PROBLEM TO BE SOLVED: To improve work efficiency for correction of an abnormality in a front window glass and adjustment of a stereo camera by being capable of clearly separate handling of the abnormality in the front window glass and an abnormality in an adjustment institution of a stereo camera without adding such as an exclusive facility for inspection.SOLUTION: Distance data is calculated on the basis of parallax for every pixel by carrying out a stereo matching process between a reference image which is exterior of a vehicle imaged by a main camera and a comparative image which is imaged by a sub camera, a distance image is calculated by associating with a position on a calculated image range where the distance data was calculated, a range of distance for front window glass evaluation Tel is preset in the distance image, abnormality in a front window glass is determined when a total number of distance invalid data for respective distance data within the range of distance for front window glass evaluation Tel is a preset threshold or more, and when the front window glass is determined to be normal, the reliability of the stereo camera system is determined.
【課題】特に、検査のための設備等を追加することなくフロントウィンドウガラスの異常とステレオカメラの調整制度の異常を明確に分離して対処でき、フロントウィンドウガラス異常修正やステレオカメラ調整の作業効率を向上させる。【解決手段】車外をメインカメラで撮像した基準画像とサブカメラで撮像した比較画像とのステレオマッチング処理を行って画素毎の視差を基に距離データを算出し、距離データが算出された画像領域上の位置と対応付けて距離画像を算出し、距離画像にフロントウィンドウガラス評価用領域Te1を予め設定し、フロントウィンドウガラス評価用領域Te1内の各距離データの距離無効データの総数が予め設定した閾値以上となる場合、フロントウィンドウガラスの異常を判定し、正常と判定された場合はステレオカメラシステムの信頼性を判定する。【選択図】図2
STEREO CAMERA SYSTEM FOR VEHICLE
車両のステレオカメラシステム
2015-08-06
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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