US 9,883,170 B2Granted

Method for estimating distance, and system and computer-readable medium for implementing the method

AssigneeLite-On Technology Corporation

InventorsYi-Chung Lo, Zong-Sian Li

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Abstract

A method for estimating a distance between a first target and a second target in an image is to be implemented using a distance estimation system that includes a processor module. In the method, the processor module is programmed to: generate an image depth map associated with the image; generate first position information associated with a first position which corresponds to the first target in the image, and second position information associated with a second position which corresponds to the second target in the image; and compute an estimate of a distance between the first target and the second target based on at least the image depth map, the first position information, and the second position information.

Claims12

Dependent claims

A method for estimating a distance between a first target and a second target in an image, the method to be implemented using a distance estimation system that includes a processor, an image capturing subsystem for capturing the image, where the image capturing subsystem includes a lens, an image sensor and a tilt angle sensor subsystem for detecting a tilt angle of the image sensor with respect to an imaginary vertical line, the method comprising:

a) generating, by the processor, an image depth map associated with the image;
b) generating, by the processor, first position information associated with a first position which corresponds to the first target in the image, and second position information associated with a second position which corresponds to the second target in the image;
and
c) computing, by the processor, an estimate of a distance between the first target and the second target based on at least the image depth map, the first position information and the second position information,
wherein computing the estimate of a distance between the first target and the second target further includes:
c-1) estimating, by the processor, a first target distance between the first target and the lens based on at least the first position information, the image depth map, a focus length of the lens for capturing the image, and a pixel size of the image sensor;
c-2) computing, by the processor, the estimate of the distance between the first target and the second target, based on at least the first target distance, the first position information, the second position information, and the focus length of the lens;
c-3 obtaining a first pixel position and a second pixel position on the image sensor based respectively on the first position information and the second position information, the first and second pixel positions corresponding to the first and second positions in the image, respectively;
c-4 calculating a distance between the first pixel position and the second pixel position on the image sensor;
and
c-5 computing the estimate of the distance (h1) between the first target and the second target using the following equation:
h
11
·
sin
⁡
(
A
)
+
f
·
sec
⁡
(
A
)
d
1
=
h
11
·
cos
⁡
(
A
)
h
1
where (h11) represents the distance between the first and second pixel positions on the image sensor, (A) represents the tilt angle, (f) represents the focus length of the lens, and (d1) represents the first target distance.

38 more elements

A distance estimation system for estimating a distance between a first target and a second target in an image, the system comprising a processor that is programmed to:

generate an image depth map associated with the image;
generate first position information associated with a first position which corresponds to the first target, and second position information associated with a second position which corresponds to the second target;
and
compute an estimate of a distance between the first target and the second target based on at least the image depth map, the first position information and the second position information;
the distance estimation system further comprising an image capturing subsystem and a tilt angle sensor subsystem for detecting a tilt angle of the image sensor with respect to an imaginary vertical line, the image capturing subsystem being configured for capturing the image and includes a lens and an image sensor, wherein the processor is further programmed to:
estimate a first target distance between the first target and the lens based on at least the first position information, the image depth map, a focus length of the lens for capturing the image, and a pixel size of the image sensor;
compute the estimate of the distance between the first target and the second target, based on at least the first target distance, the first position information, the second position information, and the focus length of the lens;
obtain a first pixel position and a second pixel position on the image sensor based respectively on the first position information and the second position information, the first and second pixel positions corresponding to the first and second positions in the image, respectively;
calculate a distance between the first pixel position and the second pixel position on the image sensor;
and
compute the estimate of the distance (h1) between the first target and the second target using the following equation:
h
11
·
sin
⁡
(
A
)
+
f
·
sec
⁡
(
A
)
d
1
=
h
11
·
cos
⁡
(
A
)
h
1
where (h11) represents the distance between the first and second pixel positions on the image sensor, (A) represents the tilt angle, (f) represents the focus length of the lens, and (d1) represents the first target distance.

38 more elements

A non-transitory computer-readable medium that stores a software application therein, the software application including instructions that, when executed by a processor of a distance estimation system, causes the processor to perform a method for estimating a distance between a first target and a second target in an image, the distance estimation system further including an image capturing subsystem for capturing the image and a tilt angle sensor subsystem for detecting a tilt angle of the image sensor with respect to an imaginary vertical line, the image capturing subsystem including a lens and an image sensor, the method including:

a) generating an image depth map associated with the image;
b) generating first position information associated with a first position which corresponds to the first target, and second position information associated with a second position which corresponds to the second target;
and
c) computing an estimate of a distance between the first target and the second target based on at least the image depth map, the first position information and the second position information;
wherein computing the estimate of a distance between the first target and the second target further includes:
c-1) estimating a first target distance between the first target and the lens based on at least the first position information, the image depth map, a focus length of the lens for capturing the image, and a pixel size of the image sensor;
and
c-2) computing the estimate of the distance between the first target and the second target, based on at least the first target distance, the first position information, the second position information, and the focus length of the lens,
wherein the software application further includes instructions that, when executed by the processor, causes the processor to further:
obtain a first pixel position and a second pixel position on the image sensor based respectively on the first position information and the second position information, the first and second pixel positions corresponding to the first and second positions in the image, respectively;
calculate a distance between the first pixel position and the second pixel position on the image sensor;
and
compute the estimate of the distance (h1) between the first target and the second target using the following equation:
h
11
·
sin
⁡
(
A
)
+
f
·
sec
⁡
(
A
)
d
1
=
h
11
·
cos
⁡
(
A
)
h
1
where (h11) represents the distance between the first and second pixel positions on the image sensor, (A) represents the tilt angle, (f) represents the focus length of the lens, and (d1) represents the first target distance.

40 more elements

a) generating, by the processor, an image depth map associated with the image;
b) generating, by the processor, first position information associated with a first position which corresponds to the first target in the image, and second position information associated with a second position which corresponds to the second target in the image;
and
c) computing, by the processor, an estimate of a distance between the first target and the second target based on at least the image depth map, the first position information and the second position information,
wherein computing the estimate of a distance between the first target and the second target further includes:
c-1) estimating, by the processor, a first target distance between the first target and the lens based on at least the first position information, the image depth map, a focus length of the lens for capturing the image, and a pixel size of the image sensor;
c-2) computing, by the processor, the estimate of the distance between the first target and the second target, based on at least the first target distance, the first position information, the second position information, and the focus length of the lens;
wherein the step of estimating a first target distance between the first target and the lens further estimates a second target distance between the second target and the lens and additionally utilizes the second position information;
and the step of computing the estimate of the distance between the first target and the second target additionally utilizes the second target distance;
wherein, the step of computing the estimate of the distance between the first target and the second target further includes:
obtaining a first pixel position and a second pixel position on the image sensor based respectively on the first position information and the second position information, the first and second pixel positions corresponding to the first and second positions in the image, respectively;
calculating a first distance between the first pixel position and a center point of the image sensor, and a second distance between the second pixel position and the center point of the image sensor;
and
computing the estimate of the distance (h2) between the first target and the second target using the following equations:
h
2
=
d
1
·
sin
⁡
(
K
1
)
-
d
2
·
sin
⁡
(
K
2
)
K
1
=
tan
-
1
⁢
h
21
f
K
2
=
tan
-
1
⁢
h
22
f
where (d1) represents the first target distance, (d2) represents the second target distance, (h21) represents the first distance, (h22) represents the second distance, and (f) represents the focus length of the lens.

54 more elements

A distance estimation system for estimating a distance between a first target and a second target in an image, the system comprising a processor that is programmed to:

generate an image depth map associated with the image;
generate first position information associated with a first position which corresponds to the first target, and second position information associated with a second position which corresponds to the second target;
and
compute an estimate of a distance between the first target and the second target based on at least the image depth map, the first position information and the second position information;
the distance estimation system further comprising an image capturing subsystem, the image capturing subsystem being configured for capturing the image and including a lens, an image sensor and a tilt angle sensor subsystem for detecting a tilt angle of the image sensor with respect to an imaginary vertical line, wherein the processor is further programmed to:
estimate a first target distance between the first target and the lens based on at least the first position information, the image depth map, a focus length of the lens for capturing the image, and a pixel size of the image sensor;
compute the estimate of the distance between the first target and the second target, based on at least the first target distance, the first position information, the second position information, and the focus length of the lens;
wherein the processor further estimates a second target distance between the second target and the lens and additionally utilizes the second position information, and the processor additionally computes the estimate of the distance between the first target and the second target additionally utilizing the second target distance;
wherein responsive to the image being captured by the image capturing subsystem when the tilt angle of the image sensor is equal to zero degrees, said processor is further programmed to:
obtain a first pixel position and a second pixel position on the image sensor based respectively on the first position information and the second position information, the first and second pixel positions corresponding to the first and second positions in the image, respectively;
calculate a first distance between the first pixel position and a center point of the image sensor, and a second distance between the second pixel position and the center point of the image sensor;
and
compute the estimate of the distance (h2) between the first target and the second target using the following equations:
h
2
=
d
1
·
sin
⁡
(
K
1
)
-
d
2
·
sin
⁡
(
K
2
)
K
1
=
tan
-
1
⁢
h
21
f
K
2
=
tan
-
1
⁢
h
22
f
where (d1) represents the first target distance, (d2) represents the second target distance, (h21) represents the first distance, (h22) represents the second distance, and (f) represents the focus length of the lens.

53 more elements

A non-transitory computer-readable medium that stores a software application therein, the software application including instructions that, when executed by a processor of a distance estimation system, causes the processor to perform a method for estimating a distance between a first target and a second target in an image, the distance estimation system further including an image capturing subsystem for capturing the image, where the image capturing subsystem includes a lens, an image sensor and a tilt angle sensor subsystem for detecting a tilt angle of the image sensor with respect to an imaginary vertical line, the image being captured when the tilt angle of the tilt angle sensor subsystem is equal to zero degrees, the method including:

a) generating an image depth map associated with the image;
b) generating first position information associated with a first position which corresponds to the first target, and second position information associated with a second position which corresponds to the second target;
and
c) computing an estimate of a distance between the first target and the second target based on at least the image depth map, the first position information and the second position information;
wherein computing the estimate of a distance between the first target and the second target further includes:
c-1) estimating a first target distance between the first target and the lens based on at least the first position information, the image depth map, a focus length of the lens for capturing the image, and a pixel size of the image sensor;
c-2) computing the estimate of the distance between the first target and the second target, based on at least the first target distance, the first position information, the second position information, and the focus length of the lens, computing the estimate includes estimating a second target distance between the second target and the lens and additionally utilizing the second position information, and computing the estimate of the distance between the first target and the second target additionally utilizing the second target distance;
c-3) obtaining a first pixel position and a second pixel position on the image sensor based respectively on the first position information and the second position information, the first and second pixel positions corresponding to the first and second positions in the image, respectively;
c-4) calculating a first distance between the first pixel position and a center point of the image sensor, and a second distance between the second pixel position and the center point of the image sensor;
and
c-5) computing the estimate of the actual distance (h2) between the first target and the second target using the following equations:
h
2
=
d
1
·
sin
⁡
(
K
1
)
-
d
2
·
sin
⁡
(
K
2
)
K
1
=
tan
-
1
⁢
h
21
f
K
2
=
tan
-
1
⁢
h
22
f
where (d1) represents the first target distance, (d2) represents the second target distance, (h21) represents the first distance, (h22) represents the second distance, and (f) represents the focus length of the lens.

51 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/642,506Filed 6 Jul 2017 · continuation
Priority: CN 2014 1 081366224 Dec 2014
Published: US 2017/0310950 A126 Oct 2017
Granted: 30 Jan 2018
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

H04N 13/271
Image signal generators: wherein the generated image signals comprise depth maps or disparity maps
G06T 7/62
Analysis of geometric attributes: of area, perimeter, diameter or volume
G06T 2207/10028
Image acquisition modality: range image; Depth image; 3D point clouds
G06T 2207/20101
Interactive image processing based on input by user: interactive definition of point of interest, landmark or seed

Family

Application14/852,963Parent of this continuation · filed 14 Sep 2015
US 2017/0310950 A1Pre-grant publication · published 26 Oct 2017
US 9,729,861 B2Parent of this continuation
US 2016/0189361 A1Published application
US 9,883,170 B2This patent

From the US filing history. Foreign family members aren’t listed.

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