Method of determining normality of imaging direction, and evaluation device of evaluating attachment state of imaging device

• US 10,026,178 B2
• Filed: 03/30/2015
• Issued: 07/17/2018
• Est. Priority Date: 04/18/2014
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Baba, Kozo, Hashiguchi, Norio
• Primary Examiner(s): Duley, Janese
• Application Number:
  US14/672,565
• Publication Number:
  US 20150302588A1
• Time in Patent Office: 1,205 Days
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20068 Projection on vertical or horizontal image axis
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30248 Vehicle exterior or interior
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: H04N 23/80 Camera processing pipelines; Components thereof
• CPC Class Codes: H04N 23/95 Computational photography systems, e.g. light-field imaging systems

Abstract

An image processing apparatus includes an acquiring unit, and determining unit. The acquiring unit acquires captured images from an imaging device mounted on a vehicle. The determining unit determines the normality of the imaging direction of the imaging device in accordance with whether an appearance pattern of a combination of a portion in which a variation is detected and a portion in which a variation is not detected among the acquired captured images corresponds to a predetermined pattern.

Claims

1. A method of determining normality of an imaging direction executed by a computer, the method comprising:

acquiring from an imaging device attached to a vehicle, image data in each of a plurality of frames in each of which a reference direction is defined, when a speed of the vehicle is equal to or greater than a first threshold and an acceleration of the vehicle is less than a second threshold;

calculating, for each area of the image data in the reference direction, an index related to an amount of a difference between the frames of the image data; and

evaluating an attachment state of the imaging device on a basis of distribution of the indices related to the amount of the difference in the reference direction

wherein the index related to the amount of the difference is the amount of the difference of luminance between the frames of the image data, and

the evaluating creates, for a position of each of a plurality of pixels in the reference direction, distribution of integrated values of luminance of the pixels arrayed in a direction intersecting the reference direction,

determines the attachment state of the imaging device is abnormal when an upper position of the distribution is greater than a lower position of the distribution and determines the attachment state of the imaging device is normal when the upper position of the distribution is not greater than the lower position of the distribution.

2. The method of determining normality of the imaging direction according to claim 1, wherein the acquiring acquires sequentially captured images from the imaging device mounted on the vehicle.

3. A non-transitory computer-readable recording medium storing a program that causes a computer to execute a process comprising:

acquiring, from an imaging device attached to a vehicle, image data in each of a plurality of frames in each of which a reference direction is defined, when a speed of the vehicle is equal to or greater than a first threshold and an acceleration of the vehicle is less than a second threshold;

calculating, for each area of the image data in the reference direction, an index related to an amount of a difference between the frames of the image data; and

evaluating an attachment state of the imaging device on a basis of distribution of the indices related to the amount of the difference in the reference direction

wherein the index related to the amount of the difference is the amount of the difference of luminance between the frames of the image data, and

the evaluating creates, for a position of each of a plurality of pixels in the reference direction, distribution of integrated values of luminance of the pixels arrayed in a direction intersecting the reference direction,

determines the attachment state of the imaging device is abnormal when an upper position of the distribution is greater than a lower position of the distribution and determines the attachment state of the imaging device is normal when the upper position of the distribution is not greater than the lower position of the distribution.

4. The non-transitory computer-readable recording medium according to claim 3, wherein the evaluating evaluates the attachment state of the imaging device on the basis of the distribution of the indices related to the amount of the difference in an area on an end side in a direction intersecting the reference direction from among the areas of the image data.

5. The non-transitory computer-readable recording medium according to claim 3, wherein the evaluating evaluates the attachment state of the imaging device on the basis of the distribution of the indices related to the amount of the difference in an area at a midpoint portion in a direction intersecting the reference direction from among the areas of the image data.

6. An evaluation device of evaluating attachment state of an imaging device attached to a vehicle comprising a processor configured to:

acquire, from the imaging device, image data in each of a plurality of frames in each of which a reference direction is defined, when a speed of the vehicle is equal to or greater than a first threshold and an acceleration of the vehicle is less than a second threshold;

calculate, for each area of the image data in the reference direction, an index related to an amount of a difference between the frames of the image data; and

evaluate an attachment state of the imaging device on a basis of distribution of the indices related to the amount of the difference in the reference direction

wherein the index related to the amount of the difference is the amount of the difference of luminance between the frames of the image data, and the processor further configured to, for a position of each a plurality of pixels in the reference direction, create distribution of integrated values of luminance of the pixels arrayed in a direction intersecting the reference direction

determine the attachment state of the imaging device is abnormal when an upper position of the distribution is greater than a lower position of the distribution and determine the attachment state of the imaging device is normal when the upper position of the distribution is not greater than the lower position of the distribution.

7. The evaluation device according to claim 6, wherein the processor further configured to evaluate the attachment state of the imaging device on the basis of the distribution of the indices related to the amount of the difference in an area on an end side in a direction intersecting the reference direction from among the areas of the image data.

8. The evaluation device according to claim 6, wherein the processor further configured to evaluate the attachment state of the imaging device on the basis of the distribution of the indices related to the amount of the difference in an area at a midpoint portion in a direction intersecting the reference direction from among the areas of the image data.