Distance detection method and system using a stereoscopical imaging apparatus
First Claim
1. A distance detecting method for use with a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object, and a picture processing unit for processing said pictures and for outputting distance distribution information for said image, the method comprising the steps of:
- dividing one of said pictures of said image into a plurality of zones;
determining an average brightness for at least one of said zones;
determining a correction level for a present shutter speed of said stereoscopical imaging apparatus based upon said average brightness of said at least one of said zones;
correcting said present shutter speed based on said determined correction level;
performing a high-speed calculation of coincidence between at least two of said pictures for each of a plurality of small regions of each picture, and determining deviation amounts of brightness corresponding to said at least two pictures on the basis of a minimum value of a brightness difference between said at least two pictures;
detecting a minimum value and maximum value of a degree of said coincidence between said at least two of said pictures; and
determining a deviation amount of each picture element corresponding to said at least two pictures with respect to a minimum value and a maximum value for said degree of said coincidence when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two pictures is a third predetermined value.
1 Assignment
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Accused Products
Abstract
A distance detecting system for detecting a distance to an object from a moving body such an automobile by means of imaging pictures by an imaging apparatus and processing pictures into distance distribution information, the imaging apparatus having a capability of always providing proper image pictures under rapidly changing illuminance conditions, whereby securing an accuracy in the distance detecting system.
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Citations
16 Claims
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1. A distance detecting method for use with a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object, and a picture processing unit for processing said pictures and for outputting distance distribution information for said image, the method comprising the steps of:
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dividing one of said pictures of said image into a plurality of zones; determining an average brightness for at least one of said zones; determining a correction level for a present shutter speed of said stereoscopical imaging apparatus based upon said average brightness of said at least one of said zones; correcting said present shutter speed based on said determined correction level; performing a high-speed calculation of coincidence between at least two of said pictures for each of a plurality of small regions of each picture, and determining deviation amounts of brightness corresponding to said at least two pictures on the basis of a minimum value of a brightness difference between said at least two pictures; detecting a minimum value and maximum value of a degree of said coincidence between said at least two of said pictures; and determining a deviation amount of each picture element corresponding to said at least two pictures with respect to a minimum value and a maximum value for said degree of said coincidence when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two pictures is a third predetermined value. - View Dependent Claims (2, 3, 4)
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5. A distance detecting method for use with a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object, and a picture processing unit for processing said pictures and for outputting distance distribution information for the image, the method comprising the steps of:
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designating at least one particular zone in one of said pictures, calculating a frequency of picture elements for said particular zone with a minimum brightness for said particular zone, and calculating a frequency of picture elements of said particular zone with a maximum brightness for said particular zone; calculating a correction level for a present shutter speed of said stereoscopical imaging apparatus based upon said frequencies; correcting said present shutter speed by said correction level; performing a high-speed calculation of coincidence between at least two of said pictures for each of a plurality of small regions in each of said at least two pictures, and determining deviation amounts of brightness corresponding to said at least two pictures on the basis of a minimum value of a brightness difference between said at least two pictures; detecting a minimum value and a maximum value of a degree of said coincidence; and performing high-speed calculation of a degree of said coincidence between said at least two pictures for each said required small region of each of said at least two pictures, and determining a deviation amount of each picture element corresponding to said at least two pictures with respect to a minimum value and a maximum value for said degree of said coincidence when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two pictures is a third predetermined value. - View Dependent Claims (6, 7, 8)
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9. A distance detecting system, comprising:
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a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object; first memory means for storing image data making up said pictures so as to obtain distance distribution information for said image; second memory means for storing said image data so as to control a present shutter speed of said imaging apparatus, said second memory means being connected to said imaging apparatus in parallel with said first memory means; zone dividing means for dividing one of said pictures into a plurality of zones; brightness averaging means for obtaining average brightness for at least one of said zones; correction level determining means for determining a correction level of said present shutter speed based upon said average brightness said at least one of said zones; coincidence calculation means for performing a high-speed calculation of coincidence between at least two of said pictures for each of a plurality of required small regions in each of said at least two of said pictures; deviation amount determining means for determining deviation amounts of brightness corresponding to said at least two of said pictures on the basis of a minimum value of a brightness difference between said pictures maximum and minimum values detecting means for detecting a minimum value and a maximum value of a degree of coincidence between said at least two of said pictures; deviation amount determining means, which uses said minimum value for said degree of said coincidence for determining a deviation amount of a picture element corresponding to said at least two of said of said pictures with respect to a minimum value and a maximum value for said degree when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two of said pictures is a third predetermined value; and a picture processing unit for outputting a distance distribution information for an entire image based upon deviation amounts determined by said deviation amount determining means. - View Dependent Claims (10, 11, 12)
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13. A distance detecting system, comprising:
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a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object; first memory means for storing image data making up said pictures so as to obtain distance distribution information for said image; second memory means for storing said image data so as to control a present shutter speed of said imaging apparatus, said second memory means being connected to said imaging apparatus in parallel with said first memory means; zone designating means for designating at least one particular zone in one of said pictures; frequency distribution producing means for calculating a frequency of picture elements of said particular zone with a minimum brightness for said particular zone, and calculating a frequency of picture elements of said particular zone with a maximum brightness for said particular zone; correction level calculating means responsive to said frequencies for calculating a correction level for said present shutter speed; shutter speed correcting means for correcting said present shutter based upon said correction level; coincidence calculation means for performing a high-speed calculation of a coincidence between at least two of said pictures for each of a plurality of required small regions for each of said at least two of said pictures; maximum and minimum values detecting means for detecting a minimum value and a maximum value of a degree of coincidence between said at least two of said pictures; deviation amount determining means, which uses said minimum value for said degree of said coincidence for determining a deviation amount of a picture element corresponding to said plurality of said digital pictures with respect to a minimum value and a maximum value for said degree when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two of said pictures is a third predetermined value; and a picture processing unit for outputting distance distribution information for said image based upon said deviation amounts determined by said deviation amount determining means. - View Dependent Claims (14, 15, 16)
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Specification