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71. 发明专利

JP4455557B2 Calibration gauge, displacement measuring device and calibration method of using same 有权
公开(公告)号：JP4455557B2
公开(公告)日：2010-04-21
申请号：JP2006238900
申请日：2006-09-04
申请人：アンリツ株式会社
发明人：史夫加島 , 紀彦益田
IPC分类号： G01C3/00 , G01B3/30 , G01B11/00 , G01B11/24 , G01C3/06

72. 发明专利

JP4442661B2 3-dimensional measurement method and the three-dimensional measuring device 有权
公开(公告)号：JP4442661B2
公开(公告)日：2010-03-31
申请号：JP2007222168
申请日：2007-08-29
申请人：オムロン株式会社
发明人：泰之池田 , 博司矢野 , 紫朗藤枝
IPC分类号： G01B11/245 , G01B11/00 , G01C3/00 , G01C3/06
CPC分类号： G01B11/03 , G01B11/245

73. 发明专利

JP4440341B2 Calibration method, calibration system with a calibration device and its equipment 有权
公开(公告)号：JP4440341B2
公开(公告)日：2010-03-24
申请号：JP2009543688
申请日：2009-05-19
申请人：パナソニック株式会社
发明人：典広今村 , 一朗大山
IPC分类号： G01C3/00 , G01C3/06 , H04N5/232 , H04N13/02
CPC分类号： G01C3/14 , G01C25/00 , H04N5/3572 , H04N13/0239 , H04N13/0246 , H04N2013/0081
摘要： A calibration device and method calibrates a distance measuring device which provides captured images with significant lens aberration. The calibration device and method estimate a camera parameter representing a characteristic of each imaging system of a distance measuring device, and perform the following: capture, using the distance measuring device, an image of a reference chart which (i) represents a geometric pattern in which elements are arranged and (ii) is positioned to have a predetermined positional relationship with the distance measuring device; modify a luminance distribution affected by aberration of the lens in the captured image of the reference chart; calculate, as a feature point position, a gravity center position of each element in the captured image whose luminance distribution is modified; and estimate the camera parameter using the feature point position calculated in the calculating and an approximate actual gravity center position in the reference chart.

74. 发明专利

JP2009180562A Device and method for measuring distance 有权
标题翻译：用于测量距离的装置和方法
公开(公告)号：JP2009180562A
公开(公告)日：2009-08-13
申请号：JP2008018189
申请日：2008-01-29
申请人： Tokyo Institute Of Technology , 国立大学法人東京工業大学
发明人： SHIMIZU MASAO , OKUTOMI MASATOSHI
IPC分类号： G01C3/06 , G01C3/00 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide a distance measuring device which is made capable of measuring a distance with high accuracy by an inexpensive device structure and in a short measuring time, based on one image obtained by taking by one imaging device a double image which is reflected on a reflecting plate being non-parallel and not a perfect plane. SOLUTION: The distance measuring device is equipped with: an inter-double-image displacement calculating part which calculates displacement between the double images from the image obtained by taking by the imaging means the double image reflected on the reflecting plate and having a positional slippage; a calibration processing part which presumes external parameters expressing the shape, the posture and the refractive index of the reflecting plate and the distance from the camera optical center of the imaging means to the reflecting plate along the optical axis, from a plurality of images obtained by taking, as the double image, a plurality of calibration planes located at known distances; and a distance calculating part which calculates the distance to a measuring object from the external parameters and one image obtained by taking the measuring object as the double image. The reflecting plate is locally approximated by non-parallel planes, and the external parameters presumed by the calibration processing part have different values according to observation points on the image obtained by taking the double image. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种距离测量装置，其能够通过廉价的装置结构在短的测量时间内以高精度测量距离，基于通过一个成像装置获取的一个图像双倍在反射板上反射的图像不是平行的，而不是完美的平面。解决方案：距离测量装置配备有：双像位移计算部，其从通过摄像装置获取的图像计算双重图像之间的位移，反射在反射板上的双重图像，具有位置滑移; 校正处理部，从通过以下方式获得的多个图像，假设表示反射板的形状，姿势和折射率的外部参数以及从成像装置的照相机光学中心到反射板的距离，作为双重图像，采用位于已知距离的多个校准平面; 以及距离计算部，其从外部参数和通过将测量对象作为双重图像获得的一个图像计算到测量对象的距离。反射板由非平行平面局部近似，并且由校准处理部分推定的外部参数根据通过拍摄双重图像获得的图像上的观察点具有不同的值。版权所有（C）2009，JPO＆INPIT

75. 发明专利

JP2009171242A Method, apparatus and program for making correspondent feature points between images, and recording medium with program recorded thereon 有权
标题翻译：方法，设备和程序，用于制作图像之间的相应特征点，并记录与记录的程序的记录介质
公开(公告)号：JP2009171242A
公开(公告)日：2009-07-30
申请号：JP2008007217
申请日：2008-01-16
申请人： Nippon Telegr & Teleph Corp , 日本電信電話株式会社
发明人： WU XIAOJUN , OSAWA TATSUYA , YAMASHITA KATSUYA , WAKABAYASHI YOSHIORI , KOIKE HIDEKI
IPC分类号： H04N5/232 , G01C3/00 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To improve precision and efficiency of camera calibration.
SOLUTION: A planar board 1, on which a block pattern is printed, is imaged by a camera C1, C2. Feature points are extracted from captured image data A, B (S301). Initial blocks are selected from block patterns photographed in the image data A, B (S302) and the initial blocks are made correspondent to each other (S303). An initial plane transformation matrix is determined from correspondent point coordinates of the initial blocks (S304). A neighboring block of a previous block, in which feature points of the image data B have been made correspondent, is selected (S305) and correspondent positions, on the image data A, of the feature points in the neighboring block are determined from the plane transformation matrix calculated just before (S306). Near the correspondent positions, the feature points of the image data are searched and recorded (S307) and from the search result, the transformation matrix is calculated again (S308). The steps of S305-S309 are iteratively performed upon all the blocks.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提高相机校准的精度和效率。解决方案：通过照相机C1，C2对印刷有块图案的平板1进行成像。从捕获图像数据A，B提取特征点（S301）。从图像数据A，B中拍摄的块图案（S302）中选择初始块，并且使初始块相互对应（S303）。从初始块的对应点坐标确定初始平面变换矩阵（S304）。选择图像数据B的特征点对应的先前块的相邻块（S305），并且从平面确定相邻块中的特征点的图像数据A上的相应位置（S306）之前计算的变换矩阵。在相应位置附近，搜索和记录图像数据的特征点（S307），并且从搜索结果再次计算变换矩阵（S308）。对所有的块迭代地执行S305-S309的步骤。版权所有（C）2009，JPO＆INPIT

76. 发明专利

JP2009139233A Distance measuring device of yard crane, yard crane, optical axis adjustment tool of distance measuring device, and optical axis adjustment method of distance measuring device 审中-公开
标题翻译：距离测量装置的叶片起重机，叶片起重机，光轴调整工具的距离测量装置和距离测量装置的光轴调整方法
公开(公告)号：JP2009139233A
公开(公告)日：2009-06-25
申请号：JP2007316156
申请日：2007-12-06
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： UCHIDA KOJI , YOSHIOKA NOBUO
IPC分类号： G01S17/08 , B66C15/04 , G01C3/00 , G01S17/88
摘要： PROBLEM TO BE SOLVED: To provide a distance measuring device of a yard crane capable of easily adjusting an optical axis even when using invisible light such as an infrared ray, and to provide the yard crane, an optical axis adjustment tool and an optical axis adjustment method of the distance measuring device.
SOLUTION: The distance measuring device of the yard crane includes: a target 22 capable of modifying a relative position of a reflection part 41 and a shielding part 42 viewed from a light source part by having the light source part for emitting the invisible light, the reflection part 41 for reflecting the emitted invisible light and the shielding part 42 for obstructing reflection of the emitted invisible light; and a detection part for detecting the reflected invisible light.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：解决的问题：为了提供即使在使用诸如红外线的不可见光的情况下也能够容易地调节光轴的庭院起重机的距离测量装置，并且提供码垛机，光轴调节工具和测距仪的光轴调整方法。解决方案：院子起重机的距离测量装置包括：目标22，其能够通过具有用于发射不可见的光源部分来修改从光源部分观察的反射部分41和屏蔽部分42的相对位置光，用于反射发射的不可见光的反射部分41和用于阻止发射的不可见光的反射的屏蔽部分42; 以及用于检测反射的不可见光的检测部。版权所有（C）2009，JPO＆INPIT

77. 发明专利

JP4209526B2 Semiconductor position detector and the distance measuring device using the same 有权
公开(公告)号：JP4209526B2
公开(公告)日：2009-01-14
申请号：JP37360098
申请日：1998-12-28
申请人：浜松ホトニクス株式会社
发明人：正之榊原 , 辰夫竹下
IPC分类号： H01L31/10 , H01L31/16 , G01B11/00 , G01B11/14 , G01C3/00 , G01C3/06 , G02B7/30 , G02B7/32 , H01L31/00 , H01L31/02 , H01L31/0352
CPC分类号： H01L31/02024 , H01L31/03529 , Y02E10/50
摘要： In an apparatus a photosensitive surface of PSD 14 is provided with a conductive trunk region 24 extending in a base line direction and a plurality of conductive branch regions 26 arranged in the base line direction and each connected to the trunk region 24, and each branch region 26 makes an angle of 45 DEG to the base line direction. An LED 12 is arranged to be able to project slit light extending at the angle of 45 DEG to the base line direction.

78. 发明专利

JP2008304248A Method for calibrating on-board stereo camera, on-board distance image generating apparatus, and program 审中-公开
标题翻译：校准板上立体相机，板上距离图像发生装置和程序的方法
公开(公告)号：JP2008304248A
公开(公告)日：2008-12-18
申请号：JP2007150148
申请日：2007-06-06
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G01C3/00 , B60R1/00 , G01C3/06 , H04N5/232
摘要： PROBLEM TO BE SOLVED: To provide a method for highly accurately calibrating an on-board stereo camera without the need for restricting locations for calibration, and also to provide an on-board distance detection apparatus and a program.
SOLUTION: In the method for calibrating an on-board stereo camera, the on-board stereo camera for acquiring stereoscopic images for distance image generation is calibrated. The method for calibrating the on-board stereo camera includes a determination step for determining whether an automobile is stopped or traveling, and a calibration step for calibrating the stereo camera while the automobile is stopped.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于高精度校准车载立体相机的方法，而不需要限制校准位置，并且还提供车载距离检测装置和程序。
解决方案：在校准车载立体相机的方法中，校准用于获取用于距离图像生成的立体图像的车载立体相机。用于校准车载立体摄像机的方法包括用于确定汽车是停止还是行驶的确定步骤，以及用于在汽车停止时校准立体摄像机的校准步骤。版权所有（C）2009，JPO＆INPIT

79. 发明专利

JP2008292278A Optical deviation detection method of distance detection device, and distance detection device 审中-公开
标题翻译：距离检测装置的光学偏差检测方法和距离检测装置
公开(公告)号：JP2008292278A
公开(公告)日：2008-12-04
申请号：JP2007137735
申请日：2007-05-24
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KITADA TAKEKATSU , SUMITOMO HIRONORI
IPC分类号： G01C3/00 , G01C3/06 , H04N17/00
摘要： PROBLEM TO BE SOLVED: To provide a deviation detection method capable of detecting deviation simply even when a vehicle is stopped without requiring a different a distance detection means such as a mileage sensor in a distance detection device, and the distance detection device. SOLUTION: In this deviation detection method of the distance detection device, when detecting deviation in the distance detection device for detecting a distance based on stereo images acquired by a plurality of cameras constituted of an optical system and an imaging element, the first distance value from a known object image imaged by the imaging element through the optical system to a known object is determined, and the first distance value is compared with the second distance value from the stereo images to the detected known object, to thereby detect deviation in the distance detection device. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种即使当车辆停止时也能够检测偏差的偏差检测方法，而不需要距离检测装置中的里程传感器等距离检测装置等不同的距离检测装置。解决方案：在距离检测装置的偏差检测方法中，当基于由光学系统和成像元件构成的多个照相机获取的立体图像检测用于检测距离的距离检测装置中的偏差时，第一确定由成像元件通过光学系统成像为已知对象的已知对象图像到已知对象的距离值，并且将第一距离值与从立体图像到检测到的已知对象的第二距离值进行比较，从而检测距离检测装置。版权所有（C）2009，JPO＆INPIT

80. 发明专利

JP2008292266A Tape measure for range finding 审中-公开
标题翻译：胶带测量范围
公开(公告)号：JP2008292266A
公开(公告)日：2008-12-04
申请号：JP2007137413
申请日：2007-05-24
申请人： Masakatsu Yashima , 政勝八島
发明人： YASHIMA MASAKATSU
IPC分类号： G01B3/10 , G01C3/00
摘要： PROBLEM TO BE SOLVED: To provide a measurement instrument of simple structure capable of allowing a measurer to relatively precisely measure a long range by one person.
SOLUTION: The tape measure for range finding comprises a tape measure part winding and storing a tape measure in a main body and a ruler part whose end is fixed to the main body of the tape measure part. With this constitution, the tape measure and the ruler are positioned so as to intersect perpendicularly, the height of line of sight coincides with a reference point of the ruler on a plane where the position of the eye of the measurer intersects a tip of the tape measure perpendicularly, the length of the tape measure is adjusted so that a far reference with known height in advance is seen so as to coincide with an arbitrarily set graduation position of the ruler, the graduation of the tape measure is read, and the distance from the reference is calculated from the value, the height of the reference, and the graduation position of the ruler.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种简单结构的测量仪器，其能够允许测量仪由一个人相对精确地测量远距离。解决方案：用于测距的卷尺包括卷绕并将卷尺存储在主体中的卷尺部分和其端部固定到卷尺部件的主体的标尺部分。利用这种构造，卷尺和尺子被定位成垂直相交，视线的高度与测量器的眼睛的位置与带的尖端相交的平面上的尺的参考点重合调整卷尺的长度，使得可以预先看到具有已知高度的远参考，以便与尺的任意设置的刻度位置一致，读取卷尺的刻度，参考值是根据标尺的值，参考高度和标尺的刻度位置计算的。版权所有（C）2009，JPO＆INPIT

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