THREE-DIMENSIONAL RANGE MEASUREMENT SYSTEM, THREE-DIMENSIONAL RANGE MEASUREMENT PROGRAM AND RECORDING MEDIUM

摘要

PROBLEM TO BE SOLVED: To provide a three-dimensional range measurement system, etc. capable of measuring expansion of a three-dimensional recognition area of a driver of an automobile, etc.

SOLUTION: A three-dimensional range measurement system 1 is constituted of: an exterior camera 20 having two wide-angle lens cameras which perform stereo measurement of exterior environment of a vehicle 10; an interior camera 30 which measures a visual line direction of a driver 12; and a PC 40 connected to the exterior camera 20 and the interior camera 30. An equidistance projection type fisheye lens camera is used for the exterior camera 20, and a twin-lens stereo method which does not perform conversion into a perspective projection model is devised. A coordinate system XwYwZw of the interior camera 30 is considered as a world coordinate system, and a coordinate system XcYcZc of the exterior camera 20 is matched to the coordinate system of the interior camera 30. Triangular patches are constituted for every three adjacent pixels on an image of exterior environment obtained from measurement of the exterior camera 20. Intersections between the triangular patches and a visual straight line of the driver obtained from measurement of the interior camera 30 are considered as three-dimensional coordinates of a fixation point of the driver 12.

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