Stereo distance measuring apparatus, stereo distance measuring method, and computer readable medium

A stereo distance measuring apparatus comprising:

• a first optical camera provided in a first elastic structure part of a first wing of an aircraft and a second optical camera provided in a second elastic structure part of a second wing of the aircraft, the first optical camera and the second optical camera constituting a stereo camera;
• a position-posture calculator configured to calculate 1) first position-posture information regarding a position and a posture of the first optical camera based on a first displacement amount of the first elastic structure part of the first wing and 2) second position-posture information regarding a position and a posture of the second optical camera based on a second displacement amount of the second elastic structure part of the second wing;
• an image corrector configured to 1) generate a first corrected image by correcting, on a basis of the first position-posture information, a position and an orientation of an image taken by the first optical camera, and 2) generate a second corrected image by correcting, on a basis of the second position-posture information, a position and an orientation of an image taken by the second optical camera;
• and
• a stereo distance measuring unit configured to calculate a distance to a photographing target, on a basis of the first corrected image and the second corrected image, wherein
• the position-posture calculator includes:
• a displacement amount measuring unit configured to measure the first displacement amount of the first elastic structure part at which the first optical camera is provided, and measure the second displacement amount of the second elastic structure part at which the second optical camera is provided;
• and
• a position-posture vector calculator configured to calculate a first position vector and a first posture vector of the first optical camera on a basis of the first displacement amount, and calculate a second position vector and a second posture vector of the second optical camera on a basis of the second displacement amount,
• wherein the first position-posture information includes the first position vector and the first posture vector, and
• wherein the second position-posture information includes the second position vector and the second posture vector.

A stereo distance measuring method comprising:

• calculating, with a stereo distance measuring apparatus including a first optical camera provided in a first elastic structure part of a first wing of an aircraft and a second optical camera provided in a second elastic structure part of a second wing of the aircraft, 1) first position-posture information regarding a position and a posture of the first optical camera based on a first displacement amount of the first elastic structure part and 2) second position-posture information regarding a position and a posture of the second optical camera based on a second displacement amount of the second elastic structure part, the first optical camera and the second optical camera constituting a stereo camera;
• generating, with the stereo distance measuring apparatus, a first corrected image by correcting, on a basis of the first position-posture information, a position and an orientation of an image taken by the first optical camera, and a second corrected image by correcting, on a basis of the second position-posture information, a position and an orientation of an image taken by the second optical camera;
• calculating, with the stereo distance measuring apparatus, a distance to a photographing target, on a basis of the first corrected image and the second corrected image;
• measuring a distance and a direction from a highly-rigid part to the first optical camera and a distance and a direction from a highly-rigid part to the second optical camera, the highly-rigid part having rigidity that is higher than rigidity of the first elastic structure part and the second elastic structure part;
• calculating a first position vector to the first optical camera on a basis of the distance and the direction from the highly-rigid part to the first optical camera, and calculate a second position vector to the second optical camera on a basis of the distance and the direction from the highly-rigid part to the second optical camera;
• calculating, on a basis of the first position vector, the first displacement amount of the first elastic structure part at which the first optical camera is provided, and calculate, on a basis of the second position vector, the second displacement amount of the second elastic structure part at which the second optical camera is provided;
• and
• calculating a first posture vector of the first optical camera on a basis of the first displacement amount, and calculate a second posture vector of the second optical camera on a basis of the second displacement amount,
• wherein the first position-posture information includes the first position vector and the first posture vector, and
• wherein the second position-posture information includes the second position vector and the second posture vector.

A non-transitory computer readable medium having a stereo distance measuring program causing a computer to implement a method, the method comprising:

• calculating, with a stereo distance measuring apparatus including a first optical camera provided in a first elastic structure part of a first wing of an aircraft and a second optical camera provided in a second elastic structure part of a second wing of the aircraft, 1) first position-posture information regarding a position and a posture of the first optical camera based on a first displacement amount of the first elastic structure part and 2) second position-posture information regarding a position and a posture of the second optical camera based on a second displacement amount of the second elastic structure part, the first optical camera and the second optical camera constituting a stereo camera;
• generating, with the stereo distance measuring apparatus, a first corrected image by correcting, on a basis of the first position-posture information, a position and an orientation of an image taken by the first optical camera, and a second corrected image by correcting, on a basis of the second position-posture information, a position and an orientation of an image taken by the second optical camera;
• and
• calculating, with the stereo distance measuring apparatus, a distance to a photographing target, on a basis of the first corrected image and the second corrected image;
• measuring a distance and a direction from a highly-rigid part to the first optical camera and a distance and a direction from a highly-rigid part to the second optical camera, the highly-rigid part having rigidity that is higher than rigidity of the first elastic structure part and the second elastic structure part;
• calculating a first position vector to the first optical camera on a basis of the distance and the direction from the highly-rigid part to the first optical camera, and calculate a second position vector to the second optical camera on a basis of the distance and the direction from the highly-rigid part to the second optical camera;
• calculating, on a basis of the first position vector, the first displacement amount of the first elastic structure part at which the first optical camera is provided, and calculate, on a basis of the second position vector, the second displacement amount of the second elastic structure part at which the second optical camera is provided;
• and
• calculating a first posture vector of the first optical camera on a basis of the first displacement amount, and calculate a second posture vector of the second optical camera on a basis of the second displacement amount,
• wherein the first position-posture information includes the first position vector and the first posture vector, and
• wherein the second position-posture information includes the second position vector and the second posture vector.

A stereo distance measuring apparatus comprising:

• a first optical camera provided in a first elastic structure part of a first wing of an aircraft and a second optical camera provided in a second elastic structure part of a second wing of the aircraft, the first optical camera and the second optical camera constituting a stereo camera;
• a distance measuring unit that is provided in a highly-rigid part of the aircraft, and configured to measure a first distance and a first direction from the highly-rigid part to the first optical camera and a second distance and a second direction from the highly-rigid part to the second optical camera, the highly-rigid part having rigidity that is higher than rigidity of the elastic structure part;
• and
• circuitry configured to
• calculate, on a basis of the first distance and the first direction from the highly-rigid part to the first optical camera, first position-posture information regarding a position and a posture of the first optical camera, and calculate, on a basis of the second distance and the second direction from the highly-rigid part to the second optical camera, second position-posture information regarding a position and a posture of the second optical camera,
• generate a first corrected image by correcting, on a basis of the first position-posture information, a position and an orientation of an image taken by the first optical camera, and generate a second corrected image by correcting, on a basis of the second position-posture information, a position and an orientation of an image taken by the second optical camera,
• calculate a distance to a photographing target, on a basis of the first corrected image and the second corrected image,
• measure a distance and a direction from a highly-rigid part to the first optical camera and a distance and a direction from a highly-rigid part to the second optical camera, the highly-rigid part having rigidity that is higher than rigidity of the first elastic structure part and the second elastic structure part,
• calculate a first position vector to the first optical camera on a basis of the distance and the direction from the highly-rigid part to the first optical camera, and calculate a second position vector to the second optical camera on a basis of the distance and the direction from the highly-rigid part to the second optical camera,
• calculate, on a basis of the first position vector, a first displacement amount of the first elastic structure part at which the first optical camera is provided, and calculate, on a basis of the second position vector, a second displacement amount of the second elastic structure part at which the second optical camera is provided, and
• calculate a first posture vector of the first optical camera on a basis of the first displacement amount, and calculate a second posture vector of the second optical camera on a basis of the second displacement amount,
• wherein the first position-posture information includes the first position vector and the first posture vector, and
• wherein the second position-posture information includes the second position vector and the second posture vector.

A stereo distance measuring apparatus comprising:

• a first optical camera provided in a first elastic structure part of a first wing of an aircraft and a second optical camera provided in a second elastic structure part of a second wing of the aircraft, the first optical camera and the second optical camera constituting a stereo camera;
• a displacement amount measuring unit configured to measure a first displacement amount of the first elastic structure part at which the first optical camera is provided, and measure a second displacement amount of the second elastic structure part at which the second optical camera is provided;
• and
• circuitry configured to
• calculate, on a basis of the first displacement amount, first position-posture information regarding a position and a posture of the first optical camera,
• calculate, on a basis of the second displacement amount, second position-posture information regarding a position and a posture of the second optical camera,
• generate a first corrected image by correcting, on a basis of the first position-posture information, a position and an orientation of an image taken by the first optical camera,
• generate a second corrected image by correcting, on a basis of the second position-posture information, a position and an orientation of an image taken by the second optical camera,
• calculate a distance to a photographing target, on a basis of the first corrected image and the second corrected image,
• measure a distance and a direction from a highly-rigid part to the first optical camera and a distance and a direction from a highly-rigid part to the second optical camera, the highly-rigid part having rigidity that is higher than rigidity of the first elastic structure part and the second elastic structure part,
• calculate a first position vector to the first optical camera on a basis of the distance and the direction from the highly-rigid part to the first optical camera, and calculate a second position vector to the second optical camera on a basis of the distance and the direction from the highly-rigid part to the second optical camera,
• calculate, on a basis of the first position vector, the first displacement amount of the first elastic structure part at which the first optical camera is provided, and calculate, on a basis of the second position vector, the second displacement amount of the second elastic structure part at which the second optical camera is provided, and
• calculate a first posture vector of the first optical camera on a basis of the first displacement amount, and calculate a second posture vector of the second optical camera on a basis of the second displacement amount,
• wherein the first position-posture information includes the first position vector and the first posture vector, and
• wherein the second position-posture information includes the second position vector and the second posture vector.