Abnormality detecting apparatus for imaging apparatus

• US 7,619,668 B2
• Filed: 11/28/2005
• Issued: 11/17/2009
• Est. Priority Date: 11/30/2004
• Status: Active Grant

• Current Assignee: Arriver Software AB (Qualcomm, Inc.)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Saka, Masakazu, Nagaoka, Nobuharu, Watanabe, Masahito, Hashimoto, Hideki
• Primary Examiner(s): Tran; Nhan T
• Assistant Examiner(s): Berhan; Ahmed A
• Application Number:
  US11/287,739
• Publication Number:
  US 20060114318A1
• Time in Patent Office: 1,450 Days
• Field of Search: 348/234, 348/243, 348/246, 348/247, 348/187, 348/180, 348/159, 348/148, 364/552, 382/149, 382/170, 382/104
• US Class Current: 348/251
• CPC Class Codes: G03B 43/00 Testing correct operation of photographic apparatus or parts thereof
• CPC Class Codes: H04N 17/002 for television cameras

Abstract

An abnormality detecting apparatus for an imaging apparatus that detects a presence of abnormalities in imaging apparatuses mounted on a vehicle to capture vehicle surroundings, which includes: a luminance variance value calculating device that calculates a luminance variance value of each image from the imaging apparatuses using the luminance value of each image from the imaging apparatuses obtained by the imaging apparatuses; and an abnormality detecting device that detects the presence of abnormalities in any of the imaging apparatuses in accordance with the luminance variance values calculated by the luminance variance value calculating device.

Claims

1. An abnormality detecting apparatus for an imaging apparatus having a plurality of imaging apparatuses, that detects a presence of abnormalities in said imaging apparatuses, said abnormality detecting apparatus comprising:

a luminance variance value calculating device that calculates a luminance variance value of each image from the imaging apparatuses using the luminance value of each image obtained by the imaging apparatuses;

a variance value difference calculating device that calculates a difference between the luminance variance values of images from each of the imaging apparatuses; and

an abnormality detecting device that detects the presence of abnormalities in any of the imaging apparatuses in accordance with the luminance variance values calculated by the luminance variance value calculating device;

wherein said imaging apparatuses are mounted on a vehicle for capturing images of vehicle surroundings; and

wherein the abnormality detecting device detects the presence of abnormalities in any of the imaging apparatuses in accordance with the luminance variance value calculated by the luminance variance value calculating device and the difference calculated by the variance value difference calculating device.

2. The abnormality detecting apparatus for an imaging apparatus according to claim 1, wherein said luminance variance value calculating device calculates the luminance value of each image obtained by the imaging apparatuses as a luminance histogram involving a frequency variance with respect to luminance value, and calculates the luminance variance value using the calculated luminance histogram.

3. The abnormality detecting apparatus for an imaging apparatus according to claim 1, wherein the abnormality detecting device detects the presence of grime in an optical system of any of the imaging apparatuses in accordance with the luminance variance values calculated by the luminance variance value calculating device.

4. The abnormality detecting apparatus for an imaging apparatus according to claim 1, wherein the abnormality detecting device detects the presence of grime in an optical system of any of the imaging apparatuses based on an average value of a plurality of the luminance variance values calculated by the luminance variance value calculating device over a preset time.

5. The abnormality detecting apparatus for an imaging apparatus according to claim 1, further comprising:

a determination region setting device which sets a target determination region comprising a specified region on each image obtained from the imaging apparatuses and the luminance variance value calculating device calculates the luminance variance value of the target determination region of each image; and

an excluded region setting portion which excludes from the target determination region on each image obtained from the imaging apparatuses any region of high luminance having a luminance value≧

a preset value.

6. The abnormality detecting apparatus for an imaging apparatus according to claim 1, further comprising:

a vehicle behavior estimating portion which determines whether sensed behavior of the vehicle is appropriate for detecting the presence of abnormalities in any of the imaging apparatuses, and the abnormality detecting apparatus suspends an abnormality detecting operation when the sensed behavior of the vehicle is not appropriate for detecting the presence of abnormalities.

7. The abnormality detecting apparatus for an imaging apparatus according to claim 6, wherein the vehicle behavior estimating portion comprises at least one of a yaw rate sensor, a vehicle speed sensor, a brake sensor, an acceleration sensor, and a windshield wiper switch.

8. The abnormality detecting apparatus for an imaging apparatus according to claim 1, further comprising at least one of audible or visual warning-generating alarm mechanisms for generating an audible or visual alarm when an abnormality is detected.

9. The abnormality detecting apparatus for an imaging apparatus according to claim 1, comprising two imaging apparatuses mounted on a front portion of the vehicle, wherein optical axes of the imaging apparatuses are substantially parallel to each other and at substantially a same height from a road.

10. An abnormality detecting apparatus, for an imaging apparatus comprising a first imaging apparatus and a second imaging apparatus, that detects a presence of abnormalities in said first imaging apparatus and said second imaging apparatus, said abnormality detecting apparatus comprising:

a first luminance variance value calculating device that calculates a luminance variance value of each image using a luminance value of each image obtained by the first imaging apparatus;

a second luminance variance value calculating device that calculates a luminance variance value of each image using a luminance value of each image obtained by the second imaging apparatus;

a variance difference calculating device that calculates a difference of luminance variance value between the image from the first imaging apparatus and the image from the second imaging apparatus, based on the luminance variance value of each image from the first imaging apparatus and the luminance variance value of each image from the second imaging apparatus;

a first abnormality detecting device that detects the presence of abnormalities in the first imaging apparatus and the second imaging apparatus based on the difference of luminance variance value calculated by the variance difference calculating device; and

a second abnormality detecting device that detects the presence of abnormalities in the first imaging apparatus and the second imaging apparatus based on the luminance variance value of each image from the first imaging apparatus and the luminance variance value of each image from the second imaging apparatus;

wherein

said first imaging apparatus and said second imaging apparatus are mounted on a vehicle for capturing images of vehicle surroundings.

11. The abnormality detecting apparatus for an imaging apparatus according to claim 10, wherein said first and second luminance variance value calculating devices calculate the luminance value of each image obtained by the first and second imaging apparatuses as a luminance histogram involving a frequency variance with respect to luminance value, and calculate the luminance variance value using the calculated luminance histogram.

12. The abnormality detecting apparatus for an imaging apparatus according to claim 10, wherein the first and second abnormality detecting devices detects the presence of grime in an optical system of the first and second imaging apparatuses in accordance with the luminance variance values calculated by the first and second luminance variance value calculating devices.

13. The abnormality detecting apparatus for an imaging apparatus according to claim 10, wherein the first and second abnormality detecting device detects the presence of grime in an optical system of the first and second imaging apparatuses based on an average value of a plurality of the luminance variance values calculated by the first and second luminance variance value calculating devices over a preset time.

14. The abnormality detecting apparatus for an imaging apparatus according to claim 10, further comprising:

first and second determination region setting devices which set a target determination region comprising a specified region on each image obtained from the first and second imaging apparatuses and the first and second luminance variance value calculating devices calculate the luminance variance value of the target determination region of each image; and

first and second excluded region setting portions which exclude from the target determination regions on each image obtained from the first and second imaging apparatuses any region of high luminance having a luminance≧

value a preset value.

15. The abnormality detecting apparatus for an imaging apparatus according to claim 10, further comprising:

a vehicle behavior estimating portion which determines whether sensed behavior of the vehicle is appropriate for detecting the presence of abnormalities in the first and second imaging apparatuses, and the abnormality detecting apparatus suspends an abnormality detecting operation when the sensed behavior of the vehicle is not appropriate for detecting the presence of abnormalities.

16. The abnormality detecting apparatus for an imaging apparatus according to claim 15, wherein the vehicle behavior estimating portion comprises at least one of a yaw rate sensor, a vehicle speed sensor, a brake sensor, an acceleration sensor, and a windshield wiper switch.