Determination method and determination apparatus

• US 10,027,953 B2
• Filed: 03/19/2015
• 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): Perungavoor, Sath V
• Assistant Examiner(s): Xu, Xiaolan
• Application Number:
  US14/662,777
• Publication Number:
  US 20150304650A1
• Time in Patent Office: 1,216 Days
• Field of Search: None
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: G06V 10/42 Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 17/002 for television cameras

Abstract

An image processing apparatus includes an acquiring unit and a determining unit. For example, the acquiring unit acquires an imaging image captured by a camera mounted on a vehicle and registers the acquired imaging image in drive recorder information. When a vanishing point is detected from the imaging image, the determining unit determines that the imaging direction of the imaging device is normal such that the front of the vehicle is normally imaged. When the vanishing point is not detected from the acquired the imaging image, the determining unit determines that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

Claims

1. A determination method executed by a computer, the determination method comprising:

acquiring images from an imaging device mounted on a vehicle, and storing the acquired images and speed data and acceleration data of the vehicle associated with each of the acquired images in a storing unit;

acquiring a traveling-straight image from the images stored in the storing unit that is acquired while the vehicle is traveling straight, based on the speed data and the acceleration data of the vehicle stored in the storing unit;

performing a filter on the traveling-straight image to generate an edge image data, and extracting a plurality of lines from a left part of the edge image data by performing a Hough transform thereon, and from a right part of the edge image data by performing a Hough transform thereon;

counting a number of the extracted lines that go in an upper right direction from a left area or in an upper left direction from a right area on the edge image data;

determining whether a vanishing point is detected on the traveling-straight image, based on the counted number; and

determining normality of an imaging direction of the imaging device in accordance with whether the vanishing point is detected or not.

2. The determination method according to claim 1, wherein

when the vanishing point is detected on the traveling-straight image, the determining determines that the imaging direction of the imaging device is normal such that a front of the vehicle is normally imaged, and

when the vanishing point is not detected on the traveling-straight image, the determining determines that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

3. The determination method according to claim 1, further comprising specifying the vanishing point on the basis of a plurality of sign lines included in the traveling-straight image.

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

acquiring images from an imaging device mounted on a vehicle, and storing the acquired images and speed data and acceleration data of the vehicle associated with each of the acquired images in a storing unit;

acquiring a traveling-straight image from the images stored in the storing unit that is acquired while the vehicle is traveling straight, based on the speed data and the acceleration data of the vehicle stored in the storing unit;

performing a filter on the traveling-straight image to generate an edge image data, and extracting a plurality of lines from a left part of the edge image data by performing a Hough transform thereon, and from a right part of the edge image data by performing a Hough transform thereon;

counting a number of the extracted lines that go in an upper right direction from a left area or in an upper left direction from a right area on the edge image data;

determining whether a vanishing point is detected on the traveling-straight image, based on the counted number; and

determining normality of an imaging direction of the imaging device in accordance with whether the vanishing point is detected or not.

5. The non-transitory computer-readable recording medium according to claim 4, wherein

when the vanishing point is detected on the traveling-straight image, the determining determines that the imaging direction of the imaging device is normal such that a front of the vehicle is normally imaged, and

when the vanishing point is not detected on the traveling-straight image, the determining determines that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

6. The non-transitory computer-readable recording medium according to claim 4, further comprising specifying the vanishing point on the basis of a plurality of sign lines included in the traveling-straight image.

7. A determination apparatus comprising a processor configured to:

acquire images from an imaging device mounted on a vehicle, and store the acquired images and speed data and acceleration data of the vehicle associated with each of the acquired images in a storing unit;

acquire a traveling-straight image from the images stored in the storing unit that is acquired while the vehicle is traveling straight, based on the speed data and the acceleration data of the vehicle stored in the storing unit;

perform a filter on the traveling-straight image to generate an edge image data, and extract a plurality of lines from a left part of the edge image data by performing a Hough transform thereon, and from a right part of the edge image data by performing a Hough transform thereon;

count a number of the extracted lines that go in an upper right direction from a left area or in an upper left direction from a right area on the edge image data;

determine whether a vanishing point is detected on the traveling-straight image, based on the counted number; and

determine normality of an imaging direction of the imaging device in accordance with whether the vanishing point is detected or not.

8. The determination apparatus according to claim 7, wherein the processor further configured to

when the vanishing point is detected on the traveling-straight image, determine that the imaging direction of the imaging device is normal such that a front of the vehicle is normally imaged, and

when the vanishing point is not detected on the traveling-straight image, determine that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

9. The determination apparatus according to claim 7, wherein the vanishing point is specified on the basis of a plurality of sign lines included in the traveling-straight image.