US 12,283,069 B2
Conversion parameter calculation method, displacement amount calculation method, conversion parameter calculation device, and displacement amount calculation device
Taro Imagawa, Osaka (JP); Akihiro Noda, Osaka (JP); Yuki Maruyama, Osaka (JP); and Hiroya Kusaka, Hyogo (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Mar. 25, 2022, as Appl. No. 17/704,290.
Application 17/704,290 is a continuation of application No. PCT/JP2020/023535, filed on Jun. 16, 2020.
Claims priority of application No. 2019-186791 (JP), filed on Oct. 10, 2019.
Prior Publication US 2022/0215582 A1, Jul. 7, 2022
Int. Cl. G06K 9/00 (2022.01); A61K 35/12 (2015.01); G06T 7/73 (2017.01); G06V 10/98 (2022.01)
CPC G06T 7/74 (2017.01) [G06V 10/98 (2022.01)] 11 Claims
OG exemplary drawing
 
1. A conversion parameter calculation method for calculating a conversion parameter for measuring, using images, an actual displacement amount that is an actual value of a displacement indicating movement of an object, the conversion parameter calculation method comprising:
obtaining first image data obtained by a first camera capturing an image of the object;
obtaining second distance data indicating a distance from a second camera to the object, and second image data obtained by the second camera capturing an image of the object, the second camera being disposed in a position different from a position of the first camera, the second distance data being measured by a depth sensor;
obtaining displacement direction information indicating a direction of the displacement of the object in three dimensions;
associating a position on the object in the first image data with a position on the object in the second image data;
estimating the position of the first camera relative to the position of the second camera, based on the second distance data and a result of associating the positions;
calculating first distance data indicating a distance from the first camera to the object, based on the position of the first camera and the second distance data; and
calculating the conversion parameter, using the first distance data and the displacement direction information, the conversion parameter being a parameter for converting, into the actual displacement amount, a pixel displacement amount at a measurement point on the object based on at least two third image data items captured by the first camera at different times,
wherein the first camera has a resolution and a frame rate at least one of which is higher than a resolution and a frame rate of the second camera.