Method for determining the angular magnitude of imaging acquiring apparatus and vehicle collision warning system using thereof
First Claim
1. A method for determining installed angle of image acquiring apparatus, comprising steps of:
- arranging an image acquiring apparatus on a carrier within a predetermined angular range;
acquiring an image of a calibrating tool by the image acquiring apparatus, wherein the image acquiring apparatus is disposed on the carrier by an angular stationary device so that the imaging acquiring apparatus is capable of being installed within the predetermined angular range;
calculating a position of a feature of the image with respect to the calibrating tool according to an image coordinate system and a characteristic value of the feature of the calibrating tool associated with a spatial coordinate system; and
performing an iterative angle-calculating procedure according to the position and the characteristic value for obtaining an installed angle of the image acquiring apparatus, wherein the iterative angle-calculating procedure comprises steps of;
determines a relation between the installed angle and a ratio factor, a focal length of the image acquiring apparatus, the position, the characteristic value, an installed height of the image acquiring apparatus, and vertical pixel numbers of a display unit showing the image acquired by the image acquiring apparatus;
calculating the ratio factor with respect the image acquiring apparatus;
substituting the value of the ratio factor, focal length of the image acquiring apparatus, the position, the characteristic value, installed height of the image acquiring apparatus, and vertical pixel numbers of the display unit showing the image acquired by the image acquiring apparatus into the relation; and
obtaining a convergent installed angle of the image acquiring apparatus by iterating several times;
wherein the characteristic value is a numerical difference derived from the coordinate position of the upper horizontal boundary associated with the calibrating tool and the lower horizontal boundary associated with the calibrating tool, and the relation is defined as;
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Accused Products
Abstract
The invention provides a method for determining the angular magnitude of an imaging acquiring apparatus, which is capable of obtaining an arranging angular magnitude with respect to the imaging acquiring apparatus in various environments by an iteration algorithm having parameters of position of a calibrating tool with respect to an image coordinate system and characteristic value corresponding to a spatial coordinate system respectively. Meanwhile, the present further provides a vehicle collision warning system which functions to obtain the relative distance between the carrier and objects around according to the image acquired by the imaging acquiring apparatus and the angular magnitude and height of the imaging acquiring apparatus. By means of the method disclosed in the present invention, the procedure to detect the angular magnitude of the image acquiring apparatus is more convenient and accurate such that the convenience for using the vehicle collision warning system is capable of being improved.
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Citations
23 Claims
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1. A method for determining installed angle of image acquiring apparatus, comprising steps of:
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arranging an image acquiring apparatus on a carrier within a predetermined angular range; acquiring an image of a calibrating tool by the image acquiring apparatus, wherein the image acquiring apparatus is disposed on the carrier by an angular stationary device so that the imaging acquiring apparatus is capable of being installed within the predetermined angular range; calculating a position of a feature of the image with respect to the calibrating tool according to an image coordinate system and a characteristic value of the feature of the calibrating tool associated with a spatial coordinate system; and performing an iterative angle-calculating procedure according to the position and the characteristic value for obtaining an installed angle of the image acquiring apparatus, wherein the iterative angle-calculating procedure comprises steps of; determines a relation between the installed angle and a ratio factor, a focal length of the image acquiring apparatus, the position, the characteristic value, an installed height of the image acquiring apparatus, and vertical pixel numbers of a display unit showing the image acquired by the image acquiring apparatus; calculating the ratio factor with respect the image acquiring apparatus; substituting the value of the ratio factor, focal length of the image acquiring apparatus, the position, the characteristic value, installed height of the image acquiring apparatus, and vertical pixel numbers of the display unit showing the image acquired by the image acquiring apparatus into the relation; and obtaining a convergent installed angle of the image acquiring apparatus by iterating several times; wherein the characteristic value is a numerical difference derived from the coordinate position of the upper horizontal boundary associated with the calibrating tool and the lower horizontal boundary associated with the calibrating tool, and the relation is defined as; - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A vehicle collision system, comprising:
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an image acquiring apparatus for acquiring an image surrounded a vehicle; an image processing and controlling unit for calculating a position of a feature of the image with respect to the calibrating tool according to an image coordinate system and a characteristic value of the feature of the calibrating tool associated with a spatial coordinate system, performing an iterative angle-calculating procedure according to a relation between the position and the characteristic value for obtaining an installed angle of the image acquiring apparatus, and analyzing a relative distance calculated according to the image, the installed angle and installed height of the image acquiring apparatus, between the vehicle and objectives around the vehicle so as to determine if it is necessary to generate an alarm signal; a display unit, electrically coupled to the image processing and controlling unit, for displaying the image; and an alarm unit, electrically coupled to the image processing and controlling unit, for receiving the alarm signal to generate an alarm message; wherein the characteristic value is a numerical difference derived from the coordinate position of the upper horizontal boundary associated with the calibrating tool and the lower horizontal boundary associated with the calibrating tool, and the relation is defined as; - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification