース光を出力するスキャニング光ソースと、
前記客体から反射されたソース光である第1反射光を受信する第1カメラと、
前記第1カメラから空間的に離隔され、前記客体から反射されたソース光である第2反射光を受信する第2カメラと、
前記スキャニング光ソース、前記第1カメラ、及び前記第2カメラを制御し、前記第1反射光及び前記第2反射光を処理して前記客体を検出する1つ以上のプロセッサと、を備え、
前記スキャニング光ソースは、前記ソース光の強度を変化させ、
前記プロセッサは、前記客体、前記第1カメラ、及び前記第2カメラを三角形の頂点として使用することによって、前記客体の三角測量(triangulation)を遂行し、
前記第1カメラ及び前記第2カメラの各々は、水平方向及び垂直方向の一方又は両方に回転して、重ならない領域の画像を提供することを特徴とするシステム。 - 前記第1カメラ、前記第2カメラ、及び前記スキャニング光ソースは、エピポーラ平面(epipolar plane)上に位置することを特徴とする請求項1に記載のシステム。
- 前記スキャニング光ソースは、水平及び垂直の一方又は両方にスイープ範囲を変化させることを特徴とする請求項1に記載のシステム。
- 前記スキャニング光ソースは、ラスタ出力(raster output)として前記ソース光を出力することを特徴とする請求項1に記載のシステム。
- 客体を検出するシステムであって、
レッド、グリーン、及びブルーの中の少なくとも2つの区分された平行な光(collimated light)を含むソース光を出力するスキャニング光ソースと、
ローリングシャッターカメラプロセスを使用して、前記客体から反射されたソース光である第1反射光を受信する第1カメラと、
前記ローリングシャッターカメラプロセスを使用して、前記第1カメラから空間的に離隔され、前記客体から反射されたソース光である第2反射光を受信する第2カメラと、
前記スキャニング光ソース、前記第1カメラ、及び前記第2カメラを制御し、前記第1反射光及び前記第2反射光を1回に1ピクセルの行ずつ処理して前記客体を検出する1つ以上のプロセッサと、を備え、
前記スキャニング光ソースは、前記ソース光の強度を変化させ、
前記1つ以上のプロセッサの中の少なくとも1つは、前記客体、前記第1カメラ、及び前記第2カメラを三角形の頂点として使用することによって、前記客体の三角測量(triangulation)を遂行し、
前記第1カメラ及び前記第2カメラの各々は、水平方向及び垂直方向の一方又は両方に回転して、重ならない領域の画像を提供することを特徴とするシステム。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662369879P | 2016-08-02 | 2016-08-02 | |
US62/369,879 | 2016-08-02 | ||
US15/658,952 | 2017-07-25 | ||
US15/658,952 US10884127B2 (en) | 2016-08-02 | 2017-07-25 | System and method for stereo triangulation |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018031776A JP2018031776A (ja) | 2018-03-01 |
JP7140474B2 true JP7140474B2 (ja) | 2022-09-21 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2017148984A Active JP7140474B2 (ja) | 2016-08-02 | 2017-08-01 | ステレオ三角測量のためのシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US10884127B2 (ja) |
JP (1) | JP7140474B2 (ja) |
KR (1) | KR20180015093A (ja) |
CN (1) | CN107678041B (ja) |
TW (1) | TWI781109B (ja) |
Families Citing this family (7)
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JP2018031607A (ja) * | 2016-08-23 | 2018-03-01 | ソニーセミコンダクタソリューションズ株式会社 | 測距装置、電子装置、および、測距装置の制御方法 |
CN110235026A (zh) * | 2017-01-26 | 2019-09-13 | 御眼视觉技术有限公司 | 基于对齐的图像和激光雷达信息的车辆导航 |
DE102018214182A1 (de) * | 2018-08-22 | 2020-02-27 | Robert Bosch Gmbh | LIDAR-Vorrichtung mit einer beschleunigten Laufzeitanalyse |
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EP4113055A3 (en) | 2021-06-29 | 2023-01-11 | Medit Corp. | Method of compensating data and system for compensating data using same |
KR20230002038A (ko) | 2021-06-29 | 2023-01-05 | 주식회사 메디트 | 데이터 보완 방법 및 이를 이용한 데이터 보완 시스템 |
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JP2012198075A (ja) | 2011-03-18 | 2012-10-18 | Ricoh Co Ltd | ステレオカメラ装置、画像補整方法 |
JP2015200529A (ja) | 2014-04-07 | 2015-11-12 | 大同特殊鋼株式会社 | 形状計測装置 |
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2017
- 2017-07-25 US US15/658,952 patent/US10884127B2/en active Active
- 2017-08-01 TW TW106125816A patent/TWI781109B/zh active
- 2017-08-01 KR KR1020170097796A patent/KR20180015093A/ko not_active Application Discontinuation
- 2017-08-01 JP JP2017148984A patent/JP7140474B2/ja active Active
- 2017-08-02 CN CN201710652758.7A patent/CN107678041B/zh active Active
Patent Citations (4)
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JP2009145774A (ja) | 2007-12-17 | 2009-07-02 | Olympus Corp | レーザ走査型顕微鏡及びその表面形状の測定方法 |
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Also Published As
Publication number | Publication date |
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CN107678041A (zh) | 2018-02-09 |
US20180038961A1 (en) | 2018-02-08 |
KR20180015093A (ko) | 2018-02-12 |
CN107678041B (zh) | 2023-05-23 |
US10884127B2 (en) | 2021-01-05 |
TW201805594A (zh) | 2018-02-16 |
TWI781109B (zh) | 2022-10-21 |
JP2018031776A (ja) | 2018-03-01 |
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