Imaging device for autonomously movable body, calibration method therefor, and calibration program therefor

• US 20030160877A1
• Filed: 01/23/2003
• Published: 08/28/2003
• Est. Priority Date: 01/23/2002
• Status: Active Grant

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Sumida, Naoaki
• Granted Patent: US 7,825,956 B2
• Time in Patent Office: Days
• US Class Current: 348/223.1
• CPC Class Codes: H04N 17/002 for television cameras
• CPC Class Codes: H04N 23/88 for colour balance, e.g. white-balance circuits or colour temperature control

Abstract

An imaging device installed on an autonomously movable body which comprises an image-taking section for taking images of the surrounding environment, and an object detecting section for detecting objects and obstacles by processing the obtained images. The imaging device comprises: an image processing section to perform color detection of the images taken by the image-taking section; a white calibration plate for the image-taking section to perform color correction; and a calibration plate control section for moving the calibration plate into a field of view of the image-taking section, wherein it is determined whether color information which is sufficient to perform color detection is obtainable from the images taken by the image-taking section, and color correction is performed using the calibration plate when it is determined that the images taken by the image-taking section do not provide color information sufficient to perform color detection.

Claims

1. An imaging device installed on an autonomously movable body which comprises an image-taking section for taking images of the surrounding environment, and an object detecting section for detecting objects and obstacles by processing the obtained images, said imaging device comprising:

an image processing section to perform color detection of said images taken by said image-taking section;

a white calibration plate for said image-taking section to perform color correction; and

a calibration plate control section for moving said calibration plate into a field of view of said image-taking section,

wherein it is determined whether color information which is sufficient to perform color detection is obtainable from said images taken by said image-taking section, and color correction is performed using said calibration plate when it is determined that said images taken by said image-taking section do not provide color information sufficient to perform color detection.

2. An imaging device for an autonomously movable body according to claim 1, wherein said color detection determination is performed depending on changes in the surrounding ambient light.

3. An imaging device for an autonomously movable body according to claim 1, wherein said color detection determination is performed depending on the present position of said autonomously movable body in a map defining a movable area of said autonomously movable body, or based on time.

4. An imaging device for an autonomously movable body according to claim 1, wherein said color detection determination is performed in accordance with commands sent from an operator.

5. An imaging device for an autonomously movable body according to claim 1, wherein color detection determination is performed depending on whether or not said image processing section can perform color detection.

6. An imaging device for an autonomously movable body according to claim 3 further comprising:

a memory section for storing information in advance about times or positions at which said image-taking section performs color correction; and

a control section which makes said calibration plate control section move said calibration plate, and which sends a command to said image-taking section to perform color correction in accordance with said information about times or positions stored in said memory section.

7. An imaging device for an autonomously movable body according to claim 4 further comprising:

a voice recognition section which recognizes a command voice picked up by a microphone, and which outputs voice recognition results; and

a control section which makes said calibration plate control section move said calibration plate while making said image-taking section perform color correction when said voice recognition results obtained by said voice recognition section are a command for said image-taking section to perform color correction.

8. An imaging device for an autonomously movable body according to claim 4 further comprising:

a command recognition section which recognizes human motion in said images taken by said image-taking section, and which outputs recognition results; and

a control section which makes said calibration plate control section move said calibration plate while making said image-taking section perform color correction when said recognition results obtained by said command recognition section are a command for said image-taking section to perform calibration.

9. An imaging device according to claim 1, wherein said autonomously movable body is a bipedal humanoid robot, and said calibration plate is installed on an arm of said humanoid robot.

10. An imaging device according to claim 1, wherein said autonomously movable body is a bipedal humanoid robot, and said calibration plate is carried by said humanoid robot.

11. A calibration method for an imaging device installed on an autonomously movable body which comprises an image-taking section for taking images of the surrounding environment, and an object detecting section for detecting objects and obstacles by processing the obtained images, said calibration method comprising the steps of:

processing images for detecting colors in said images taken by said image-taking section;

determining whether color information which is sufficient to perform color detection is obtainable from said images taken by said image-taking section;

controlling a white calibration plate, which is used for color correction by said image-taking section, so that said calibration plate moves into a field of view of said image-taking section when it is determined that said images taken by said image-taking section do not provide color information sufficient to perform color detection; and

performing color correction when said calibration plate is in said field of view of said image-taking section.

12. A calibration method for an imaging device installed on an autonomously movable body which comprises an image-taking section for taking images of the surrounding environment, and an object detecting section for detecting objects and obstacles by processing the obtained images, said calibration method comprising the steps of:

storing information about times or positions at which said image-taking section performs color correction;

controlling a white calibration plate, which is used for color correction by said image-taking section, in accordance with said information about times or positions stored in said storing step so that said calibration plate moves into a field of view of said image-taking section; and

performing color correction when said calibration plate is in said field of view of said image-taking section.

13. A calibration program for an imaging device installed on an autonomously movable body which comprises an image-taking section for taking images of the surrounding environment, and an object detecting section for detecting objects and obstacles by processing the obtained images, said calibration program makes a computer execute the processes of:

processing images for detecting colors in said images taken by said image-taking section;

determining whether color information which is sufficient to perform color detection is obtainable from said images taken by said image-taking section;

controlling a white calibration plate, which is used for color correction by said image-taking section, so that said calibration plate moves into a field of view of said image-taking section when it is determined that said images taken by said image-taking section do not provide color information sufficient; and

performing color correction when said calibration plate is in said field of view of said image-taking section.

14. A calibration program for an imaging device installed on an autonomously movable body which comprises an image-taking section for taking images of the surrounding environment, and an object detecting section for detecting objects and obstacles by processing the obtained images, said calibration program makes a computer execute the processes of:

storing information about times or positions at which said image-taking section performs color correction;

controlling a white calibration plate, which is used for color correction by said image-taking section, in accordance with said information about times or positions stored in said storing step so that said calibration plate moves into a field of view of said image-taking section; and

performing color correction when said calibration plate is in said field of view of said image-taking section.