PROBLEM TO BE SOLVED: To provide a technique capable of increasing the degree of freedom and relaxing restrictions with respect to a position for installing an in-vehicle camera, and enabling highly accurate calibration.SOLUTION: An in-vehicle camera is mounted in a vehicle so that a specific region of the vehicle falls in an imaging range. An image processing device receives a picked-up image by the in-vehicle camera, detecting a demarcation line between the specific region and a road surface from the picked-up image after a distortion correction, and calculates a reference line of the vehicle from the detected demarcation line. A disappearance point of a detected perpendicular line group is calculated, and a rotational angle of the in-vehicle camera about a Z-axis if the calculated disappearance point is superimposed on a center line in an image X direction is calculated as a roll angle of the in-vehicle camera. A rotational angle of the in-vehicle camera about an X-axis if the calculated disappearance point of the perpendicular line group is infinite is calculated as a pitch angle of the in-vehicle camera. A rotational angle of the in-vehicle camera about a Y-axis if the calculated reference line of the vehicle is parallel to the image X-axis is calculated as a yaw angle of the in-vehicle camera.SELECTED DRAWING: Figure 2

    【課題】車載カメラを設置する位置に関して自由度を広げるとともに制約を緩和し、且つ高精度なキャリブレーションを行うことが可能な技術を提供する。【解決手段】車載カメラは、車両の特定部位が撮像範囲に含まれるように車両に取り付けられている。画像処理装置では、車載カメラによる撮像画像を受け取り、歪み補正の後に撮像画像から特定部位と路面との境界線を検出し、検出した境界線から車両の基準線を算出する。検出された垂直線群の消失点を算出し、算出された垂直線群の消失点が画像X方向の中心線上に重なる場合の車載カメラのZ軸周りの回転角度を車載カメラのロール角として計算する。算出された垂直線群の消失点が無限遠となる場合の車載カメラのX軸周りの回転角度を車載カメラのピッチ角として計算する。算出された車両の基準線が画像X軸と平行になる場合の車載カメラのY軸周りの回転角度を車載カメラのヨー角として計算する。【選択図】図2


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    Title :

    IN-VEHICLE CAMERA MOUNTING ATTITUDE DETECTION METHOD AND IN-VEHICLE CAMERA MOUNTING ATTITUDE DETECTION APPARATUS


    Additional title:

    車載カメラの取り付け姿勢検出方法およびその装置


    Contributors:

    Publication date :

    2016-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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