Motion measuring device, motion measuring system, in-vehicle device, motion measuring method, motion measurement program, and computer-readable storage medium
View Patent ↗An embodiment of the present invention includes: a tracking object image extracting section that extracts a tracking object image, which represents a tracking object, from an image captured by a monocular camera; a two-dimensional displacement calculating section that calculates, as actual movement amounts, amounts of inter-frame movement of the tracking object image; a two-dimensional plane projecting section that generates on a two-dimensional plane a projected image of a three-dimensional model, which represents in three dimensions a capturing object captured by the monocular camera; a small motion generating section that calculates, as estimated movement amounts, amounts of inter-frame movement of the projected image; and a three-dimensional displacement estimating section that estimates amounts of three-dimensional motion of the tracking object on the basis of the actual movement amounts and the estimated movement amounts.
1. A motion measuring device comprising:
a processor; and
a memory configured to store instructions that, when executed by the processor, cause the processor to extract a tracking object image, which represents a tracking object, from a motion image captured by a monocular camera, on the basis of a feature of the tracking object;
calculate amounts of inter-frame movement of the feature of the tracking object image, as actual movement amounts;
generate on a two-dimensional plane a projected image of a three-dimensional model, which represents in three dimensions a capturing object captured by the monocular camera;
calculate, as estimated movement amounts, amounts of inter-frame movement of a point of the projected image which point corresponds to the feature, the amounts of inter-frame movement being calculated with respect to respective six standard movements of the three-dimensional model, when the three-dimensional model makes movements respectively corresponding to the six standard movements; and
estimate amounts of three-dimensional motion of the tracking object respectively corresponding to the six standard movements, by using a linear equation in which the actual movement amount and the estimated movement amounts are associated with each other.
2. A motion measuring system comprising: the motion measuring device according to claim 1 ; and the monocular camera.
3. An in-vehicle device having the motion measuring system according to claim 2 mounted therein.
4. A non-transitory computer-readable storage medium storing a motion measurement program for causing a computer to function as the foregoing processor of the motion measuring device according to claim 1 .
5. A motion measuring method comprising:
a first step of extracting a tracking object image, which represents a tracking object, from a motion image captured by a monocular camera, on the basis of a feature of the tracking object;
a second step of calculating, as actual movement amounts, amounts of inter-frame movement of the feature of the tracking object image;
a third step of generating on a two-dimensional plane a projected image of a three-dimensional model, which represents in three dimensions a capturing object captured by the monocular camera;
a fourth step of calculating, as estimated movement amounts, amounts of inter-frame movement of a point of the projected image which point corresponds to the feature, as the amounts of inter-frame movement being calculated with respect to respective six standard movements of the three-dimensional model, when the three-dimensional model makes movements respectively corresponding to the six standard movements; and
a fifth step of estimating amounts of three-dimensional motion of the tracking object respectively corresponding to the six standard movements, by using a linear equation in which the actual movement amount and the estimated movement amounts are associated with each other.