METHOD OF DETECTING TILT OF IMAGE CAPTURING DIRECTION AND APPARATUS OF DETECTING TILT OF IMAGE CAPTURING DIRECTION

• US 20150304651A1
• Filed: 03/24/2015
• 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 10,230,946 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: H04N 17/002 for television cameras

Abstract

An image processing device includes an acquisition unit, an extraction unit, and a detection unit. The acquisition unit acquires image data for each of frame numbers from a drive recorder or the like. The extraction unit extracts a plurality of straight lines from the image data on the basis of drive recorder information. The detection unit detects a tilt of an image capturing direction of a camera according to a magnitude of an angle between a vertical axis direction of the image data and the extracted plurality of lines.

Claims

1. A method, executed by a computer, comprising:

acquiring a captured image from an image capturing device carried in a vehicle;

extracting a plurality of lines from the acquired captured image; and

detecting a tilt of an image capturing direction of the image capturing device in accordance with a magnitude of an angle between a vertical axis direction or a horizontal axis direction of the captured image and the extracted plurality of lines.

2. The method according to claim 1, wherein the plurality of lines are extracted from a region excluding edge portions on either side of the captured image.

3. A method, executed by a computer, comprising:

acquiring a captured image from an image capturing device carried in a vehicle;

extracting a plurality of lines from the acquired captured image; and

detecting a tilt of an image capturing direction of the image capturing device in accordance with the number of lines, among the extracted plurality of lines, having an angle made with a vertical axis direction or a horizontal axis direction of the captured image exceeding a predetermined magnitude.

4. The method according to claim 3, wherein the plurality of lines are extracted from a region excluding edge portions on either side of the captured image.

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

acquiring a captured image from an image capturing device carried in a vehicle;

extracting a plurality of lines from the acquired captured image; and

detecting a tilt of an image capturing direction of the image capturing device in accordance with a magnitude of an angle between a vertical axis direction or a horizontal axis direction of the captured image and the extracted plurality of lines.

6. The non-transitory computer-readable recording medium according to claim 5, wherein the plurality of lines are extracted from a region excluding edge portions on either side of the captured image.

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

acquiring a captured image from an image capturing device carried in a vehicle;

extracting a plurality of lines from the acquired captured image; and

detecting a tilt of an image capturing direction of the image capturing device in accordance with the number of lines, among the extracted plurality of lines, having an angle made with a vertical axis direction or a horizontal axis direction of the captured image exceeding a predetermined magnitude.

8. The non-transitory computer-readable recording medium according to claim 7, wherein the plurality of lines are extracted from a region excluding edge portions on either side of the captured image.

9. An apparatus comprising

a processor configured to:

acquire a captured image from an image capturing device carried in a vehicle;

extract a plurality of lines from the acquired captured image; and

detect a tilt of an image capturing direction of the image capturing device in accordance with a magnitude of an angle between a vertical axis direction or a horizontal axis direction of the captured image and the extracted plurality of lines.

10. The apparatus according to claim 9, wherein the plurality of lines are extracted from a region excluding edge portions on either side of the captured image.

11. An apparatus comprising

a processor configured to:

acquire a captured image from an image capturing device carried in a vehicle;

extract a plurality of lines from the acquired captured image; and

detect a tilt of an image capturing direction of the image capturing device according to the number of lines, among the extracted plurality of lines, having an angle made with a vertical axis direction or a horizontal axis direction of the captured image exceeding a predetermined magnitude.

12. The apparatus according to claim 11, wherein the plurality of lines are extracted from a region excluding edge portions on either side of the captured image.