Vehicle vicinity monitoring apparatus
First Claim
Patent Images
1. A vehicle vicinity monitoring apparatus for use on a vehicle, said apparatus comprising:
- an imaging unit for obtaining an image of a vicinity of said vehicle;
an object distance detecting unit for detecting a distance up to an object; and
an object information calculating unit for calculating information as to the object with a calculation method corresponding to said distance up to said object which is detected by said object distance detecting unit;
a coordinate reference value memory unit for storing reference coordinates of an object whose image is obtained by said imaging unit for adjustment; and
a template memory unit for storing a plurality of templates representing obtained images of objects depending on the distance from said imaging unit,wherein said object information calculating unit comprises;
a template selecting unit for selecting one of said templates stored in said template memory unit depending on the distance from said imaging unit to said object; and
an object coordinate calculating unit for performing template matching on said image obtained by said imaging unit by using said template selected by said template selecting unit, and calculating coordinates of said object.
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Abstract
An ECU of a night vision system stores small obtained images of provisional targets as six templates depending on the distance from infrared cameras, and selects one of the templates depending on the distance up to an actual object. Using the selected template, the ECU performs template matching on images obtained by the infrared cameras, and calculates coordinates of the inspection target. The ECU compares the calculated coordinates of the inspection target and stored reference coordinates with each other, and determines mounted angles of the infrared cameras.
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Citations
11 Claims
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1. A vehicle vicinity monitoring apparatus for use on a vehicle, said apparatus comprising:
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an imaging unit for obtaining an image of a vicinity of said vehicle; an object distance detecting unit for detecting a distance up to an object; and an object information calculating unit for calculating information as to the object with a calculation method corresponding to said distance up to said object which is detected by said object distance detecting unit; a coordinate reference value memory unit for storing reference coordinates of an object whose image is obtained by said imaging unit for adjustment; and a template memory unit for storing a plurality of templates representing obtained images of objects depending on the distance from said imaging unit, wherein said object information calculating unit comprises; a template selecting unit for selecting one of said templates stored in said template memory unit depending on the distance from said imaging unit to said object; and an object coordinate calculating unit for performing template matching on said image obtained by said imaging unit by using said template selected by said template selecting unit, and calculating coordinates of said object. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A vehicle vicinity monitoring apparatus for use on a vehicle, said apparatus comprising:
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an imaging unit for obtaining an image of a vicinity of said vehicle; an object distance detecting unit for detecting a distance up to an object; a perspective transformation model selecting unit for selecting an optical perspective transformation model which corresponds to said distance up to said object which is detected by said object distance detecting unit; and an actual-space position calculating unit for calculating a position in an actual space of said object by performing perspective transformation on coordinates of said object in said image with said a perspective transformation model selected by said perspective transformation model selecting unit. - View Dependent Claims (8)
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9. A vehicle vicinity monitoring apparatus for use on a vehicle, said apparatus comprising:
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an imaging unit for obtaining an image of a vicinity of said vehicle; an object distance detecting unit for detecting a distance up to an object; an object information calculating unit for calculating information as to the object with a calculation method corresponding to said distance up to said object which is detected by said object distance detecting unit; and a model memory unit for storing a first expression based on a short-distance pin-hole model as an optical perspective transformation model of said imaging unit and a second expression based on a long-distance pin-hole model as an optical perspective transformation model of said imaging unit, wherein said object information calculating unit calculates a position of said object according to said first expression if said distance up to said object which is detected by said object distance detecting unit is equal to or smaller than a predetermined threshold, and calculates a position of said object according to said second expression if said distance up to said object which is detected by said object distance detecting unit exceeds said predetermined threshold. - View Dependent Claims (10, 11)
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Specification