PARAMETER DETERMINING DEVICE, PARAMETER DETERMINING SYSTEM, PARAMETER DETERMINING METHOD, AND RECORDING MEDIUM
First Claim
1. A parameter determining device configured to be installed in a vehicle, comprising:
- an image acquirer configured to acquire camera images captured by cameras provided on the vehicle;
a parameter identifier configured to identify installation parameters of the cameras based on the acquired camera images;
a synthetic image generator configured to generate a synthetic image based on the acquired camera images and the identified installation parameters, the synthetic image showing a periphery of the vehicle viewed from a prescribed virtual viewpoint; and
a validity judge configured to compare the synthetic image with a reference image to judge whether validity of the identified installation parameters, the reference image showing the periphery of the vehicle viewed from a prescribed position.
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Abstract
A parameter determining device configured to be installed in a vehicle includes an image acquirer, a parameter identifier, a synthetic image generator, and a validity judger. The image acquirer acquires camera images captured by cameras provided on the vehicle. The parameter identifier identifies installation parameters of the cameras based on the acquired camera images. The synthetic image generator generates a synthetic image showing a periphery of the vehicle viewed from a prescribed virtual viewpoint based on the acquired camera images and the identified installation parameters. The validity judger compares the synthetic image with a reference image showing the periphery of the vehicle viewed from a prescribed position to judge whether the identified installation parameters have validity.
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Citations
14 Claims
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1. A parameter determining device configured to be installed in a vehicle, comprising:
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an image acquirer configured to acquire camera images captured by cameras provided on the vehicle; a parameter identifier configured to identify installation parameters of the cameras based on the acquired camera images; a synthetic image generator configured to generate a synthetic image based on the acquired camera images and the identified installation parameters, the synthetic image showing a periphery of the vehicle viewed from a prescribed virtual viewpoint; and a validity judge configured to compare the synthetic image with a reference image to judge whether validity of the identified installation parameters, the reference image showing the periphery of the vehicle viewed from a prescribed position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A parameter determining system, comprising:
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an external camera configured to capture an image of a periphery of a vehicle viewed from a prescribed position as a reference image; cameras provided on the vehicle; and a parameter determining device configured to be installed in the vehicle, comprising; an image acquirer configured to acquire camera images captured by the cameras; a parameter identifier configured to identify installation parameters of the cameras based on the acquired camera images; a synthetic image generator configured to generate a synthetic image based on the acquired camera images and the identified installation parameters, the synthetic image showing a periphery of the vehicle viewed from a prescribed virtual viewpoint; and a validity judge configured to compare the synthetic image with the reference image to judge whether validity of the identified installation parameters. - View Dependent Claims (10, 11)
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12. A parameter determining method, comprising:
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acquiring camera images captured by cameras provided on a vehicle; identifying installation parameters of the cameras based on the acquired camera images; generating a synthetic image based on the acquired camera images and the identified installation parameters, the synthetic image showing a periphery of the vehicle viewed from a prescribed virtual viewpoint; and comparing the synthetic image with a reference image to judge whether validity of the identified installation parameters, the reference image showing the periphery of the vehicle viewed from a prescribed position. - View Dependent Claims (13, 14)
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Specification