# US 10,313,659 B2 · Stereoscopic distance measuring apparatus, stereoscopic distance measuring method, and computer readable medium

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- Number: US 10,313,659 B2
- Document ID: US10313659B2
- Status: Granted
- Kind: B2
- Application number: 15/638,572
- Filed: 2017-06-30
- Published: 2018-03-15
- Granted: 2019-06-04
- Earliest claimed: 2016-09-15
- Assignees: Subaru Corporation
- Applicants: Subaru Corporation
- Inventors: Yoichi Onomura
- Web page: https://patentgrep.com/patent/US10313659B2

## CPC

- H04N 13/239: using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence)
- B64D 47/08: Arrangements of cameras
- G01S 11/12: using electromagnetic waves other than radio waves
- G01S 19/00: Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S 19/485: {whereby the further system is an optical system or imaging system}
- H04N 13/106: Processing image signals (for multi-view video sequence encoding H04N19/597)
- H04N 13/246: Calibration of cameras
- H04N 13/296: Synchronisation thereof; Control thereof
- H04N 23/6812: {based on additional sensors, e.g. acceleration sensors}
- G03B 37/00: Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B 37/04: with cameras or projectors providing touching or overlapping fields of view
- H04N 13/00: Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N 2013/0081: {Depth or disparity estimation from stereoscopic image signals}
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- 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
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)

## Abstract

Provided are a stereoscopic distance measuring apparatus and method, and a computer readable program. The apparatus includes first and second optical cameras, first and second position-posture meters, an image corrector, and a stereoscopic distance measuring unit. The first and second position-posture meters acquire first and second position-posture information regarding the first and second optical cameras. The image corrector corrects, on the basis of the first and second position-posture information, positions and orientations of a plurality of first and second images taken by the first and second optical cameras, to generate a plurality of first and second corrected images. The stereoscopic distance measuring unit calculates a distance to a photographing target, on the basis of a pair of the corrected images including one of the plurality of the first corrected images and one of the plurality of the second corrected images.

## Claims

### Claim 1

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 first 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;
an image corrector 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, and 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;
a stereoscopic distance measuring unit that 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
a time acquiring unit that acquires 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 stereoscopic distance measuring unit
selects, on a basis of the GPS time information, the pair of the corrected images whose timing of imaging coincide with each other, from the plurality of the first corrected images and from the plurality of the second corrected images, and
calculates the distance to the photographing target utilizing the pair of the corrected images.

### Claim 2 (depends on 1)

The stereoscopic distance measuring apparatus according to claim 1, wherein
the time acquiring unit includes
a first GPS receiver provided in the vicinity of the first optical camera, and
a second GPS receiver provided in the vicinity of the second optical camera, and
the time acquiring unit associates the GPS time information acquired by the first GPS receiver with each of the plurality of the first images, and associates the GPS time information acquired by the second GPS receiver with each of the plurality of the second images.

### Claim 3 (depends on 2)

The stereoscopic distance measuring apparatus according to claim 2, wherein
the first optical camera and the first position-posture meter are fixed to a first holder that is common to the first optical camera and the first position-posture meter and is made of metal, and
the second optical camera and the second position-posture meter are fixed to a second holder that is common to the second optical camera and the second position-posture meter and is made of metal.

### Claim 4 (depends on 3)

The stereoscopic distance measuring apparatus according to claim 3, wherein
the first optical camera and the second optical camera are separately disposed at tips of both the first and second wings of the aircraft.

### Claim 5 (depends on 2)

The stereoscopic distance measuring apparatus according to claim 2, wherein
the first optical camera and the second optical camera are separately disposed at tips of both the first and second wings of the aircraft.

### Claim 6 (depends on 1)

The stereoscopic distance measuring apparatus according to claim 1, wherein
the first optical camera and the first position-posture meter are fixed to a first holder that is common to the first optical camera and the first position-posture meter and is made of metal, and
the second optical camera and the second position-posture meter are fixed to a second holder that is common to the second optical camera and the second position-posture meter and is made of metal.

### Claim 7 (depends on 6)

The stereoscopic distance measuring apparatus according to claim 6, wherein
the first optical camera and the second optical camera are separately disposed at tips of both the first and second wings of the aircraft.

### Claim 8 (depends on 1)

The stereoscopic distance measuring apparatus according to claim 1, wherein
the first optical camera and the second optical camera are separately disposed at tips of both the first and second wings of the aircraft.

### Claim 9

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.

### Claim 10

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.

### Claim 11

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.