Stereo camera supporting apparatus, stereo camera supporting method, calibration detection apparatus, calibration correction apparatus, and stereo camera system
First Claim
1. A stereo camera supporting apparatus which supports a stereo camera constituted in such a manner as to obtain a plurality of images having parallax errors by a plurality of visual points detached from one another, the apparatus comprising:
- a joining member constituted by joining a support member disposed on a vehicle on which the stereo camera is provided, to a member to be supported disposed in a predetermined portion of the stereo camera in such a manner that a relation between both the members is variable in a predetermined range to thereby support the stereo camera on the vehicle; and
a control unit which controls posture or position of the stereo camera supported on the vehicle by the joining member, the control unit controlling the posture or position of the stereo camera with respect to an image obtained by the stereo camera, so that a contour portion of an object, which lies at the highest position in the image, is located at or near the upper frame edge of the image, regardless of a change in the posture or position of the vehicle.
2 Assignments
0 Petitions
Accused Products
Abstract
A stereo camera supporting apparatus of the present invention comprises a joining member constituted in such a manner as to support a stereo camera on a vehicle, and a control device which controls posture or position of the stereo camera supported on the vehicle by the joining member. The control device controls the posture or position of the stereo camera with respect to video obtained by the stereo camera in such a manner that a contour portion present in the highest level position in a contour of a noted subject in the video is positioned in a frame upper end of the video or its vicinity irrespective of a change of the posture or position of the vehicle.
372 Citations
26 Claims
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1. A stereo camera supporting apparatus which supports a stereo camera constituted in such a manner as to obtain a plurality of images having parallax errors by a plurality of visual points detached from one another, the apparatus comprising:
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a joining member constituted by joining a support member disposed on a vehicle on which the stereo camera is provided, to a member to be supported disposed in a predetermined portion of the stereo camera in such a manner that a relation between both the members is variable in a predetermined range to thereby support the stereo camera on the vehicle; and
a control unit which controls posture or position of the stereo camera supported on the vehicle by the joining member, the control unit controlling the posture or position of the stereo camera with respect to an image obtained by the stereo camera, so that a contour portion of an object, which lies at the highest position in the image, is located at or near the upper frame edge of the image, regardless of a change in the posture or position of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 16)
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13. A stereo camera supporting apparatus which supports a stereo camera constituted in such a manner as to obtain a plurality of images having parallax errors by a plurality of visual points detached from one another, the apparatus comprising:
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a joining member constituted by joining a support member disposed on an object side on which the stereo camera is provided, to a member to be supported disposed in a predetermined portion of the stereo camera in such a manner that a relation between both the members is variable in a predetermined range to thereby support the stereo camera on the object; and
a control unit which controls posture or position of the stereo camera supported on the object by the joining member, the control unit being constituted to be capable of controlling the posture or position of the stereo camera in such a manner that a contour portion present in the highest level position in a contour of a noted subject in video obtained by the stereo camera is positioned in a frame upper end of the video or its vicinity irrespective of a change of the relative posture or position between the object and the noted subject in an imaging view field.
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14. A stereo camera supporting method which supports a stereo camera constituted in such a manner as to obtain a plurality of images having parallax errors by a plurality of visual points detached from one another, the method comprising:
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joining a support member disposed on a vehicle side on which the stereo camera is provided, to a member to be supported disposed in a predetermined portion of the stereo camera in such a manner that a relation between both the members is variable in a predetermined range; and
controlling posture or position of the stereo camera supported on the vehicle by the joining in such a manner that a contour portion present in the highest level position in a contour of a noted subject in video obtained by the stereo camera is positioned in a frame upper end of the video or its vicinity irrespective of a change of the posture or position of the vehicle.
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15. A stereo camera supporting method which supports a stereo camera constituted in such a manner as to obtain a plurality of images having parallax errors by a plurality of visual points detached from one another, the method comprising:
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joining a support member disposed on an object side on which the stereo camera is provided, to a member to be supported disposed in a predetermined portion of the stereo camera in such a manner that a relation between both the members is variable in a predetermined range; and
controlling posture or position of the stereo camera supported on the object by the joining in such a manner that a contour portion present in the highest level position in a contour of a noted subject in video obtained by the stereo camera is positioned in a frame upper end of the video or its vicinity irrespective of a change of the relative posture or position between the object and the noted subject in an imaging view field.
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17. A stereo camera system comprising a stereo camera constituted in such a manner as to obtain a plurality of images having parallax errors by a plurality of visual points detached from one another, the system comprising:
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a joining member constituted by joining a support member disposed on a vehicle side on which the stereo camera is provided, to a member to be supported disposed in a predetermined portion of the stereo camera in such a manner that a relative position between both the members is variable in a predetermined range to thereby support the stereo camera on the vehicle; and
a control unit which controls posture or position of the stereo camera supported on the vehicle by the joining member, the control unit controlling the posture or position of the stereo camera with respect to an image obtained by photographing an object lying in a view field of the stereo camera, from a view point set in or near an imaging optical system of the stereo camera, so that a contour portion of an object, which lies at the highest position in the image, is located at or near the upper frame edge of the image, regardless of a change in the posture or position of the vehicle. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification