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FI2973476T3 - Järjestelmiä ja menetelmiä stereokuvaukseen kameraryhmillä - Google Patents

Järjestelmiä ja menetelmiä stereokuvaukseen kameraryhmillä Download PDF

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Publication number
FI2973476T3
FI2973476T3 FIEP14763087.5T FI14763087T FI2973476T3 FI 2973476 T3 FI2973476 T3 FI 2973476T3 FI 14763087 T FI14763087 T FI 14763087T FI 2973476 T3 FI2973476 T3 FI 2973476T3
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image data
data set
interest
determining
depth measurement
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FIEP14763087.5T
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Kartik Venkataraman
Paul Gallagher
Ankit Jain
Semyon Nisenzon
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Adeia Imaging Llc
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/285—Analysis of motion using a sequence of stereo image pairs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/557—Depth or shape recovery from multiple images from light fields, e.g. from plenoptic cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Signal Processing (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Focusing (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Automatic Focus Adjustment (AREA)
  • Studio Devices (AREA)

Claims (10)

EP2973476 1 PATENTTIVAATIMUKSET
1. Menetelmä (400) kiinnostavan kohteen nopeuden laskemiseksi ympäristössä käyttäen stereokamerajärjestelmää, joka käsittää ensimmäisen —ryhmäkameran (102) ja eri kameran, jolloin eri kamera sisältää toisen ryhmäkameran tai vanhanlaisen kameran, jolloin ensimmäinen ryhmäkamera sisältää useita kuvauslaitteita, joista kuvauslaitteista jokainen on konfiguroitu ottamaan kuva ympäristöstä, jolloin kyseiset useat kuvauslaitteet ovat erillään toisistaan enintään ensimmäisen perusetäisyyden verran, ja jolloin eri kamera on sellaisella toisella perusetäisyydellä ensimmäisestä ryhmäkamerasta, joka on suurempi kuin ensimmäinen perusetäisyys, jolloin menetelmä käsittää seuraavat: hankitaan (320, 420) ensimmäisen ryhmäkameran useita kuvauslaitteita käyttäen ensimmäinen kuvatietojoukko, joka käsittää ensimmäisestä eri — kuvakulmien joukosta otetut kuvatiedot ympäristöstä; tunnistetaan (325, 430) kiinnostava kohde ensimmäisestä kuvatietojoukosta; syntetisoidaan ensimmäinen korkeamman resoluution kuva ainakin osasta ensimmäistä kuvatietojoukkoa käyttäen erittäin suuren resoluution prosesseja; — määritetään kiinnostavan kohteen ensimmäinen kulmamittaus käyttämällä ensimmäistä korkeamman resoluution kuvaa; määritetään (440) ensimmäinen syvyysmittaus ainakin osasta mainituissa erittäin suuren resoluution prosesseissa käytettyä ensimmäistä kuvatietojoukkoa, mukaan lukien seuraavat: — määritetään (330) kohteen ensimmäinen syvyysmittaus mainitusta ainakin osasta mainituissa erittäin suuren resoluution prosesseissa käytettyä ensimmäistä kuvatietojoukkoa; kun määritetään (340), että ensimmäinen ehdokassyvyysmittaus alittaa kynnysarvon, hyväksytään (350) ensimmäinen ehdokassyvyysmittaus — ensimmäiseksi syvyysmittaukseksi;
EP2973476
2 kun määritetään (340), että ensimmäinen ehdokassyvyysmittaus alittaa kynnysarvon: hankitaan (355) eri kameraa käyttäen toinen kuvatietojoukko, joka käsittää toiset kuvatiedot;
— tunnistetaan (370) kiinnostava kohde toisesta kuvatietojoukosta; määritetään (380) kohteen ensimmäinen tarkennettu syvyysmittaus mainitusta ainakin osasta toista kuvatietojoukkoa ja mainitusta ainakin osasta ensimmäistä kuvatietojoukkoa ja valitaan (350) ensimmäinen tarkennettu syvyysmittaus ensimmäiseksi
— syvyysmittaukseksi; määritetään kiinnostavan kohteen ensimmäinen sijainti käyttäen ainakin ensimmäistä syvyysmittausta ja ensimmäistä kulmamittausta; hankitaan (450) ensimmäisen kameraryhmän useita kuvauslaitteita käyttäen kolmas kuvatietojoukko, joka käsittää kolmannet kuvatiedot ympäristöstä
— ajanhetkellä t ensimmäisen kuvatietojoukon tallentamisen jälkeen; tunnistetaan (460) kiinnostava kohde kolmannesta kuvatietojoukosta; syntetisoidaan toinen korkeamman resoluution kuva ainakin osasta kolmatta kuvatietojoukkoa käyttäen erittäin suuren resoluution prosesseja; määritetään toinen kulmamittaus kiinnostavalle kohteelle käyttäen toista
— korkeamman resoluution kuvaa; määritetään (470) toinen syvyysmittaus ainakin osasta mainituissa erittäin suuren resoluution prosesseissa käytettyä kolmatta kuvatietojoukkoa, mukaan lukien seuraavat: määritetään (330) kohteen toinen ehdokassyvyysmittaus mainitusta ainakin
— osasta mainituissa erittäin suuren resoluution prosesseissa käytettyä kolmatta kuvatietojoukkoa; kun määritetään (340), että toinen ehdokassyvyysmittaus alittaa kynnysarvon, hyväksytään (350) toinen ehdokassyvyysmittaus toiseksi syvyysmittaukseksi;
— kun määritetään (340), että toinen ehdokassyvyysmittaus ylittää kynnysarvon:
EP2973476 3 hankitaan (355) neljäs kuvatietojoukko, joka käsittää eri kameralla tallennetut ympäristön neljännet kuvatiedot; tunnistetaan (370) kiinnostava kohde neljännestä kuvatietojoukosta; määritetään (380) kohteen toinen tarkennettu syvyysmittaus mainitusta ainakin osasta kolmatta kuvatietojoukkoa ja mainitusta ainakin osasta neljättä kuvatietojoukkoa ja valitaan (350) toinen tarkennettu syvyysmittaus toiseksi syvyysmittaukseksi; määritetään kiinnostavan kohteen toinen sijainti käyttäen ainakin toista syvyysmittausta ja toista kulmamittausta ja lasketaan (490) kiinnostavan kohteen nopeus käyttäen ainakin kiinnostavan kohteen ensimmäistä sijaintia ja toista sijaintia.
2. Patenttivaatimuksen 1 mukainen menetelmä, joka käsittää lisäksi kuvantallennusasetusten määrittämisen (410) ensimmäisen ryhmäkameran — aktiivisille ensimmäisille kuvauslaitteille.
3. Patenttivaatimuksen 1 mukainen menetelmä, jossa kiinnostavan kohteen tunnistaminen ensimmäisestä kuvatietojoukosta käsittää esikatselukuvan luomisen, esikatselukuvan esittämisen näytöllä ja käyttäjän syötteen — tallentamisen.
4. Patenttivaatimuksen 1 mukainen menetelmä, jossa kiinnostavan kohteen tunnistaminen ensimmäisestä kuvatietojoukosta käsittää liikkeen havaitsemisen ympäristön alueella.
5. Patenttivaatimuksen 1 mukainen menetelmä, jossa kiinnostavan kohteen tunnistaminen ensimmäisestä kuvatietojoukosta käsittää kohteen havaitsemisen määritetyllä kiinnostavalla alueella.
6. Patenttivaatimuksen 1 mukainen menetelmä, jossa kiinnostavan kohteen tunnistaminen ensimmäisestä kuvatietojoukosta käsittää yhden tai
EP2973476 4 useamman pikselin valitsemisen ja yhden tai useamman pikselin liittämisen kiinnostavaan kohteeseen.
7. Patenttivaatimuksen 1 mukainen menetelmä, jossa ensimmäisen kuvatietojoukon hankkiminen käyttäen ensimmäisen ryhmäkameran useita kuvauslaitteita käsittää ensimmäisen kuvatietojoukon tallentamisen ensimmäisestä sijainnista; kolmannen kuvatietojoukon hankkiminen useiden kuvauslaitteiden avulla ajanhetkellä t ensimmäisen kuvatietojoukon tallentamisen jälkeen käsittää — kolmannen kuvatietojoukon tallentamisen toiseen sijaintiin ajanhetkellä t ensimmäisen kuvatietojoukon tallentamisen jälkeen; ja kiinnostavan kohteen toisen sijainnin määrittäminen käyttäen ainakin toista syvyysmittausta ja toista kulmamittausta käsittää muutoksen määrittämisen ensimmäisestä sijainnista suhteessa toiseen sijaintiin.
8. Patenttivaatimuksen 1 mukainen menetelmä, joka käsittää lisäksi kiinnostavan kohteen nopeuden luotettavuusmittarin laskemisen.
9. Patenttivaatimuksen 1 mukainen menetelmä, jossa mainittu ensimmäisen — tarkennetun syvyysmittauksen määrittäminen käsittää eron määrittämisen ainakin yhden ensimmäisen kuvapikselin, joka liittyy kiinnostavaan kohteeseen ensimmäisessä kuvatietojoukossa olevassa ainakin yhdessä kuvassa, ja sellaisen vastaavan toisen kuvapikselin välillä, joka liittyy kiinnostavaan kohteeseen toisessa kuvatietojoukossa olevassa ainakin — yhdessä kuvassa.
10. Kameramoduuli, joka käsittää stereokamerajärjestelmän, joka sisältää ensimmäisen ryhmäkameran (102) ja eri kameran, jolloin eri kamera sisältää toisen ryhmäkameran tai vanhanlaisen kameran, jolloin ensimmäinen ryhmäkamera sisältää useita kuvauslaitteita, joista jokainen on konfiguroitu ottamaan kuva ympäristöstä ja
EP2973476 jotka ovat erillään toisistaan enintään ensimmäisen perusetäisyyden verran, ja jolloin eri kamera on sellaisella toisella perusetäisyydellä ensimmäisestä ryhmäkamerasta, joka on suurempi kuin ensimmäinen perusetäisyys; ja suorittimen (100), joka on konfiguroitu suorittamaan komentoja jonkin 5 edellisen patenttivaatimuksen mukaisen menetelmän suorittamiseksi.
FIEP14763087.5T 2013-03-15 2014-03-17 Järjestelmiä ja menetelmiä stereokuvaukseen kameraryhmillä FI2973476T3 (fi)

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US201361798673P 2013-03-15 2013-03-15
PCT/US2014/030692 WO2014145856A1 (en) 2013-03-15 2014-03-17 Systems and methods for stereo imaging with camera arrays

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WO2014145856A1 (en) 2014-09-18
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