System and method for adjusting stereo camera

• US 6,385,334 B1
• Filed: 03/10/1999
• Issued: 05/07/2002
• Est. Priority Date: 03/12/1998
• Status: Expired due to Term

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Tsuchiya, Hideaki, Saneyoshi, Keiji
• Primary Examiner(s): Johns, Andrew W.
• Assistant Examiner(s): AZARIAN, SEYED H
• Application Number:
  US09/265,379
• Time in Patent Office: 1,154 Days
• Field of Search: 382/154, 382/153, 382/291, 382/276, 382/285, 382/106, 348/42, 348/47, 348/116, 345/473, 345/419, 352/50
• US Class Current: 382/154
• CPC Class Codes: H04N 13/111 Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
• CPC Class Codes: H04N 13/167 Synchronising or controlling image signals
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• 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 13/246 Calibration of cameras
• CPC Class Codes: H04N 13/25 using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 2013/0092 Image segmentation from stereoscopic image signals

Abstract

In a correction operating part 10c, three regions including two distant regions and one near region are selected on a reference image picked up by a main camera 2, and distance data are added to the positions of the respective regions to define a range, in which corresponding regions exist, in a comparative image picked up by a sub-camera 3 to search the range to determine the positions of the regions at a resolution of one pixel or less. Then, on the basis of one of the distant regions, a translation correction value and an angle of rotation for the comparative image are derived from the relationship between the positions of the respective regions to be added to the set value of an affine transforming circuit 18 to parallel-displace and rotate the comparative image. Thereafter, an angle of rotation for causing the horizontal line of the main camera 2 to be parallel to the base line of a stereo camera is derived to be added to the set value of an affine transforming circuit 17 to rotate the reference image. Thus, the deviation of the optical axis of the stereo camera is automatically adjusted while carrying out a usual operation for picking up an image of an ordinary landscape to carry out the stereo image processing.

Claims

1. A stereo camera adjusting system for adjusting an optical axis of a stereo camera having first and second cameras arranged at regular intervals, comprising:

image adjusting means for geometrically transforming one of a first image picked up by said first camera and a second image picked up by said second camera by a translation correction value and a rotation correction value; and

correction operating means for calculating said translation correction value and said rotation correction value based on coordinate differences of a plurality of corresponding positions between said first image and said second image, wherein said corresponding positions include at least a position at long range from said stereo camera and a position at short range near said stereo camera.

2. The stereo camera adjusting system as set forth in claim 1, wherein said correction operating means calculates a vertical direction translation correction value based on a deviation of coordinates between said first image and said second image at said corresponding positions at long range and then calculates a horizontal direction translation correction value given by a deviation at infinity between said first image and said second image based on distances to said corresponding positions at long range and short range.

3. The stereo camera adjusting system as set forth in claim 2, wherein said correction operating means further calculates said rotation correction value based on coordinate differences of two corresponding positions at long range and one corresponding position at short range between said first image and said second image.

4. The stereo camera adjusting system as set forth in claim 1, wherein said image adjusting means is an affine transforming circuit.

5. A stereo camera adjusting method for adjusting an optical axis of a stereo camera having first and second cameras arranged at regular intervals and a transforming circuit having image transforming values for transforming first and second images picked up by said first and second cameras, respectively, comprising:

calculating a translation correction value and a rotation correction value based on coordinate differences of a plurality of corresponding positions between said first and second images, said corresponding positions include at least a position at long range from said stereo camera and a position at short range near said stereo camera; and

correcting said image transforming values by said translation correction value and said rotation correction value.

6. The stereo camera adjusting method as set forth in claim 5, wherein said calculating further comprises:

calculating a vertical direction translation correction value based on a deviation of coordinates between said first and second images at said corresponding positions at long range;

calculating a horizontal direction translation correction value given by a deviation at infinity between said first and second images based on distances to said corresponding positions at long range and short range; and

calculating said rotation correction value based on coordinate differences of two corresponding positions at long range and one corresponding position at short range between said first and second images.