RANGE FINDER AND RANGE CORRECTION DEVICE CORRECTION PARAMETERS

• US 20170201736A1
• Filed: 06/17/2015
• Published: 07/13/2017
• Est. Priority Date: 06/23/2014
• Status: Abandoned Application

• Current Assignee: DENSO Corporation, Toyota School Foundation
• Original Assignee: DENSO Corporation, Toyota School Foundation
• Inventors: Ishimaru, Kazuhisa, Niknejad, Hossein Tehrani, Mita, Seiichi, Long, Qian
• Application Number:
  US15/320,986
• Publication Number:
  US 20170201736A1
• Time in Patent Office: Days
• CPC Class Codes: G01C 3/06 Use of electric means to obtain final indication
• CPC Class Codes: G01C 3/10 using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
• CPC Class Codes: H04N 13/128 Adjusting depth or disparity
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 13/246 Calibration of cameras
• CPC Class Codes: H04N 13/271 wherein the generated image signals comprise depth maps or disparity maps
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

A range correction device includes an image acquiring unit, a collimating unit, a disparity calculating unit, and an updating unit. The image acquiring unit acquires stereo images formed of a plurality of simultaneously captured images. The collimating unit collimates the stereo images acquired by the image acquiring unit, using a correction parameter for correcting a vertical displacement between stereo images. The disparity calculating unit calculates a distribution of horizontal disparities between the stereo images from the stereo images collimated by the collimating unit. The updating unit calculates a distribution of vertical displacements between the stereo images on the basis of the stereo images and the distribution of horizontal disparities calculated by the disparity calculating unit and updates the correction parameter on the basis of the distribution of the calculated vertical displacements.

Claims

1. A range correction device comprising:

an image acquiring unit that acquires stereo images formed of a plurality of images of a common region simultaneously captured by a plurality of cameras from different positions;

a collimating unit that collimates the stereo images acquired by the image acquiring unit, using a correction parameter for correcting a vertical displacement between the stereo images;

a disparity calculating unit that calculates distribution of horizontal disparities between the stereo images from the stereo images collimated by the collimating unit; and

an updating unit that calculates distribution of vertical displacements between the stereo images on the basis of the stereo images and the distribution of horizontal disparities calculated by the disparity calculating unit and updates the correction parameter on the basis of the distribution of the calculated vertical displacements.

2. The range correction device according to claim 1, wherein

the updating unit prepares distribution of vertical displacements between the stereo images by calculating a vertical component of optical flow between the stereo images on the basis of the stereo images and the distribution of horizontal disparities calculated by the disparity calculating unit.

3. The range correction device according to claim 1, wherein

the updating unit calculates several distributions of vertical displacements between the stereo images, for each of the stereo images captured several times at different time points and updates the correction parameter on the basis of a result of statistical processing of calculation results of the stereo images captured several times.

4. The range correction device according to claim 1, wherein

the range correction device comprises a reliability determining unit that determines reliability of the calculation result of the updating unit on the basis of at least any of a status of stereo images acquired by the image acquiring unit, a status of calculation of a horizontal disparity between the stereo images conducted by the disparity calculating unit, or an operating status of a specific machine influencing a field of view of the camera;

and

the updating unit limits calculation of distribution of vertical displacements between the stereo images according to a determination result of the reliability determining unit.

5. A range finder comprising:

an image acquiring unit that acquires stereo images in which an object is imaged, the stereo images being formed of a plurality of images of a common region simultaneously captured by a plurality of cameras from different positions;

a collimating unit that collimates the stereo images acquired by the image acquiring unit, using a correction parameter for correcting a vertical displacement between stereo images;

a disparity calculating unit that calculates distribution of horizontal disparities between the stereo images from the stereo images collimated by the collimating unit;

an updating unit that calculates distribution of vertical displacements between the stereo images on the basis of the stereo images and the distribution of horizontal disparities calculated by the disparity calculating unit and updates the correction parameter on the basis of the distribution of the calculated vertical displacements; and

a distance calculating unit that calculates a distance to the object on the basis of the distribution of horizontal disparities calculated by the disparity calculating unit, and prepares and outputs distance information indicating the calculated distance.

6. The range finder according to claim 5, wherein

the updating unit prepares distribution of vertical displacements between the stereo images by calculating a vertical component of optical flow between the stereo images on the basis of the stereo images and the distribution of horizontal disparities calculated by the disparity calculating unit.

7. The range finder according to claim 5, wherein

the updating unit calculates a plurality of distributions of vertical displacements between the stereo images for the stereo images captured at a plurality of times at different timings and updates the correction parameter based on a result in which a plurality of calculated results is subjected to statistical processing.

8. The range finder according to claim 5, wherein

the range finder comprises a reliability determining unit that determines reliability of the calculation result of the updating unit on the basis of at least any of a status of stereo images acquired by the image acquiring unit, a status of calculation of a horizontal disparity between the stereo images conducted by the disparity calculating unit, or an operating status of a specific machine influencing a field of view of the camera;

and

the updating unit limits calculation of distribution of vertical displacements between the stereo images according to a determination result of the reliability determining unit.