CALIBRATION DEVICE AND CALIBRATION METHOD
First Claim
1. A calibration apparatus comprising:
- a distance image generation section that calculates a distance from a stereo camera for each of a plurality of pixels included in a stereo image and that generates a distance image in which each of the plurality of pixels is associated with the calculated distance;
a first region detection section that detects a road surface image region based on the stereo image;
a second region detection section that detects a setting prohibited region including a group of non-effective pixels with which calculating the distance in the distance image is not possible;
an area setting processing section that adjusts an arrangement pattern in a direction in which a plurality of area setting frames become distant from each other, based on the road surface image region and the setting prohibited region;
an extraction processing section that extracts, from the distance image, a plurality of partial images corresponding to the plurality of area setting frames included in the adjusted arrangement pattern; and
a calculation section that calculates an installation state parameter regarding an installation state of the stereo camera used for capturing of the stereo image, based on the plurality of extracted partial images.
4 Assignments
0 Petitions
Accused Products
Abstract
Provided is a calibration device that can calculate the mounting state of a stereo camera without the placing of a physical marker. In this device, an area setting processor (113) preliminarily sets, for an integrated image in which a road surface image region and a setting-prohibited region are integrated, an arrangement pattern having a plurality of area setting frames, and adjusts the arrangement pattern so that the plurality of area setting frames recede from each other. An extraction processor (114) extracts from distance images a plurality of partial images corresponding to the plurality of area setting frames. A mounting-state calculation unit (104) calculates a mounting-state parameter on the basis of a plurality of partial images, such parameter relating to the mounting state of a stereo camera used to pick up stereo images.
-
Citations
7 Claims
-
1. A calibration apparatus comprising:
-
a distance image generation section that calculates a distance from a stereo camera for each of a plurality of pixels included in a stereo image and that generates a distance image in which each of the plurality of pixels is associated with the calculated distance; a first region detection section that detects a road surface image region based on the stereo image; a second region detection section that detects a setting prohibited region including a group of non-effective pixels with which calculating the distance in the distance image is not possible; an area setting processing section that adjusts an arrangement pattern in a direction in which a plurality of area setting frames become distant from each other, based on the road surface image region and the setting prohibited region; an extraction processing section that extracts, from the distance image, a plurality of partial images corresponding to the plurality of area setting frames included in the adjusted arrangement pattern; and a calculation section that calculates an installation state parameter regarding an installation state of the stereo camera used for capturing of the stereo image, based on the plurality of extracted partial images. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A calibration method comprising:
-
calculating a distance from a stereo camera for each of a plurality of pixels included in a stereo image; generating a distance image in which each of the plurality of pixels is associated with the calculated distance; detecting a road surface image region based on the stereo image; detecting a setting prohibited region including a group of non-effective pixels with which calculating the distance in the distance image is not possible; adjusting an arrangement pattern in a direction in which a plurality of area setting frames become distant from each other, based on the road surface image region and the setting prohibited region; extracting, from the distance image, a plurality of partial images corresponding to the plurality of area setting frames included in the adjusted arrangement pattern; and calculating an installation state parameter regarding an installation state of the stereo camera used for capturing of the stereo image, based on the plurality of extracted partial images.
-
Specification