Measurement of Distances between Objects by a Series of Images Obtained from Several Shooting Points with a Small Angle Camera

Abstract

Solving various applied problems often requires reconstructing a three-dimensional scene and determining distances to objects from images taken by cameras from several shooting points. Determining the shooting parameters and camera characteristics (calibration of the recording system) directly from the received images is an important stage of reconstruction, which determines the reliability of the results obtained. Using cameras with a small field of view leads to significant errors in calibration and reconstruction. The paper discusses a way to increase the accuracy of calibration by expanding the angle of view by ‘‘stitching’’ a series of images obtained from one shooting point into a wide-angle panorama. In addition to objects, the panorama must include other shooting points. An example of estimating distances to objects in a real urban scene is given. It is shown that the proposed method provides accuracy comparable to measuring distances on a large-scale map.