PROBLEM TO BE SOLVED: To adjust a mounting angle of an on-vehicle camera even in a vehicle on which on-vehicle cameras are not mounted at all front, rear, right and left sides.SOLUTION: Bird's-eye view transformation is performed on a photographic image of a ground with which a target graphic including two linear portions which are parallel with each other and have an equal width, is formed, thereby searching for such a mounting angle that the two linear portions in the bird's-eye view image become parallel with each other and have the equal width. Thus, even in a vehicle on which an on-vehicle camera is mounted towards a front side or a rear side of the vehicle, since an actual mounting angle of the on-vehicle camera can be detected, the mounting angle of the on-vehicle camera can be adjusted. Further, for example, even a graphic like a parking frame having two side lines which are parallel with each other and have an equal width but not having transverse lines across the side lines is used as the target graphic, and a mounting angle of an on-vehicle camera 10 can be detected and calibrated into a right mounting angle.SELECTED DRAWING: Figure 10
【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】互いに平行で且つ等幅な2本の直線部分を有するターゲット図形が形成された地面の撮影画像を鳥瞰変換して、鳥瞰画像中の2本の直線部分が、互いに平行で且つ等幅となるような取付角度を探索する。こうすれば、車両の前方あるいは後方に向けて車載カメラが搭載されている車両でも、車載カメラの実際の取付角度を検出することができるので、車載カメラの取付角度を調整することが可能となる。また、例えば、互いに平行で且つ等幅な2本の側線を有するが、側線に交差する横線を有さない駐車枠のような図形でも、ターゲット図形として用いて、車載カメラ10の取付角度を検出し、正しい取付角度に較正することができる。【選択図】図10
MOUNTING ANGLE DETECTION DEVICE FOR ON-VEHICLE CAMERA, MOUNTING ANGLE CALIBRATION DEVICE, MOUNTING ANGLE DETECTION METHOD, MOUNTING ANGLE CALIBRATION METHOD, AND COMPUTER PROGRAM
車載カメラの取付角度検出装置、取付角度較正装置、取付角度検出方法、取付角度較正方法、およびコンピュータープログラム
2017-10-12
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 |
European Patent Office | 2017
|European Patent Office | 2019
|European Patent Office | 2020
|MOUNTING ANGLE ADJUSTMENT PROCESSING OF ON-VEHICLE CAMERA AND MOUNTING ANGLE DETECTION DEVICE
European Patent Office | 2016
|Information processing apparatus, camera mounting angle estimation method, and program
European Patent Office | 2016
|