Abstract: A rotation angle detecting apparatus comprises a shaft portion space formed in a rotation shaft, a bearing holder space, a first condenser lens, a second condenser lens to face the first condenser lens, a detection pattern provided at a focal position of one of the first condenser lens and the second condenser lens, an image sensor provided at a focal position of the other of the first condenser lens and the second condenser lens, and an arithmetic unit for calculating an angle displacement of the rotation shaft. The arithmetic unit carries out a total circumferential scanning, extracts a frequency component, carries out a scanning of a reference designation pattern, and calculates the angle displacement of the rotation shaft based on a phase difference of the frequency component and the number of frequencies corresponding to a change in a position of the reference designation pattern.

Abstract: Three-dimensional coordinates of feature points of an object to be measured are back-projected to a frame image photographed from a specific position, and image coordinates of the back-projected feature points and the feature points in this frame image are compared. In this case, the feature points, which are mismatched, are removed as feature points which are mistracked between plural frames. In this case, two processing systems, of which initial conditions of calculation for obtaining the back-projected coordinates are different from each other, are performed, and the detection of the above mistracked points is performed on each of the two back-projected coordinates. The mistracked points detected in at least one of the processing systems are removed, and are not succeeded to the following processing.

Abstract: A remote control system comprises a mobile object, a remote controller for remotely controlling the mobile object, and a storage unit where background images to simulate a driving room or an operation room of the mobile object are stored. The mobile object has a stereo camera, a camera control unit for controlling image pickup direction of the stereo camera, and a first communication unit for communicating information including at least images photographed by the stereo camera. The remote controller has a second communication unit for communicating to and from the first communication unit, a control unit for controlling the mobile object, and a display unit for synthesizing at least a part of the images photographed by the stereo camera and the background images and for displaying the images so that a stereoscopic view can be displayed.

Abstract: An aerial photographing image pickup method comprises a step of making a flying object fly meanderingly, a step of taking the image at each vertex where a direction is changed in the meandering flight, a step of extracting feature points from a common overlay portion of the images taken from at least three adjacent vertices, a step of determining two images of two vertices in the images as one set and acquiring positional information of the two vertices by a GPS device for each set regarding at least two sets, a step of performing photogrammetry of the measuring points corresponding to the feature points based on positional information and based on the feature points of the two images and a step of determining the feature points when the surveying results of the measuring points coincide with each other in at least the two sets as tie points for image combination.

Abstract: The invention provides an automatic taking-off and landing system, comprising a flying object and a taking-off and landing target, wherein the flying object has an image pickup device 21 for taking images found in downward direction, navigation means 4, 5, 6, 8, 9, 10 and 11, and a control unit for processing images acquired by the image pickup device and for controlling the navigation means, and wherein the control unit calculates a positional relation between the taking-off and landing target and the flying object based on the image of the taking-off and landing target as acquired by the image pickup device and controls taking-off and landing operations of the flying object based on a result of the calculation.

Abstract: A position measurement method includes an exterior orientation parameter correcting step S11 for correcting exterior orientation parameters calculated in a step S10, based on difference between photographing timing of an image and obtaining timing of a photographing position and/or a photographing posture measured outside, a bundle-adjusting step S12 for simultaneously adjusting a bundle of the exterior orientation parameters of one or more images and three-dimensional coordinates of characteristic points, based on the exterior orientation parameters corrected by the step S11, a three-dimensional coordinate calculating step S13 for calculating three-dimensional coordinates of characteristic points subsequently detected in an area in which the density of the characteristic points is decreased, based on the exterior orientation parameters adjusted bundle thereof, and a repeating step for repeating processing from the steps S10 to S13 until the image becomes a final image.

Abstract: A technique is provided that can precisely measure the photographing position and posture of a photographing device and the coordinates of an object from moving images or photographed images that sequentially change gradually, even in the case with the need to process the sway of the photographing device and the disappearance and reappearance of characteristic points.

Abstract: An image processing apparatus comprises an inputting section for inputting a plurality of continuous images which were photographed by a photographing section progressively moving relative to a photographed object; an extracting section for extracting characteristic points from images input by the inputting section; a tracking section for tracking the points corresponding to the characteristic points in the plurality of continuous images; an embedding section for embedding tracking data, which includes data of extracted and tracked points by the extracting section and the tracking section, into each image; and an outputting section for outputting the plurality of continuous images sequentially in which the tracking data was embedded by the embedding section.

Abstract: 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.

Abstract: To realize high speed and high precision with device and method of three-dimensional measurement by applying estimating process to points corresponding to feature points in a plurality of motion frame images. With the device and method of calculating location information through processes of choosing a stereo pair, relative orientation, and bundle adjustment and using corresponding points of feature points extracted from respective motion frame images, each process is made up of two stages. To the first process section (stages: 5A and 6A), robust estimation is applied to determine estimated values of calculation parameters. In the second process section (stages: 5B and 6B), corresponding points and stereo pair of large residual errors are excluded, and estimating calculation is carried out again to make measurements in three dimensions.

Abstract: With apparatus and method for measuring in three dimensions by applying an estimating process to points corresponding to feature points in a plurality of motion image frames, high speed and high accuracy are realized. The apparatus comprises: a first track determining section (4B) that determines corresponding points of feature points extracted from frames of motion images and estimates by robust estimation a coordinate transformation projection parameters between frames using part of the determined corresponding points, a second track determining section (4C) that utilizes the estimated value to determine coordinate values of estimated location of each corresponding point, to determine residuals of the coordinate values relative to the estimated values for each corresponding point, to apply threshold process, and to exclude points of large residuals as incorrect corresponding points.

Abstract: An image processing 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 series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated. Stereo images are selected from the series of photographed images correlated. Images selectable as stereo images are grouped into a group of images, from which stereo images are selected, before an orientation and a 3D measurement are performed. The images are grouped according to the distance from the object to the photographing position or the photographing magnification. Images with abrupt changes are removed so as to improve the measurement precision.

Abstract: An image processing 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 series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving the measurement precision.

Abstract: There are provided a telescope unit (5) having a first image pickup unit for acquiring a wide-angle image and a second image pickup unit for acquiring a telescopic image with higher magnification than the wide-angle image, a distance measuring unit for performing distance measurement by projecting a distance measuring light and by receiving a light reflected from an object to be measured, an angle measuring unit for detecting a horizontal angle and a vertical angle of the telescope unit, a drive unit for rotating and driving the telescope unit in a horizontal direction and in a vertical direction, and a control device for controlling image pickup of the first image pickup unit and the second image pickup unit and for controlling the drive unit based on the results of detection from the angle measuring unit, wherein the control device synthesizes a panoramic image by connecting the wide-angle image obtained by the first image pickup unit, sets up a scheduled measuring point by edge processing of the wide-angle

Abstract: There are provided a telescope unit (5) having a first image pickup unit for acquiring a wide-angle image and a second image pickup unit for acquiring a telescopic image with higher magnification than the wide-angle image, a distance measuring unit for performing distance measurement by projecting a distance measuring light and by receiving a light reflected from an object to be measured, an angle measuring unit for detecting a horizontal angle and a vertical angle of the telescope unit, a drive unit for rotating and driving the telescope unit in a horizontal direction and in a vertical direction, and a control device for controlling image pickup of the first image pickup unit and the second image pickup unit and for controlling the drive unit based on the results of detection from the angle measuring unit, wherein the control device synthesizes a panoramic image by connecting the wide-angle image obtained by the first image pickup unit, sets up a scheduled measuring point by edge processing of the wide-angle

Abstract: With apparatus and method for measuring in three dimensions by applying an estimating process to points corresponding to feature points in a plurality of motion image frames, high speed and high accuracy are realized. The apparatus comprises: a first track determining section (4B) that determines corresponding points of feature points extracted from frames of motion images and estimates by robust estimation a coordinate transformation projection parameters between frames using part of the determined corresponding points, a second track determining section (4C) that utilizes the estimated value to determine coordinate values of estimated location of each corresponding point, to determine residuals of the coordinate values relative to the estimated values for each corresponding point, to apply threshold process, and to exclude points of large residuals as incorrect corresponding points.

Abstract: To realize high speed and high precision with device and method of three-dimensional measurement by applying estimating process to points corresponding to feature points in a plurality of motion frame images. With the device and method of calculating location information through processes of choosing a stereo pair, relative orientation, and bundle adjustment and using corresponding points of feature points extracted from respective motion frame images, each process is made up of two stages. To the first process section (stages:5A and 6A), robust estimation is applied to determine estimated values of calculation parameters. In the second process section (stages:5B and 6B), corresponding points and stereo pair of large residual errors are excluded, and estimating calculation is carried out again to make measurements in three dimensions.

Abstract: An image processing apparatus comprises an inputting section for inputting a plurality of continuous images which were photographed by a photographing section progressively moving relative to a photographed object; an extracting section for extracting characteristic points from images input by the inputting section; a tracking section for tracking the points corresponding to the characteristic points in the plurality of continuous images; an embedding section for embedding tracking data, which includes data of extracted and tracked points by the extracting section and the tracking section, into each image; and an outputting section for outputting the plurality of continuous images sequentially in which the tracking data was embedded by the embedding section.

Abstract: 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.

Abstract: An image processing 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 series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving the measurement precision.