Image analysis – Applications – 3-d or stereo imaging analysis
Patent
1996-08-16
1999-12-28
Couso, Jose L.
Image analysis
Applications
3-d or stereo imaging analysis
382106, 382201, 382255, 348 40, 348 42, 348 43, 348 50, 348 51, 348 85, 348137, 348142, 702127, 702150, 702152, 702153, G06K 900
Patent
active
060091894
ABSTRACT:
Spatial locations of individual points on an inaccessible object are determined by measuring two images acquired with one or more cameras which can be moved to a plurality of positions and orientations which are accurately determined relative to the instrument. Once points are located, distances are easily calculated. In distinction to prior art, which uses a fixed separation of camera viewpoints, this new system offers smaller errors, measurement over a larger range of object distances, and measurement of distances which cannot be contained in a single camera view. Random errors are minimized by use of an optimum measurement geometry. Systematic errors are minimized by use of a complete and robust set of calibration procedures. A standard measurement procedure automatically obtains the optimum measurement geometry. A least squares calculation uses all of the image location and calibration data to derive the true three dimensional positions of the selected object points. This calculation is taught explicitly for any camera geometry and motion. In preferred embodiments, the image locations of selected object points are determined by alignment of video cursors with the video images of those points. In certain of the preferred embodiments, the camera is a standard, side-looking rigid borescope, enabling this improved measurement system to be retrofit to existing remote inspection systems at minimum cost. In other preferred embodiments, the measurement system is implemented in either a rigid borescope or in a flexible endoscope.
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Couso Jose L.
Patel Kanji
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