The invention relates to computer-implemented method for the 3D reconstruction of a ground surface area by stereophotogrammetry, comprising the steps of: determining corrected Rational Polynomial Camera, RPC, models by performing bundle adjustment (BA) of original RPC models each provided with an image of a set of images of the ground surface area acquired by a remote imaging sensor and each associated to a corresponding original projection function ({P.sub.m}) from a 3D object space to a 2D image space, wherein determining the corrected RPC models comprises determining corrected projection functions ({P.sub.m.sup.cor}) from the 3D object space to the 2D image space; and determining (PC) a 3D point cloud representative (3DPC) of the ground surface area by triangulation, based on the corrected RPC models, of stereo correspondences within images of the set of images. In accordance with the invention, determining the corrected projection functions comprises determining, for each of the original projection function, a 3D corrective rotation around a remote imaging sensor center to be applied in the 3D space before performing the original projection function.

The invention relates to computer-implemented method for the 3D reconstruction of a ground surface area by stereophotogrammetry, comprising the steps of: determining corrected Rational Polynomial Camera, RPC, models by performing bundle adjustment (BA) of original RPC models each provided with an image of a set of images of the ground surface area acquired by a remote imaging sensor and each associated to a corresponding original projection function ({P.sub.m}) from a 3D object space to a 2D image space, wherein determining the corrected RPC models comprises determining corrected projection functions ({P.sub.m.sup.cor}) from the 3D object space to the 2D image space; and determining (PC) a 3D point cloud representative (3DPC) of the ground surface area by triangulation, based on the corrected RPC models, of stereo correspondences within images of the set of images. In accordance with the invention, determining the corrected projection functions comprises determining, for each of the original projection function, a 3D corrective rotation around a remote imaging sensor center to be applied in the 3D space before performing the original projection function.

Disclosed is a stereophotogrammetric method based on binocular vision, including the following steps: image acquisition, image correction and stereo matching are performed; cost matching and cost aggregation are performed on images of different sizes after correction; image segmentation is performed on the corrected image to determine edge pixel points of the object to be measured; and a pixel distance at an edge of the object to be measured is calculated to measure the size of the object. The method of the present invention enhances the matching accuracy of contour pixels of the object to be measured and improves the measurement accuracy.

Disclosed is a stereophotogrammetric method based on binocular vision, including the following steps: image acquisition, image correction and stereo matching are performed; cost matching and cost aggregation are performed on images of different sizes after correction; image segmentation is performed on the corrected image to determine edge pixel points of the object to be measured; and a pixel distance at an edge of the object to be measured is calculated to measure the size of the object. The method of the present invention enhances the matching accuracy of contour pixels of the object to be measured and improves the measurement accuracy.

A distance measuring apparatus includes: an acquisition unit that acquires a first image at a first viewpoint where an object is irradiated with a first light including a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not including a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light; and a control unit that acquires information corresponding to a distance, by employing a fifth image obtained based on a ratio the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image.

A distance measuring apparatus includes: an acquisition unit that acquires a first image at a first viewpoint where an object is irradiated with a first light including a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not including a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light; and a control unit that acquires information corresponding to a distance, by employing a fifth image obtained based on a ratio the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image.

The disclosure relates to an arrangement and a method for capturing coordinates of an object surface by triangulation. At least two partial light patterns are generated representing a decomposition of a corresponding basic light pattern. The partial light patterns are separately projected onto the object surface, an image of the object surface is captured during the projection of one of the partial light patterns, and components of the total intensity of the captured images are ascertained. A balance of direct and indirect intensity components is established per image and for each pixel under the assumption that the indirect intensity components in all images are equal. A reflection image is established based on the direct and/or indirect intensity components which approximates the image that would be capturable during a projection of the basic light pattern without indirect intensity components. Based on the reflection image, coordinates of the object surface are ascertained.

The disclosure relates to an arrangement and a method for capturing coordinates of an object surface by triangulation. At least two partial light patterns are generated representing a decomposition of a corresponding basic light pattern. The partial light patterns are separately projected onto the object surface, an image of the object surface is captured during the projection of one of the partial light patterns, and components of the total intensity of the captured images are ascertained. A balance of direct and indirect intensity components is established per image and for each pixel under the assumption that the indirect intensity components in all images are equal. A reflection image is established based on the direct and/or indirect intensity components which approximates the image that would be capturable during a projection of the basic light pattern without indirect intensity components. Based on the reflection image, coordinates of the object surface are ascertained.

An imaging device having an optical system including a free-form surface lens with rotationally asymmetric shape that forms an image on an imaging surface such that a resolution of a first region in front of the predetermined region is higher than a resolution of a second region at a lateral side of the predetermined region. The free-form surface lens has a shape that forms the image such that a resolution of a portion at a predetermined first distance away from a center of the first region in a vertical direction is different from a resolution of a portion at the predetermined first distance away from the center of the first region in a horizontal direction, the vertical direction being orthogonal to the horizontal direction, in the imaging element, in which the first region and the second region are aligned.

An imaging device having an optical system including a free-form surface lens with rotationally asymmetric shape that forms an image on an imaging surface such that a resolution of a first region in front of the predetermined region is higher than a resolution of a second region at a lateral side of the predetermined region. The free-form surface lens has a shape that forms the image such that a resolution of a portion at a predetermined first distance away from a center of the first region in a vertical direction is different from a resolution of a portion at the predetermined first distance away from the center of the first region in a horizontal direction, the vertical direction being orthogonal to the horizontal direction, in the imaging element, in which the first region and the second region are aligned.