Stereoscopic distance measuring apparatus, stereoscopic distance measuring method, and computer readable medium

A stereoscopic distance measuring method, comprising:

• allowing a first optical camera and a second optical camera to respectively take a plurality of first images and a plurality of second images, the first optical camera and the second optical camera being disposed on a first wing and a second wing of an aircraft, respectively, the optical camera and the second optical camera constituting a stereoscopic camera;
• allowing a first position-posture meter to acquire first position-posture information regarding a position and a posture of the first optical camera, the first position-posture meter being provided in vicinity of the first optical camera;
• allowing a second position-posture meter to acquire second position-posture information regarding a position and a posture of the second optical camera, the second position-posture meter being provided in vicinity of the second optical camera;
• correcting, on a basis of the first position-posture information, positions and orientations of the plurality of the first images, to generate a plurality of first corrected images;
• correcting, on a basis of the second position-posture information, positions and orientations of the plurality of the second images, to generate a plurality of second corrected images;
• calculating a distance to a photographing target, on a basis of a pair of corrected images that include one of the plurality of the first corrected images and one of the plurality of the second corrected images;
• and
• acquiring global positioning system (GPS) time information and associates the GPS time information with each of the plurality of the first images and with each of the plurality of the second images, wherein
• the pair of the corrected images whose timing of imaging coincide with each other are selected, on a basis of the GPS time information, from the plurality of the first corrected images and from the plurality of the second corrected images, and
• the distance to the photographing target is calculated utilizing the pair of the corrected images.

A non-transitory computer readable medium having a program causing a computer to:

• allow a first optical camera and a second optical camera to respectively take a plurality of first images and a plurality of second images, the first optical camera and the second optical camera being disposed on a first wing and a second wing of an aircraft, respectively, the optical camera and the second optical camera constituting a stereoscopic camera;
• allow a first position-posture meter to acquire first position-posture information regarding a position and a posture of the first optical camera, the first position-posture meter being provided in vicinity of the first optical camera;
• allow a second position-posture meter to acquire second position-posture information regarding a position and a posture of the second optical camera, the second position-posture meter being provided in vicinity of the second optical camera;
• correct, on a basis of the first position-posture information, positions and orientations of the plurality of the first images, to generate a plurality of first corrected images;
• correct, on a basis of the second position-posture information, positions and orientations of the plurality of the second images, to generate a plurality of second corrected images;
• calculate a distance to a photographing target, on a basis of a pair of corrected images that include one of the plurality of the first corrected images and one of the plurality of the second corrected images;
• and
• acquire global positioning system (GPS) time information and associates the GPS time information with each of the plurality of the first images and with each of the plurality of the second images, wherein
• the pair of the corrected images whose timing of imaging coincide with each other are selected, on a basis of the GPS time information, from the plurality of the first corrected images and from the plurality of the second corrected images, and
• the distance to the photographing tartlet is calculated utilizing the pair of the corrected images.

A stereoscopic distance measuring apparatus, comprising:

• a first optical camera and a second optical camera that are disposed on a first wing and a second wing of an aircraft, respectively, the optical camera and the second optical camera constitute a stereoscopic camera;
• a first position-posture meter that is provided in vicinity of the first optical camera and acquires first position-posture information regarding a position and a posture of the first optical camera;
• a second position-posture meter that is provided in vicinity of the second optical camera and acquires second position-posture information regarding a position and a posture of the second optical camera;
• and
• circuitry that
• corrects, on a basis of the first position-posture information, positions and orientations of a plurality of first images taken by the first optical camera, to generate a plurality of first corrected images,
• corrects, on a basis of the second position-posture information, positions and orientations of a plurality of second images taken by the second optical camera, to generate a plurality of second corrected images,
• calculates a distance to a photographing target, on a basis of a pair of corrected images that include one of the plurality of the first corrected images and one of the plurality of the second corrected images, and
• acquire global positioning system (GPS) time information and associates the GPS time information with each of the plurality of the first images and with each of the plurality of the second images, wherein
• the pair of the corrected images whose timing of imaging coincide with each other are selected, on a basis of the GPS time information, from the plurality of the first corrected images and from the plurality of the second corrected images, and
• the distance to the photographing target is calculated utilizing the pair of the corrected images.