• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for producing stereo digital images (9) having at least two cameras (1a, 1b), which have an overlapping receiving area, wherein the cameras (1a, 1b) are connected to a reference object (5), one of the Cameras by means of a deformable carrier (3a, 3b) with the reference object (5) is connected. According to the invention, it is provided that the one camera (1) arranged on the carrier (3a, 3b) is rigidly connected to a position detection device (2a, 2b) which images the reference object (5) having a structured brightness pattern due to the position , Size and position of the image of the structured brightness pattern, the relative position of the position detection device (2a, 2b) to the reference object (5) is determined, -that for each of the cameras (1a, 1b) a digital image (7a, 7b) is created, the relative position the camera (1a, 1b) is assigned, -that the relative position of the cameras (1a, 1b) relative to one another is determined on the basis of the determined relative positions of the individual cameras (1a, 1b), and -that the relative position of the cameras (1a, 1b) used as a stereo basis and with this a three-dimensional image of the scene is created.
    公开号:AT515340A1
    申请号:T50112/2014
    申请日:2014-02-14
    公开日:2015-08-15
    发明作者:Christian Dipl Ing Zinner；Konrad Dipl Ing Mayer
    申请人:Ait Austrian Inst Technology；
    IPC主号:
    专利说明:

    The invention relates to a method for producing stereo digital images according to the preamble of patent claim 1 and to a recording arrangement for creating stereo digital images according to the preamble of claim 8. Furthermore, the invention relates to a data carrier according to claim 14.
    From the prior art it is known to provide recording arrangements comprising a plurality of cameras and with which the creation of three-dimensional images is possible. In this connection, it is also known that the provision of another stereo base, i. the provision of a greater distance between the cameras involved in the recording of the stereo digital images, leads to more accurate detection results, in particular with regard to the depth resolution. Especially with wide stereo bases, however, there is the big problem that the cameras mounted on mostly carriers due to mechanical deformation of the carrier to each other wobble, vibrate or otherwise constantly change their relative position or orientation to each other, so that a rapid assignment of structures within the individual recorded Camera images, eg restricting the search to points on epipolar lines associated with each other becomes extremely difficult to impossible.
    The object of the invention is therefore to provide a simple method or a simple stereo arrangement, which overcomes the above-mentioned problem and provides a stable stereo digital image regardless of the suspension of the storage or the carriers used for mounting the cameras ,
    The invention solves this problem in a method of the type mentioned above with the characterizing feature of claim 1. According to the invention in a method for creating stereo digital images with two at least two cameras having an overlapping recording area, the cameras are connected to a reference object , wherein at least one of the cameras is connected by means of a deformable carrier with the reference object, and the remaining cameras are optionally rigidly connected to the reference object, provided that - that the at least one arranged on the carrier camera is rigidly connected to a position detection device, wherein the position recognition device is a portion of the reference object is mapped, which has a structured brightness pattern that is created with the position detection means a positioning digital image of the section, due to the position, size and position of the A In the positioning digital image, the structured brightness pattern of the image of the portion in the positioning digital image indicates the relative position and orientation of the respective one
    Position detection device and each associated with her camera to the reference object is determined that for the camera arranged on a respective camera digital image is created, each of the relative position and orientation of the respective digital image creating camera, in particular at the time of recording is assigned, and for optionally rigidly connected to the reference object cameras fixed orientation and relative position relative to the base body is set, that due to the determined relative positions and orientations of the individual cameras, the relative position and orientation of the cameras is determined to each other, and that the relative position and orientation of the cameras to each other for Determining a stereo base used and created with this stereo base, a three-dimensional image of the scene imaged by the cameras.
    A preferred embodiment of the invention, in which a simple positioning can be performed, provides that a positioning camera is used as the position detection device, which is directed to the portion of the reference object and that the positioning digital image is created with the position detection device.
    A preferred embodiment of the invention, which does not require a separate positioning camera, provides that a partial area of the sensor of the camera and a mirror is used as the position detection device, which is rigidly connected to the respective camera, wherein the visual rays of the respective camera from the mirror in the partial area the sensor of the respective camera are directed, wherein the positioning digital image of the subregion of the sensor of the respective camera is created and the digital image of the remaining part of the sensor of each camera is created.
    In the case of position-recognition devices which are not directed to a common point on the base body due to the arrangement of the cameras, it can preferably be provided that the relative position and orientation of the cameras relative to one another are taken into account in each case taking into account the determined relative position and orientation to a section on the reference area and taking into account is determined as unchangeable relative position and orientation of the sections on the base body to each other, and that in particular when determining the orientation of the two cameras, the relative position and orientation of the respective mirror or the respective positioning camera relative to the respective camera is used.
    Particular developments of the invention, which are used in an aircraft, see before as a carrier, the two wings of an aircraft are used, on each of which the cameras are mounted and that are used as sections sections on serving as a reference area fuselage of the aircraft, each with a structured brightness pattern are provided.
    In this case, it can be provided, in particular for the protection of the cameras, that the cameras and / or the positioning cameras are arranged in the interior of the wing and the digital images, and possibly also the positioning digital images, are taken through windows in the wing.
    A particularly accurate detection of rapid vibrations and vibrations, which are difficult to detect by means of positioning cameras, can be achieved by assigning and rigidly connecting at least one of the cameras mounted on a carrier to an acceleration detector, wherein the acceleration detector detects a change in position and / or or orientation of the camera and that the thus determined change in position or change of the orientation or respective orientation and / or relative position is superimposed and used in the creation of the stereo image.
    Furthermore, the invention solves the problem in a recording arrangement of the type mentioned with the characterizing features of claim 8. In a recording arrangement for creating stereo digital images with at least two cameras, a reference object, wherein the cameras have an overlapping recording area and connected to the reference object are, wherein at least one of the cameras is connected by means of a deformable carrier with the reference object, and the remaining possibly existing cameras are rigidly connected to the reference object, it is provided that - that the at least one arranged on the carrier camera has a position detection device and with this rigid is connected, wherein the position detection device is directed to a portion of the reference object having a structured brightness pattern that the position detection device for creating a positioning digital image of the section e is formed that the position detection device in the presence of a positioning digital image due to the position, size and position of the image of the structured brightness pattern of the image of the portion in the positioning digital image, the relative position and orientation of the respective
    Position detection device and each associated with her camera to the reference object determines that, in particular simultaneously created, signals of the position detection device and the cameras are fed to a stereo unit and for possibly rigidly connected to the reference object cameras fixed orientation and relative position relative to the reference object of the stereo Unit are supplied, and that the stereo unit in the presence of the determined relative positions and orientations of the individual cameras determines the relative position and orientation of the cameras to each other, the relative position and orientation of the cameras to each other for the determination of a stereo basis and with this stereo base a three-dimensional Image created of the scene imaged by the cameras.
    A preferred embodiment of the invention, in which a simple positioning can be performed, provides that the position detection device is designed as a positioning camera, which is directed to the portion of the reference object and that the position detection device creates the positioning digital image.
    A preferred embodiment of the invention, which does not require a separate positioning camera, provides that the position detection device has a portion of the sensor of the camera and a mirror which is rigidly connected to the respective camera, wherein the visual beams of the respective camera from the mirror in the partial region of the Sensors are directed to the respective camera, - where appropriate, the position detection device creates the positioning digital image of the subregion of the sensor of the respective camera.
    A preferred positioning of the cameras for creating three-dimensional objects can be carried out on aircraft, in which the two wings of an aircraft form the supports and on which the cameras are mounted and in which the sections are formed by sections on the fuselage of the aircraft, each with a structured brightness pattern exhibit.
    In this case, it can be provided in particular for the protection of the cameras that the positioning cameras are arranged inside the wing of the aircraft, wherein for each of the cameras a respective window is provided in the wing and the receiving area passes through the window.
    A particularly accurate detection of rapid vibrations and vibrations, which are difficult to detect by means of positioning cameras, can be achieved by arranging and rigidly connecting an acceleration detector to at least one of the cameras mounted on a carrier, the acceleration detector detecting a change in position and / or or the orientation of the camera and that the stereo unit superimposes the thus determined change in position or change of orientation or respective orientation and / or relative position and in the creation of the stereo digital image.
    Several preferred embodiments of the invention are illustrated in the following drawing figures. In Fig. 1 a first embodiment of the invention is shown, showing an application of the invention for stereo detection on an aircraft. Fig. 2 and Fig. 3 show a arranged over a street portal, with cameras are arranged on this portal and directed to the road. Fig. 4 and Fig. 5 show the portal from above. Fig. 6 and Fig. 7 show a crane in which cameras are arranged on the boom and on the trolley and in the region of the base of the crane. Fig. 8 and Fig. 9 shows a coach, are arranged in the cameras for the production of stereo digital images in the side area and in the front area. FIG. 11 shows an embodiment variant of a camera with a positioning device, in which a part of the image taken with the camera is deflected via a mirror onto a section on the reference object. 10 shows a schematic arrangement of the cameras of the position detection devices and a control unit in the creation of a stereo digital image. FIG. 12 shows an embodiment variant of the invention in which one of the cameras is assigned an acceleration detector and another camera is connected directly and in a motion-stable manner to a reference object.
    Fig. 1 shows an aircraft, the hull is formed substantially in torsion and deformation free. From this hull are two wings 3a, 31a; 3b; 31b from, on each of which a camera 1 a, 1 b is attached. The cameras 1 a, 1 b are located in the interior of the wing 3a; 31a; 3b; 31b. The receiving area of the two cameras 1a, 1b passes through the window 9 in the wing 31a, 31b. The two cameras 1a, 1b have a common receiving area R, in which the respective
    Shooting areas of the cameras 1a, 1b overlap each other. Steady motion with the two cameras 1a, 1b, two positioning cameras 2a, 2b are connected, which are directed to sections 4a, 4b of the fuselage of the aircraft. The fuselage acts in this context as a reference object 5, which is used for the further determination of the stereo
    Digital images 9 is assumed to be motionless. By the arrangement shown here, the two cameras 1a, 1b to each other a large distance. The distance between the two cameras 1a, 1b is referred to as stereo base B in connection with the recording of the images.
    In general, the wings 3, 31b are exposed to enormous forces during flight of the aircraft and are quite strongly deformed during the maneuver, so that the exact relative position of the two cameras 1a, 1b with respect to the fuselage of the aircraft or each other is not readily known and usual stereo matching procedures fail. The sections 4a, 4b on the fuselage or reference object 5 on the aircraft are selected such that a structured brightness pattern, for example an imprint, a specific arrangement of rivets or other fastening means, windows or the like can be seen on them. In addition, the specific relative position of the two sections 4a, 4b to each other is known. The two positioning cameras 2 a, 2 b create a positioning digital image of the section at any time at which the two cameras 1 a, 1 b form an image. Due to the position, size and position of the image of the structured brightness pattern of the image of the section 4a, 4b in the positioning digital image 6a, 6b, the relative position and orientation of the respective positioning camera 2a, 2b and thus also the respective relative position and orientation of the camera 1a rigidly connected to it , 1b to the reference object 5, ie be determined in the present case to the fuselage of the aircraft. Consequently, the respective relative position and orientation of the respective camera 1a, 1b that produces the digital image 7a, 7b to the reference object 5 is available at any time at which an image was created. Due to the determined relative positions and orientations of the two cameras 1a, 1b, it is now relatively easy to determine the Epipolargeoemtrie the two cameras 1a, 1b, and thus to achieve a simple Punktmaching, which is connected upstream of the respective stereo image recognition algorithm. The relative position and orientation of the cameras 1a, 1b relative to one another is used for the determination of the stereo base B and a three-dimensional image of the scene imaged by the cameras 1a, 1b is produced using this stereo base B.
    FIG. 2 to FIG. 5 show a further embodiment of the invention in which three-dimensional images of moving vehicles are created on a road. For this purpose, as shown in Fig. 2, a portal 3 is provided, which extends over a roadway. In the upper area of the portal 3, three cameras 1a, 1b, 1c and three positioning cameras 2a, 2b, 2c assigned to the respective cameras 1a, 1b, 1c are arranged. The portal is in the present embodiment support for all of the cameras 1a, 1b, 1c, but due to the inner torsions of the portal 3, the exact position of the individual cameras 1a, 1b, 1c to each other is not known. As already shown in the previous exemplary embodiment of the invention (FIG. 3), the positioning cameras 2a, 2b, 2c are each directed towards fixed reference objects 5a, 5b or sections 4a, 4b located thereon or oriented counter to the direction of travel. Fig. 4 and Fig. 5 show the alignment of the cameras 1a, 1b, 1c in the direction of the course of the road.
    A further embodiment of the invention is shown in FIGS. 6 and 7, wherein three cameras 1a, 1b, 1c are arranged in the region of a crane for producing stereo images. A first camera 1a is located on the boom 3a of the crane, a second camera 1b is on the trolley 32 of the crane and a third camera 1c is located on the base 5 of the crane. The two cameras 1a, 1b are each assigned a positioning camera 2a, 2b, which are directed towards a section 4 on the base 5 of the crane, which functions as reference object 5. The camera 1c, which is located directly on the base 5 of the crane, has no positioning camera. Their position relative to the base 5 of the crane can be regarded as known and given from the outset. The positioning of the camera 2b on the trolley 32 has a larger pickup area than the positioning camera 2a fixedly mounted on the boom, since due to the movement of the trolley relative to the boom 3a of the crane, the section may be located at different areas in the image. In the present case, it is advantageous if the largest possible area within which the hook 33 of the crane can be located in the receiving area R of all three cameras 1a, 1b, 1c.
    In Fig. 8, a well-known coach is shown, which is equipped with a respective stereo monitoring unit for the area in front of the bus or laterally on the right side of the bus. A major problem with the installation of stereo recording devices in buses is that the body of a bus is subject to certain twisting and deformation that can lead to quite considerable deviations of the camera positions and orientations depending on driving maneuvers and wind, so that a recording of stereo digital images becomes impossible. In the illustrated coach two independent stereo recording arrangements are shown.
    The first of the two stereo recording devices comprises two cameras 1a, 1b, which are arranged laterally on the bus and images of the area laterally to the right of the bus-looking in the direction of travel - create. In addition, two positioning cameras 2a, 2b are assigned to the two cameras 1a, 1b, which are rigidly connected to their respective associated camera 1a, 1b and are directed towards a section 4 in the interior of the coach. This section 4 is located on a portion of the sidewall of the bus, which acts as a reference object 5 in this context. Alternatively, other points in the bus can be used as reference objects 5, it being important to ensure that this reference object 5 is connected as rigidly as possible to the bus.
    The coach shown in Fig. 8 also has a forward looking stereo recording device, which in turn comprises two cameras 1a ', 1b', which are directed forward and have a common overlapping receiving area R '. Each camera 1a ', 1b' is in turn assigned a respective positioning camera 2a ', 2b' which are directed onto a section 4 'on the ceiling of the bus, the ceiling of the bus, on which the section 4', as reference object 5 'serves.
    In Fig. 11, an alternative embodiment of a positioning device 2a, 2b is shown, which can be used for all the aforementioned application examples of the invention. In the above-mentioned embodiments always two separate and mutually rigidly connected cameras 1a, 1b, namely a camera 1a, 1b, 1c and a camera 1a, 1b, 1c associated positioning camera 2a, 2b, 2c used. However, it is also possible to use the image of the camera 1a, 1b, 1c partly for imaging the scene and on the other hand for detecting the position of the camera 1a, 1b, 1c. In this preferred exemplary embodiment of the invention, a mirror 8a, 8b which deflects a subarea of the sensor of the respective camera onto the section 4a, 4b of the reference object 5a, 5b is located in the receiving area of the camera 1a, 1b. The image produced by the camera 1a, 1b is also shown in FIG. 11 and shows two partial areas, namely a partial area, which creates the digital image 7a and 7b to be used for creating the scene and a second partial area, which represents the section 4 and which is shown in FIG Subsequently treated as a separate positioning digital image 6a, 6b on. The image produced by the camera 1a, 1b is divided, with the partial area, which was deflected via the mirrors 8a, 8b, being forwarded as positioning digital image 6a, 6b, the remainder as digital image 7a, 7b to the control unit 100 (FIG. 10) becomes.
    FIG. 10 shows a stereo unit 100 to which the individual digital images 7a, 7b created by the cameras 1a, 1b, 1c are supplied. Furthermore, the position detection devices 2a, 2b are also shown, each of which generates a positioning digital image 6a, 6b, 6c and feeds it to the recording device. Based on the positioning digital images 6a, 6b, 6c supplied to it, the stereo unit 100 first determines the relative position at the orientation of the individual position recognition devices 2a, 2b, 2c to the reference object 5. If the determined relative positions and orientations of the individual cameras 1a, 1b, 1c are present, respectively the individual cameras 1a, 1b, 1c determines a stereo base B and so easily create a three-dimensional image of the scene of the cameras 1a, 1b, 1c scene.
    Another embodiment of the stereo unit 100 is shown schematically in FIG. 12. This can be used advantageously in particular in combination with the crane shown in FIGS. 6 and 7. The recording and further processing of the images produced by means of the first camera 1a and the first positioning camera 2a corresponds to the further processing as in the recording arrangement shown in FIG. Due to the additional vibration influences, which takes place with the displacement of the trolley 32 relative to the boom 3a, the image produced by the second camera 1b or the second positioning camera 2b and the two cameras 1b, 2b undergoes independent vibrations and oscillations. Reliable detection exclusively by means of the positioning camera 2b is difficult in many cases, in particular in constant wavering. For this reason, an acceleration detector 21 is connected to the second positioning camera 2b and the second camera 1b, respectively, which rapidly and reliably detects short-term rapid changes in the relative position and orientation of the camera 1b or the positioning camera 2b associated with short movement distances. The position signal produced by the acceleration detector 21 is superimposed on the relative position created by the positioning camera 2b, and overall the position detection becomes more accurate and the matching of the images produced by the cameras 1a, 1b becomes easily possible. The camera 1c shown in FIG. 6 or FIG. 7 is not assigned any position detection device 2 in the present exemplary embodiment of the invention, since this third camera 1c is connected directly to the reference object 5. In this case, it is also sufficient to know the exact position of the camera relative to the reference object 5 or the section 4 on the reference object in order to enable a corresponding position detection of the camera and thus to enable a stereo matching.
    In all exemplary embodiments, the positioning cameras 2 a, 2 b determine positioning digital images 6 a, 6 without being able to determine the respective position and orientation of the positioning camera and thus the camera 1 a, 1 b fixedly connected to it with respect to the reference object 5 or the section 4 located on the reference object 5 , Since the respective mutual position and orientation of the cameras 1a, 1b, 1c is known with this configuration, known stereo matching methods can be performed with simple means and a three-dimensional image of the region R can be created.
    权利要求:
    Claims (14)
    [1]
    Claims 1. A method of producing stereo digital images (9) comprising two at least two cameras (1a, 1b) having an overlapping receiving area, the cameras (1a, 1b) being connected to a reference object (5), at least one of the cameras is connected to the reference object (5) by means of a deformable carrier (3a, 3b), and the possibly remaining cameras are rigidly connected to the reference object (5), characterized in that the at least one carrier (3a, 3b) 3b) arranged camera (1) is rigidly connected to a position detection device (2a, 2b), wherein with the position detection means (2a, 2b) a portion (4) of the reference object (5) is imaged having a structured brightness pattern, - that with the position detection device (2a, 2b) is a positioning digital image (6) of the section (4) is created, - due to the position, size and position of the image of the structured Helli the relative position and orientation of the respective position-recognition device (2a, 2b) and the camera (1a, 1b) connected to it in each case to the reference object (5) are determined in the image of the image (4) in the positioning digital image (6a, 6b), in that in each case a digital image (7a, 7b) is created for the cameras (1a, 1b) arranged on a carrier (3a, 3b), to which the respective relative position and orientation of the camera (1a, 1b) producing the respective digital image (7a, 7b) ), in particular at the time of recording is assigned, and for optionally rigidly connected to the reference object (5) cameras fixed alignment and relative position relative to the base body is set, - that due to the determined relative positions and orientations of the individual cameras (1a, 1b) the respective relative position and orientation of the cameras (1a, 1b) to each other is determined, and - that the relative position and orientation of the cameras (1a, 1b) zueina used for the determination of a stereo base and with this stereo base a three-dimensional image of the camera (1a, 1b) imaged scene is created.
    [2]
    2. The method according to claim 1, characterized in that as a position detection device (2a, 2b) a positioning camera (2a, 2b) is used which is directed to the section (4) of the reference object (5) and that the positioning digital image (6 ) is created with the position detection device (2a, 2b).
    [3]
    3. The method according to claim 1, characterized in that a partial area (9) of the sensor of the camera (1) and a mirror (8a, 8b) is used as the position detection device (2a, 2b), with the respective camera (1a, 1b ), wherein the visual beams of the respective camera (1a, 1b) are deflected by the mirror (8) into the sub-area (70a, 70b) of the sensor of the respective camera (1a, 1b), the positioning digital image of the sub-area (FIG. 70a, 70b) of the sensor of the respective camera (1a, 1b) is created and the digital image (7a, 7b) is created by the remaining part (71a, 71b) of the sensor of the respective camera (1a, 1b).
    [4]
    4. The method according to any one of the preceding claims, characterized in that the relative position and orientation of the cameras (1a, 1b) to each other taking into account the determined relative position and orientation (1a) in each case a portion (4a, 4b) on the reference region (5) and taking into account the assumed relative position and orientation of the sections (4a, 4b) on the base body (5) relative to each other, and in particular in determining the orientation of the two cameras (1a, 1b), the relative position and orientation of the respective mirror (8a, 8b) or the respective positioning camera (2a, 2b) relative to the respective camera (1a, 1b) is used.
    [5]
    5. The method according to any one of the preceding claims, characterized in that as the carrier (3a, 3b) the two wings (31a, 31b) of an aircraft are used, on each of which the cameras (1a, 1b) are mounted and that as sections ( 4a, 4b), sections (4a, 4b) are used on the fuselage of the aircraft (41a, 41b) acting as a reference region (5), which are each provided with a structured brightness pattern.
    [6]
    6. The method according to claim 5, characterized in that the cameras (1a, 1b) and or the positioning cameras (2a, 2b) are arranged in the interior of the wing (31) and the digital images (7a, 7b), and optionally also the positioning Digital images (6) are taken through windows (9) in the wing (31a, 31b).
    [7]
    7. The method according to any one of the preceding claims, characterized in that at least one of the mounted on a support (3a, 3b) cameras associated with an acceleration detector (21) and rigidly connected thereto, wherein the acceleration detector (21) a change in position and / or alignment of the camera (1 a, 1 b) measures and that the thus determined change in position or change of the orientation or respective orientation and / or relative position is superimposed and used in the creation of the stereo image.
    [8]
    8. Recording arrangement for producing stereo digital images (101) with at least two cameras (1a, 1b), a reference object (5), wherein the cameras (1a, 1b) have an overlapping receiving area (R) and with the reference object (5) wherein at least one of the cameras (1a, 1b) is connected to the reference object (5) by means of a deformable carrier (3a, 3b), and the possibly existing remaining cameras (1a, 1b) are rigidly connected to the reference object (5) are, characterized in that - the at least one on the carrier (3a, 3b) arranged camera (1a, 1b) has a position detection means (2a, 2b) and is rigidly connected thereto, wherein the position detection means (2a, 2b) to a section (4a, 4b) of the reference object (5) is directed, which has a structured brightness pattern, - that the position detection means (2) for forming a positioning digital image (6) of the section (4) is formed, - that the position detection device (2a, 2b) in the presence of a positioning digital image (6) due to the position, size and position of the image of the structured brightness pattern of the image of the section (4) in the positioning digital image (6) the relative position and orientation of the respective position detection device (6) 2a, 2b) as well as the camera (1a, 1b) connected to it to the reference object (5) determines that the signals of the position detection device (2a, 2b) and of the cameras (1a, 1b) of a stereo unit, which are generated in particular simultaneously (100) are supplied and for optionally rigidly connected to the reference object (5) cameras fixed orientation and relative position relative to the reference object of the stereo unit (100) are supplied, and - that the stereo unit (100) in the presence of the determined relative positions and orientations of the individual cameras (1a, 1b) zuei the respective relative position and orientation of the cameras (1a, 1b) determines the relative position and orientation of the cameras (1a, 1b) relative to one another for the determination of a stereo base and uses this stereo base to create a three-dimensional image of the scene imaged by the cameras (1a, 1b).
    [9]
    9. Recording arrangement according to claim 8, characterized in that the position detection device (2a, 2b) as a positioning camera (2a, 2b) is formed, which is directed to the portion (4) of the reference object (5) and that the position detection means (2a, 2b ) creates the positioning digital image (6).
    [10]
    10. Recording arrangement according to claim 8, characterized in that the position detection device (2a, 2b) has a partial region (9) of the sensor of the camera (1) and a mirror (8) which is rigidly connected to the respective camera (1a, 1b) wherein the visual beams of the respective camera (1a, 1b) are directed from the mirror (8) into the sub-area (9) of the sensor of the respective camera (1a, 1b), - where appropriate the position-recognition device (2a, 2b) controls the positioning Digital image of the sub-area (9) of the sensor of the respective camera (1a, 1b) created.
    [11]
    11. Stereo recording arrangement according to one of claims 8 to 10, characterized in that the two wings (31a, 3ab) of an aircraft, the support (3a, 3b) forms and on which the cameras (1a, 1b) are mounted and that the Sections (4a, 4b) are formed by sections on the fuselage of the aircraft (41a, 41b), each having a structured brightness pattern.
    [12]
    12. Stereo recording arrangement according to one of claims 8 to 11, characterized in that the positioning cameras (2a, 2b) are arranged in the interior of the wing (31a, 31b) of the aircraft, wherein for each of the cameras in each case a window (9) in Wing (31 a, 31 b) is provided and the receiving area passes through the window (9).
    [13]
    13. Stereo recording device according to one of the preceding claims 8 to 12, characterized in that at least one of the mounted on a support (3a, 3b) cameras, an acceleration detector (21) is arranged and rigidly connected thereto, wherein the acceleration detector (21) a change in the position and / or orientation of the camera (1a, 1b) measures and that the stereo unit (100) superimposed on the thus determined change in position or change in orientation or respective orientation and / or relative position and in the creation of the stereo digital image ( 101).
    [14]
    14. Data carrier on which a program for carrying out a method according to one of claims 1 to 7 is stored.
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    同族专利:
    公开号 | 公开日
    EP2908094A1|2015-08-19|
    EP2908094B1|2017-03-01|
    AT515340B1|2016-01-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5625408A|1993-06-24|1997-04-29|Canon Kabushiki Kaisha|Three-dimensional image recording/reconstructing method and apparatus therefor|
    US20020101438A1|2001-01-31|2002-08-01|Harris Corporation|System and method for identifying tie point collections used in imagery|
    US20040179729A1|2003-03-13|2004-09-16|Minolta Co., Ltd.|Measurement system|
    DE19836303A1|1998-08-11|2000-02-17|Dimension 3D Systems Gmbh|Camera calibrating method for multi-ocular photographs, e.g. stereo photographs; uses position determination system, e.g. satellite or inertial navigation system, independently connected to camera|
    AU2009248999B2|2008-05-22|2013-07-18|Matrix Electronic Measuring Properties, Llc|Stereoscopic measurement system and method|DE102016106707B4|2016-04-12|2019-11-21|Deutsches Zentrum für Luft- und Raumfahrt e.V.|Airplane with several environmental cameras|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50112/2014A|AT515340B1|2014-02-14|2014-02-14|Method for creating stereo digital images|ATA50112/2014A| AT515340B1|2014-02-14|2014-02-14|Method for creating stereo digital images|
    EP15455001.6A| EP2908094B1|2014-02-14|2015-01-23|Method for creating stereo digital images|
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