Method of detecting tilt of image capturing direction and apparatus of detecting tilt of image capturing direction

• US 10,230,946 B2
• Filed: 03/24/2015
• Issued: 03/12/2019
• 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): Harold, Jefferey F
• Assistant Examiner(s): Karwan, Sihar A
• Application Number:
  US14/666,552
• Publication Number:
  US 20150304651A1
• Time in Patent Office: 1,449 Days
• Field of Search: 348187
• 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: H04N 17/002 for television cameras

Abstract

An image processing device includes an acquisition unit, an extraction unit, and a detection unit. The acquisition unit acquires image data for each of frame numbers from a drive recorder or the like. The extraction unit extracts a plurality of straight lines from the image data on the basis of drive recorder information. The detection unit detects a tilt of an image capturing direction of a camera according to a magnitude of an angle between a vertical axis direction of the image data and the extracted plurality of lines.

Claims

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

extracting a plurality of lines from each of a plurality of traveling-straight images that are acquired in advance from captured images that are acquired from an image capturing device carried in a vehicle and are stored in a storage unit along with speed data and acceleration data of the vehicle for each of the captured images, the speed data for the traveling-straight images exceeding a predetermined speed and the acceleration data for the traveling-straight images being less than a predetermined acceleration, indicating that the vehicle was traveling, while the traveling-straight images were captured, in a straight line among lines in which the vehicle was traveling, by performing a filter respectively on the traveling-straight images to generate an edge image data and then by performing a Hough transform on a central portion of the generated edge image data; and

determining an abnormal tilt of an image capturing direction of the image capturing device, based on a number of the extracted plurality of lines and a tilt of an axis that is the image capturing direction of the image capturing device, the tilt being detected from a magnitude of an angle that is an average of calculated angles between a vertical axis direction or a horizontal axis direction of a traveling-straight image and each of the extracted plurality of lines.

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

extracting a plurality of lines from each of a plurality of traveling-straight images that are acquired in advance from captured images that are acquired from an image capturing device carried in a vehicle and are stored in a storage unit along with speed data and acceleration data of the vehicle for each of the captured images, the speed data for the traveling-straight images exceeding a predetermined speed and the acceleration data for the traveling-straight images being less than a predetermined acceleration, indicating that the vehicle was traveling, while the traveling-straight images were captured, in a straight line among lines in which the vehicle was traveling, by performing a filter respectively on the traveling-straight images to generate an edge image data and then by performing a Hough transform on a central portion of the generated edge image data; and

determining an abnormal tilt of an image capturing direction of the image capturing device, based on a number of the extracted plurality of lines and a tilt of an axis that is the image capturing direction of the image capturing device, the tilt being detected from a magnitude of an angle that is an average of calculated angles between a vertical axis direction or a horizontal axis direction of a traveling-straight image and each of the extracted plurality of lines.

3. An apparatus comprising

a processor configured to:

extract a plurality of lines from each of a plurality of traveling-straight images that are acquired in advance from captured images that are acquired from an image capturing device carried in a vehicle and are stored in a storage unit along with speed data and acceleration data of the vehicle for each of the captured images, the speed data for the traveling-straight images exceeding a predetermined speed and the acceleration data for the traveling-straight images being less than a predetermined acceleration, indicating that the vehicle was traveling, while the traveling-straight images were captured, in a straight line among lines in which the vehicle was traveling, by performing a filter respectively on the traveling-straight images to generate an edge image data and then by performing a Hough transform on a central portion of the generated edge image data; and

determine an abnormal tilt of an image capturing direction of the image capturing device, based on a number of the extracted plurality of lines and a tilt of an axis that is the image capturing direction of the image capturing device, the tilt being detected from a magnitude of an angle that is an average of calculated angles between a vertical axis direction or a horizontal axis direction of a traveling-straight image and each of the extracted plurality of lines.