METHOD OF DETERMINING NORMALITY OF IMAGING DIRECTION, AND EVALUATION DEVICE OF EVALUATING ATTACHMENT STATE OF IMAGING DEVICE

• US 20150302588A1
• Filed: 03/30/2015
• Published: 10/22/2015
• Est. Priority Date: 04/18/2014
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Baba, Kozo, HASHIGUCHI, Norio
• Granted Patent: US 10,026,178 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20068 Projection on vertical or horizontal image axis
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30248 Vehicle exterior or interior
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: H04N 23/80 Camera processing pipelines; Components thereof
• CPC Class Codes: H04N 23/95 Computational photography systems, e.g. light-field imaging systems

Abstract

An image processing apparatus includes an acquiring unit, and determining unit. The acquiring unit acquires captured images from an imaging device mounted on a vehicle. The determining unit determines the normality of the imaging direction of the imaging device in accordance with whether an appearance pattern of a combination of a portion in which a variation is detected and a portion in which a variation is not detected among the acquired captured images corresponds to a predetermined pattern.

Claims

1. A method of determining normality of an imaging direction executed by a computer, the method comprising:

acquiring captured images from an imaging device mounted on a vehicle; and

determining the normality of the imaging direction of the imaging device in accordance with whether an appearance pattern of a combination of a portion in which a variation is detected and a portion in which a variation is not detected among the acquired captured images corresponds to a predetermined pattern.

2. The method of determining normality of the imaging direction according to claim 1, wherein the acquiring acquires sequentially captured images from the imaging device mounted on the vehicle.

3. A computer-readable recording medium storing a program that causes a computer to execute a process comprising:

acquiring, from an imaging device attached to a vehicle, image data in each of a plurality of frames in each of which a reference direction is defined;

calculating, for each area of the image data in the reference direction, an index related to an amount of a difference between the frames of the image data; and

evaluating an attachment state of the imaging device on the basis of distribution of the indices related to the amount of the difference in the reference direction.

4. The computer-readable recording medium according to claim 3, wherein

the index related to the amount of the difference is the amount of the difference of luminance between the frames of the image data, and

the evaluating creates, for the position of each of a plurality of pixels in the reference direction, distribution of integrated values of luminance of the pixels arrayed in a direction intersecting the reference direction and evaluates the attachment state of the imaging device on the basis of the distribution of the integrated values of the luminance.

5. The computer-readable recording medium according to claim 3, wherein the evaluating evaluates the attachment state of the imaging device on the basis of the distribution of the indices related to the amount of the difference in an area on the end side in a direction intersecting the reference direction from among the areas of the image data.

6. The computer-readable recording medium according to claim 3, wherein the evaluating evaluates the attachment state of the imaging device on the basis of the distribution of the indices related to the amount of the difference in an area at a midpoint portion in a direction intersecting the reference direction from among the areas of the image data.

7. An evaluation device of evaluating attachment state of an imaging device mounted on a vehicle comprising a processor configured to:

acquire captured images from the imaging device; and

determine the normality of the imaging direction of the imaging device in accordance with whether an appearance pattern of a combination of a portion in which a variation is detected and a portion in which a variation is not detected among the captured imaging images corresponds to a predetermined pattern.

8. An evaluation device of evaluating attachment state of an imaging device attached to a vehicle comprising a processor configured to:

acquire, from the imaging device, image data in each of a plurality of frames in each of which a reference direction is defined;

calculate, for each area of the image data in the reference direction, an index related to an amount of a difference between the frames of the image data; and

evaluate an attachment state of the imaging device on the basis of distribution of the indices related to the amount of the difference in the reference direction.

9. The evaluation device according to claim 8, wherein

the index related to the amount of the difference is the amount of the difference of luminance between the frames of the image data, and the processor further configured to, for the position of each a plurality of pixels in the reference direction, create distribution of integrated values of luminance of the pixels arrayed in a direction intersecting the reference direction and evaluate

the attachment state of the imaging device on the basis of the distribution of the integrated values of the luminance.

10. The evaluation device according to claim 8, wherein the processor further configured to evaluate the attachment state of the imaging device on the basis of the distribution of the indices related to the amount of the difference in an area on the end side in a direction intersecting the reference direction from among the areas of the image data.

11. The evaluation device according to claim 8, wherein the processor further configured to evaluate the attachment state of the imaging device on the basis of the distribution of the indices related to the amount of the difference in an area at a midpoint portion in a direction intersecting the reference direction from among the areas of the image data.