STORAGE MEDIUM STORING DISTANCE CALCULATION PROGRAM AND DISTANCE CALCULATION APPARATUS
First Claim
1. A storage medium storing a distance calculation program that causes a computer to execute operations, the operations comprising:
- obtaining a first image captured by an image pickup device disposed on a vehicle;
extracting a first feature point which satisfies an extraction condition used to determine a point on a road surface in the first image; and
calculating a first distance from the first feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the first image and a first angle of the point viewed from a center of the image pickup device in the real space, and setting information including an angle of depression of the image pickup device and a distance between the image pickup device and the road surface.
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Accused Products
Abstract
A storage medium storing a distance calculation program that causes a computer to execute operations, the operations includes; obtaining a first image captured by an image pickup device disposed on a vehicle; extracting a first feature point which satisfies an extraction condition used to determine a point on a road surface in the first image; and calculating a first distance from the first feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the first image and a first angle of the point viewed from a center of the image pickup device in the real space, and setting information including an angle of depression of the image pickup device and a distance between the image pickup device and the road surface.
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Citations
17 Claims
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1. A storage medium storing a distance calculation program that causes a computer to execute operations, the operations comprising:
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obtaining a first image captured by an image pickup device disposed on a vehicle; extracting a first feature point which satisfies an extraction condition used to determine a point on a road surface in the first image; and calculating a first distance from the first feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the first image and a first angle of the point viewed from a center of the image pickup device in the real space, and setting information including an angle of depression of the image pickup device and a distance between the image pickup device and the road surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A distance calculation apparatus comprising;
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a processor to execute; obtaining a first image captured by an image pickup device disposed on a vehicle; extracting a first feature point which satisfies an extraction condition used to determine a point on a road surface in the first image; and calculating a first distance from the extracted first feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the first image and an angle of the point viewed from a center of the image pickup device in the real space, and setting information including an angle of depression of the image pickup device and a distance between the image pickup device and the road surface, and a memory to store the data and the setting information. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A distance calculation apparatus comprising:
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an extraction unit configured to extract a feature point which satisfies an extraction condition used to determine a point on a road surface in an image captured by an image pickup device installed in a vehicle; and a relative-position calculation unit configured to calculate a distance from the feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the image and an angle of the point viewed from a center of the image pickup device in the real space, and setting information including an angle of depression of the image pickup device and a distance between the image pickup device and the road surface.
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Specification