PROBLEM TO BE SOLVED: To allow the mounting angle of an on-vehicle camera to be adjusted even in a vehicle in which on-vehicle cameras are mounted but not on all the left, right, front, and rear sides.SOLUTION: An image obtained by capturing a reference graphic having a known shape is converted into a bird's-eye image, and the angle of an on-vehicle camera for the reference graphic is determined for each of the pitch direction, the roll direction, and the yaw direction, based on the shape of the reference graphic in the bird's-eye image. In addition, the angle of the yaw direction of the vehicle for the reference graphic is determined based on the moving direction of the reference graphic in the bird's-eye image captured before and after the running. In addition, the mounting angle for the vehicle of the on-vehicle camera is adjusted based on the angle of the on-vehicle camera for the reference graphic and the angle of the vehicle for the reference graphic.
【課題】前後左右の全てには車載カメラが搭載されていない車両でも車載カメラの取付角度を調整可能とする。【解決手段】既知の形状の基準図形を撮影した画像を、鳥瞰画像に変換して、鳥瞰画像中の基準図形の形状に基づいて、基準図形に対する車載カメラの角度を、ピッチ方向、ロール方向、およびヨウ方向について決定する。また、車両を直進させて、直進の前後で撮影した鳥瞰画像中での基準図形の移動方向から、基準図形に対する車両のヨウ方向の角度を決定する。そして、基準図形に対する車載カメラの角度と、基準図形に対する車両の角度とに基づいて、車載カメラの車両に対する取付角度を調整する。【選択図】図13
MOUNTING ANGLE ADJUSTMENT PROCESSING OF ON-VEHICLE CAMERA AND MOUNTING ANGLE DETECTION DEVICE
車載カメラの取付角度調整処理、取付角度検出装置
2016-01-07
Patent
Electronic Resource
Japanese
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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