| 摘要 |
PROBLEM TO BE SOLVED: To provide a distance measuring device which is made capable of measuring a distance with high accuracy by an inexpensive device structure and in a short measuring time, based on one image obtained by taking by one imaging device a double image which is reflected on a reflecting plate being non-parallel and not a perfect plane. SOLUTION: The distance measuring device is equipped with: an inter-double-image displacement calculating part which calculates displacement between the double images from the image obtained by taking by the imaging means the double image reflected on the reflecting plate and having a positional slippage; a calibration processing part which presumes external parameters expressing the shape, the posture and the refractive index of the reflecting plate and the distance from the camera optical center of the imaging means to the reflecting plate along the optical axis, from a plurality of images obtained by taking, as the double image, a plurality of calibration planes located at known distances; and a distance calculating part which calculates the distance to a measuring object from the external parameters and one image obtained by taking the measuring object as the double image. The reflecting plate is locally approximated by non-parallel planes, and the external parameters presumed by the calibration processing part have different values according to observation points on the image obtained by taking the double image. COPYRIGHT: (C)2009,JPO&INPIT
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