Imaging position analyzing method

• US 20090080697A1
• Filed: 03/17/2006
• Published: 03/26/2009
• Est. Priority Date: 04/25/2005
• Status: Active Grant

• Current Assignee: Geo Technical Laboratory Co., Ltd.
• Original Assignee: Geo Technical Laboratory Co., Ltd.
• Inventors: Kishikawa, Kiyonari, Tou, Kouhei, Irie, Toru
• Granted Patent: US 8,280,105 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20021 Dividing image into blocks, subimages or windows
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

The imaging position of each of the frames in image data of a plurality of frames captured while a vehicle is traveling is accurately determined.

An image data acquiring device (100) captures a front image by means of a video camera (120) while a vehicle is traveling. When in imaging, the device associates the vehicle speed pulse detected by a vehicle speed sensor (104) with the frame data and records them. An image data processing device (200) arranges data on each frame of the image along the initial path according to the correspondence with the vehicle speed pulse. The device determines the variation between the frames of a feature point such as a road lane marking included in the image, reflects the variation on the initial path, and corrects the errors in the direction perpendicular to the moving direction so as to determine the traveling path and imaging positions of the frames.

With this, the accuracy in determining the imaging position of each frame is improved.

Claims

1. An imaging position analyzing device that analyzes an imaging position of each of multiple frames constituting an image, where the image is captured at preset imaging timings during traveling with a substantially fixed attitude angle relative to ground surface, and each of the multiple frames of the image includes a predetermined continuum captured commonly in at least one of adjacent frames immediately before and after the each frame,

the imaging position analyzing device comprising:

an input module that inputs image data of the multiple frames;

an initial path input module that inputs an initial path of the traveling as an initial value of analysis; and

an imaging position analyzer that tentatively sets imaging positions of the respective frames corresponding to the preset imaging timings along a moving direction of the initial path and corrects the tentatively set imaging positions in a perpendicular direction intersecting with the moving direction of the initial path based on a positional misalignment of the predetermined continuum captured in the each frame and at least one adjacent frame of the image, so as to implement analysis of the imaging position of each frame.

2. The imaging position analyzing device in accordance with claim 1, wherein the image is either a front image or a back image in the moving direction, and

the input module inputs image data representing lower image parts of the front image or the back image.

3. The imaging position analyzing device in accordance with claim 1, wherein the image is captured during traveling on a road, and

the predetermined continuum is a road lane marking.

4. The imaging position analyzing device in accordance with claim 1, wherein the input module inputs moving distance information representing a relation between a moving distance in the moving direction and an imaging time, and

the imaging position analyzer tentatively sets the imaging positions of the respective frames along the moving direction based on the moving distance information.

5. The imaging position analyzing device in accordance with claim 1, wherein the input module inputs moving distance information representing a relation between a moving distance in the moving direction and an imaging time, and

the imaging position analyzer extracts frames captured at intervals of a preset moving distance among the multiple frames based on the moving distance information and uses the extracted frames for the analysis of the imaging position of each frame.

6. The imaging position analyzing device in accordance with claim 4, wherein the image is captured by an imaging device mounted on a vehicle, and

the moving distance information is a vehicle speed pulse of the vehicle.

7. The imaging position analyzing device in accordance with claim 1, wherein the input module further inputs reference position information in correlation to the image data, where the reference position information represents a time point of reaching a preset reference position during imaging, and

the imaging position analyzer performs initialization of at least a location along the moving direction in the course of the analysis, based on the reference position information.

8. The imaging position analyzing device in accordance with claim 1, where the image data further includes side image data of plural frames captured in the perpendicular direction,

the imaging position analyzer further having:

a map data reference module that refers to map data recording position coordinates of a subject included in the side image data; and

a coordinates computation module that computes subject coordinates representing a location of the subject from the side image data of the plural frames,

wherein the imaging position analyzer performs initialization of at least a location along the moving direction in the course of the analysis, based on the position coordinates recorded in the map data and the computed subject coordinates.

9. The imaging position analyzing device in accordance with claim 1, the imaging position analyzing device further having:

a network data reference module that refers to road network data representing each road by a combination of nodes and links,

wherein the initial path input module sets the initial path based on the road network data.

10. The imaging position analyzing device in accordance with claim 1, wherein the initial path input module receives an output of a position detection sensor, which at least two-dimensionally detects a traveling path of the captured image in a preset error range to set the initial path.

11. The imaging position analyzing device in accordance with claim 1, the imaging position analyzing device further having:

an image transform processor that converts the image data into a front captured image of the predetermined continuum, prior to the analysis of the imaging position,

the image transform processor dividing the image data into multiple regions and adopting different conversion factors in the respective multiple regions to convert the image data,

wherein the multiple regions and the conversion factors are set to obtain a front view image of a preset reticulate pattern from image data of the reticulate pattern having a known shape.

12. An imaging position analyzing method that analyzes an imaging position of each of multiple frames constituting an image, where the image is captured at preset imaging timings during traveling with a substantially fixed attitude angle relative to ground surface, and each of the multiple frames of the image includes a predetermined continuum captured commonly in at least one of adjacent frames immediately before and after the each frame,

the imaging position analyzing method performed by a computer comprising:

an input step of inputting image data of the multiple frames;

an initial path input step of inputting an initial path of the traveling as an initial value of the analysis; and

an imaging position analyzing step of tentatively setting imaging positions of the respective frames corresponding to the preset imaging timings along a moving direction of the initial path and correcting the tentatively set imaging positions in a perpendicular direction intersecting with the moving direction of the initial path based on a positional misalignment of the predetermined continuum captured in the each frame and at least one adjacent frame of the image, so as to implement analysis of the imaging position of each frame.

13. A recording medium in which a computer program is recorded, the computer program being executed to analyze an imaging position of each of multiple frames constituting an image, where the image is captured at preset imaging timings during traveling with a substantially fixed attitude angle relative to ground surface, and each of the multiple frames of the image includes a predetermined continuum captured commonly in at least one of adjacent frames immediately before and after the each frame,

the computer program recorded in the recording medium comprising:

an input program code of inputting image data of the multiple frames;

an initial path input program code of inputting an initial path of the traveling as an initial value of analysis; and

an imaging position analyzing program code of tentatively setting imaging positions of the respective frames corresponding to the preset imaging timings along a moving direction of the initial path and correcting the tentatively set imaging positions in a perpendicular direction intersecting with the moving direction of the initial path based on a positional misalignment of the predetermined continuum captured in the each frame and at least one adjacent frame of the image, so as to implement analysis of the imaging position of each frame.

14. An image data acquiring device that generates image data of multiple frames to be input into an imaging position analyzing device, which analyzes an imaging position of each frame based on the input image data of the multiple frames,

the image data acquiring device comprising:

a vehicle that travels on a ground surface;

an imaging device that is attached to the vehicle with a substantially fixed attitude angle relative to the vehicle and captures an image of the multiple frames at preset timings; and

a moving distance information recorder that records moving distance information, which represents moving of the vehicle by a predetermined distance, in correlation to a time of the image capture.