METHODS FOR RECORDING AND COMBINING OF CONTINUOUSLY-IMAGED COLOR IMAGE WITH DISTANCE IMAGE, AND DEVICE THEREFOR

摘要

PROBLEM TO BE SOLVED: To provide a method for determining three-dimensional shapes of a road surface, a bridge, a wall surface or the like, from color images and distance images of the road surface, the bridge, the wall surface or the like imaged by a three-dimensional image sensor loaded on an automobile (high-speed moving body), and from traveling (moving) data of the automobile (high-speed moving body). SOLUTION: Following methods are provided, namely; a method for detecting translation and rotation of a camera coordinate system related to each frame from distance images of the road surface, the bridge, the wall surface or the like imaged by the three-dimensional image sensor loaded on the traveling automobile (high-speed moving body), and from the traveling (moving) speed of the automobile (high-speed moving body), an acceleration and auxiliary data of each speed; a method for combining color images with distance images between adjacent frames by correcting the detected translation and rotation of the camera coordinate system; and a method for determining three-dimensional shapes of the road surface, the bridge, the wall surface or the like over a plurality of frames. COPYRIGHT: (C)2011,JPO&INPIT