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    • 1. 发明授权
    • Device and method for position measurement
    • Vorrichtung und Verfahren zur Positionsmessung
    • EP1906140B1
    • 2015-07-08
    • EP07019031.9
    • 2007-09-27
    • TOPCON CORPORATION
    • Kochi, NobuoAnai, TetsujiOtani, HitoshiSato, Hirokazu
    • G01C11/10G01C21/16G06T7/20
    • G01C11/00G01C11/10G01C21/005G01C21/165G06T7/248G06T7/593G06T7/74G06T2207/10021G06T2207/30252
    • A position measurement device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A position measuring device 100 of the invention comprises: an image acquisition section 2 for acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed; a positional relationship measurement section 9 for measuring position displacement and posture change of the image acquisition section 2; a feature extraction section 3 for extracting feature points from the photographed images obtained with the image acquisition section 2; a feature point tracking section 4 for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images; an image selection section 61 for selecting an image to be processed from the series of photographed images based on a measurement result made with the positional relationship measurement section 9; and a position measurement section 7 for measuring the photographing position and the photographing posture of the image acquisition section 2 based on the image to be processed selected with the image selection section 61.
    • 提供一种位置测量装置,其可以基于顺序地改变拍摄的图像来精确地测量拍摄装置的拍摄位置或姿势或对象的坐标。 本发明的位置测量装置100包括:图像获取部分2,用于获取一系列相对于要拍摄的对象连续或一点一点地改变位置位移的拍摄图像; 用于测量图像获取部分2的位置偏移和姿势变化的位置关系测量部分9; 特征提取部分3,用于从由图像获取部分2获得的拍摄图像中提取特征点; 特征点跟踪部分4,用于通过搜索与多个拍摄图像上的特征点对应的对应点来跟踪特征点; 图像选择部分61,用于基于由位置关系测量部分9进行的测量结果从一系列拍摄的图像中选择要处理的图像; 以及位置测量部分7,用于基于通过图像选择部分61选择的被处理图像来测量图像获取部分2的拍摄位置和拍摄姿态。