PROBLEM TO BE SOLVED: To improve calculation accuracy of an attachment parameter of a camera.SOLUTION: An attachment direction parameter calculation device comprises: a tracking region setting part 23 that sets a plurality of tracking regions onto a ground surface in an imaging image; an image tracking part 24 that detects a position after the movement of the plurality of tracking region by tracking the image in the plurality of tracking regions in the imaging image changed in accordance with the movement of a moving vehicle; an elimination point calculation part 25 that calculates an elimination point in a front running direction from a locus line connecting the tracking regions after and before the movement; and an attachment parameter calculation part 26 that calculates a pitch angle and a yaw angle of a camera 11 from the position in the imaging image of the elimination point. The elimination point is calculated in the imaging image from a moving locus of the tracking regions set in the imaging image, and calculates the pitch angle and the yaw angle of the camera 11 from the elimination point in the imaging image. Thus, the attachment direction parameter calculation device can avoids that the attachment parameter is calculated by using the elimination point having large error that is calculated in the out of a range of the imaging image by a graphical processing.SELECTED DRAWING: Figure 2

    【課題】カメラの取付パラメータの算出精度を向上させる。【解決手段】撮像画像内の地面上に複数の追跡領域を設定する追跡領域設定部23と、移動車両の移動に伴い変化する撮像画像内において、複数の追跡領域内の画像を追跡することにより、複数の追跡領域の移動後の位置を検出する画像追跡部24と、移動前後の追跡領域を結ぶ軌跡線から走行方向前方の消失点を算出する消失点算出部25と、消失点の撮像画像内での位置からカメラ11のピッチ角およびヨー角を算出する取付パラメータ算出部26とを備え、撮像画像内に設定される追跡領域の移動軌跡から撮像画像内に消失点を算出し、その撮像画像内の消失点からカメラ11のピッチ角とヨー角とを算出することにより、図形的な処理によって撮像画像の範囲外に計算されるような誤差の大きい消失点を用いて取付パラメータが算出されることをなくす。【選択図】図2


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    ATTACHMENT DIRECTION PARAMETER CALCULATION DEVICE FOR ON-VEHICLE CAMERA AND ATTACHMENT DIRECTION PARAMETER CALCULATION METHOD


    Weitere Titelangaben:

    車載カメラの取付方向パラメータ算出装置および取付方向パラメータ算出方法


    Beteiligte:
    HANAWA KEIJI (Autor:in) / HAYASHIDA JUNICHI (Autor:in)

    Erscheinungsdatum :

    20.09.2018


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



    APPLICATION METHOD FOR DIRECTION INDICATOR ATTACHMENT AND DIRECTION INDICATOR ATTACHMENT

    IWATA KATSUMI | Europäisches Patentamt | 2024

    Freier Zugriff

    Camera parameter set calculation method, recording medium, and camera parameter set calculation apparatus

    NOBORI KUNIO / WAKAI NOBUHIKO / SATO SATOSHI et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    PARAMETER CALCULATION DEVICE AND PARAMETER CALCULATION METHOD

    ITO YUTA | Europäisches Patentamt | 2021

    Freier Zugriff


    Vehicle motion parameter calculation method

    HUANG BINGSHENG / ZHANG LEI / LYU JINTONG | Europäisches Patentamt | 2020

    Freier Zugriff