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Frontal view imaging and control device installed on movable object

  • US 8,050,458 B2
  • Filed: 06/16/2008
  • Issued: 11/01/2011
  • Est. Priority Date: 06/18/2007
  • Status: Expired due to Fees
First Claim
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1. A frontal view imaging and control device installed on a movable object, comprising:

  • an image input unit receiving an image taken by an imaging device that captures a region of a road surface in a predetermined direction;

    a projection transformation unit linking each pixel of the image onto a virtual two-dimensional plane of a road surface through coordinate transformation in accordance with an optical model of the imaging device so as to form a virtual projection image on the two-dimensional plane;

    a projection likelihood calculation unit dividing the virtual projection image into a distant view section and a close view section along a longitudinal axis extending in a straight forward direction, projecting the distant view section and the close view section onto a lateral axis, and calculating similarity defined between a projection of the distant view section and a projection of the close view section; and

    an attitude angle calculation unit determining an angle of depression and a panning angle that maximize the similarity between the projection of the distant view section and the projection of the close view section as a measured attitude angle that indicates an image capturing direction of the imaging device.

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