Stereo camera apparatus, vehicle provided with stereo camera apparatus, and non-transitory recording medium
First Claim
Patent Images
1. A stereo camera apparatus comprising:
- a first imaging unit configured to image a first area as a first image;
a second imaging unit configured to image a second area as a second image, the second area being partially shifted from the first area in a direction differing from a direction along a baseline, the baseline extending between an optical axis position on an imaging plane of the first imaging unit and an optical axis position on an imaging plane of the second imaging unit; and
a controller configured to calculate a distance to a subject using an overlapping region between the first image and the second image,the controller further configured to detect a different object indicating different content than the subject in a region in the second image outside the overlapping region.
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Abstract
A stereo camera apparatus, and a vehicle provided with a stereo camera apparatus, can detect an object targeted for detection in a wider spatial range, calculate the distance to a subject with high accuracy, and perform object detection with high accuracy. The stereo camera apparatus includes a first imaging unit configured to image a first area as a first image, a second imaging unit that images a second area as a second image, the second area being partially shifted from the first area in a direction differing from a direction along the baseline length, and a controller that calculates the distance to a subject using an overlapping region between the first image and the second image.
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Citations
11 Claims
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1. A stereo camera apparatus comprising:
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a first imaging unit configured to image a first area as a first image; a second imaging unit configured to image a second area as a second image, the second area being partially shifted from the first area in a direction differing from a direction along a baseline, the baseline extending between an optical axis position on an imaging plane of the first imaging unit and an optical axis position on an imaging plane of the second imaging unit; and a controller configured to calculate a distance to a subject using an overlapping region between the first image and the second image, the controller further configured to detect a different object indicating different content than the subject in a region in the second image outside the overlapping region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle provided with a stereo camera apparatus, the stereo camera apparatus comprising:
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a first imaging unit configured to image a first area and a second area as a first image; a second imaging unit configured to image the second area and a third area as a second image, the third area being partially shifted from the first area in a direction differing from a direction along a baseline, the baseline extending between an optical axis position on an imaging plane of the first imaging unit and an optical axis position on an imaging plane of the second imaging unit; and a controller configured to calculate a distance to a subject using an overlapping region between the first image and the second image, the controller further configured to detect a different object indicating different content than the subject in a region in the second image outside the overlapping region.
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11. A computer-readable non-transitory recording medium storing instructions to be executed by a stereo camera apparatus,
the stereo camera apparatus comprising: -
a first imaging unit configured to image a first area as a first image; and a second imaging unit configured to image a second area as a second image, the second area being partially shifted from the first area in a direction differing from a direction along a baseline, the baseline extending between an optical axis position on an imaging plane of the first imaging unit and an optical axis position on an imaging plane of the second imaging unit; the instructions comprising; calculating a distance to a subject using an overlapping region between the first image and the second image; detecting a different object than the subject in a region in the second image excluding the overlapping region, and detecting a different object indicating different content than the subject in a region in the second image outside the overlapping region.
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Specification