Distance measurement system, mobile object, and component
First Claim
1. A distance measurement system comprising:
- a first camera which is arranged at a first portion that is located on an upper surface of a roof of a mobile object on which the distance measurement system is arranged, located on an upper surface of an upper edge portion of a door of the mobile object, or located on an upper surface of a component arranged on the roof or the upper edge portion, which is located above the upper surface, which includes a first optical axis oriented upward from the upper surface, and which has a field of view in all directions around the first optical axis;
a second camera which is arranged at a second portion different from the first portion located on the upper surface, which is located above the upper surface, which includes a second optical axis oriented upward from the upper surface, and which has a field of view in all directions around the second optical axis; and
a first supporting member and a second supporting member, each supporting member protruding from the upper surface, whereina first end portion of the first supporting member is located diagonally upward from a first part of the first supporting member that contacts the upper surface, the first end portion being located diagonally upward along a direction that the first supporting member protrudes,a first end portion of the second supporting member is located diagonally upward from a first part of the first supporting member that contacts the upper surface, the first end portion being located diagonally upward along a direction that the second supporting member protrudes,the first camera and the second camera are arranged over the first end portion of the first supporting member and the first end portion of the second supporting member, respectively,a first space is located between the first camera and the upper surface,a second space is located between the second camera and the upper surface,a distance measurement is performed based on parallax between a first image acquired by the first camera and a second image acquired by the second camera,the first image includes an image of the second space, andthe second image includes an image of the first space.
1 Assignment
0 Petitions
Accused Products
Abstract
A distance measurement system includes a pair of cameras and is arranged on a roof of a mobile object or an upper edge portion of a door of the mobile object. One of the cameras is arranged at a first portion on an upper surface of the roof or on the upper edge portion of the door, includes an optical axis oriented upward from the upper surface, and has a field of view in all directions around the optical axis. The other camera is arranged at a second portion different from the first portion on the upper surface of the roof or the upper edge portion of the door, includes an optical axis oriented upward from the upper surface, and has a field of view in all directions around the optical axis. Distance measurement in all directions from the mobile object is performed by using this pair of cameras.
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Citations
16 Claims
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1. A distance measurement system comprising:
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a first camera which is arranged at a first portion that is located on an upper surface of a roof of a mobile object on which the distance measurement system is arranged, located on an upper surface of an upper edge portion of a door of the mobile object, or located on an upper surface of a component arranged on the roof or the upper edge portion, which is located above the upper surface, which includes a first optical axis oriented upward from the upper surface, and which has a field of view in all directions around the first optical axis; a second camera which is arranged at a second portion different from the first portion located on the upper surface, which is located above the upper surface, which includes a second optical axis oriented upward from the upper surface, and which has a field of view in all directions around the second optical axis; and a first supporting member and a second supporting member, each supporting member protruding from the upper surface, wherein a first end portion of the first supporting member is located diagonally upward from a first part of the first supporting member that contacts the upper surface, the first end portion being located diagonally upward along a direction that the first supporting member protrudes, a first end portion of the second supporting member is located diagonally upward from a first part of the first supporting member that contacts the upper surface, the first end portion being located diagonally upward along a direction that the second supporting member protrudes, the first camera and the second camera are arranged over the first end portion of the first supporting member and the first end portion of the second supporting member, respectively, a first space is located between the first camera and the upper surface, a second space is located between the second camera and the upper surface, a distance measurement is performed based on parallax between a first image acquired by the first camera and a second image acquired by the second camera, the first image includes an image of the second space, and the second image includes an image of the first space. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A mobile object comprising:
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a roof; a door; a first camera which is arranged at a first portion that is located on an upper surface of the roof or located on an upper surface of an upper edge portion of the door, which is located above the upper surface, which includes a first optical axis oriented upward from the upper surface, and which has a field of view in all directions around the first optical axis; a second camera which is arranged at a second portion different from the first portion located on the upper surface, which is located above the upper surface, which includes a second optical axis oriented upward from the upper surface, and which has a field of view in all directions around the second optical axis; and a first supporting member and a second supporting member, each supporting member protruding from the upper surface, wherein a first end portion of the first supporting member is located diagonally upward from a first part of the first supporting member that contacts the upper surface, the first end portion being located diagonally upward along a direction that the first supporting member protrudes, a first end portion of the second supporting member is located diagonally upward from a first part of the first supporting member that contacts the upper surface, the first end portion being located diagonally upward along a direction that the second supporting member protrudes, the first camera and the second camera are arranged over the first end portion of the first supporting member and the first end portion of the second supporting member, respectively, a first space is located between the first camera and the upper surface, a second space is located between the second camera and the upper surface, a distance measurement is performed based on parallax between a first image acquired by the first camera and a second image acquired by the second camera, the first image includes an image of the second space, and the second image includes an image of the first space.
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15. A component comprising:
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an upper surface; a first camera which is arranged at a first portion that is located on the upper surface, which is located above the upper surface, which includes a first optical axis oriented upward from the upper surface, and which has a field of view in all directions around the first optical axis; a second camera which is arranged at a second portion different from the first portion located on the upper surface, which is located above the upper surface, which includes a second optical axis oriented upward from the upper surface, and which has a field of view in all directions around the second optical axis; and a first supporting member and a second supporting member, each supporting member protruding from the upper surface, wherein the component is attached to a roof of a mobile object or to an upper edge portion of a door of the mobile object, a first end portion of the first supporting member is located diagonally upward from a first part of the first supporting member that contacts the upper surface, the first end portion being located diagonally upward along a direction that the first supporting member protrudes, a first end portion of the second supporting member is located diagonally upward from a first part of the first supporting member that contacts the upper surface, the first end portion being located diagonally upward along a direction that the second supporting member protrudes, the first camera and the second camera are arranged over the first end portion of the first supporting member and the first end portion of the second supporting member, respectively, a first space is located between the first camera and the upper surface, a second space is located between the second camera and the upper surface, a distance measurement is performed based on parallax between a first image acquired by the first camera and a second image acquired by the second camera, the first image includes an image of the second space, and the second image includes an image of the first space. - View Dependent Claims (16)
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Specification