Method for examining shooting direction of camera apparatus, device thereof and structure for installing sensor

• US 8,508,657 B2
• Filed: 08/13/2010
• Issued: 08/13/2013
• Est. Priority Date: 09/22/1999
• Status: Expired due to Fees

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Sogawa, Yoshiyuki, Murakami, Keiichi, Tozawa, Yoshio
• Primary Examiner(s): SELBY, GEVELL V
• Application Number:
  US12/856,027
• Publication Number:
  US 20100302370A1
• Time in Patent Office: 1,096 Days
• Field of Search: 348/373, 348/116, 348/333.01, 348/33.06, 348/118, 348/148, 348/51, 348/53
• US Class Current: 348/373
• CPC Class Codes: G01B 11/272 using photoelectric detection means
• CPC Class Codes: G01S 11/00 Systems for determining distance or velocity not using reflection or reradiation position-fixing by co-ordinating two or more distance determinations G01S5/00
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• 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 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 2013/0096 Synchronisation or controlling aspects

Abstract

In a test method in which an image photographed by a camera apparatus 1 attached to a body of a vehicle is displayed on a display device 17 and an examiner examines compliance or non-compliance of the shooting direction of the camera apparatus 1 by comparing the position of a reference pattern and the position of a judgment pattern on the displayed photographed image, the photographed image is obtained at first by photographing with the camera apparatus 1 a test chart which is placed at a predefined position ahead of the vehicle with the reference pattern drawn on the test chart. Next, the judgment pattern is set at a specific position on the photographed image. Then, the photographed image on which the judgment pattern has been set is displayed on the display device 17.

Claims

1. A test device for examining the shooting direction of a camera apparatus installed on a vehicle, comprising:

a mounting member;

a camera apparatus attached to a body of a vehicle via said mounting member, and configured to photograph a situation ahead of the vehicle and output a photographed image;

a processing unit for superimposing a specific judgment pattern on a specific position of said photographed image; and

a display device for displaying said photographed image, wherein

said processing unit is configured to perform the superimposition operation based on a photographed image taken of a test chart placed at a predefined position ahead of the vehicle with a specific reference pattern on the test chart,

said display device is configured to display the position of said reference pattern on said photographed image and the position of said judgment pattern in a manner that they are compared with each other,

said mounting member is a replaceable member being independent of said camera apparatus wherein the shooting direction of said camera apparatus is determined by the shape of said mounting member, and

said mounting member is a plate-like member having a tapered shape in cross section along the shooting direction, and a vertical component of the shooting direction of said camera apparatus is determined by said tapered shape.

2. The test device for examining the shooting direction of the camera apparatus according to claim 1, wherein said processing unit is configured to superimpose said judgment pattern having at least one judgment reference line extending in a horizontal direction and at least one judgment reference line extending in a vertical direction on said photographed image.

3. The test device for examining the shooting direction of the camera apparatus according to claim 1, wherein said display device is a navigation display provided in a navigation device.

4. The test device for examining the shooting direction of the camera apparatus according to claim 1, wherein said reference pattern is at least one of a crisscross pattern and a rectangular pattern.

5. The test device for examining the shooting direction of the camera apparatus according to claim 1, wherein said camera apparatus is a stereo camera apparatus.

6. A test device for examining the shooting direction of an onboard camera apparatus attached to a body of a vehicle, comprising:

a camera apparatus attached to the vehicle body and configured to photograph a situation ahead of the vehicle and output a photographed image; and

a test unit for examining the shooting direction of said camera apparatus based on a photographed image obtained by photographing with said camera apparatus a test chart placed at a predefined position ahead of the vehicle with a specific reference pattern on the test chart, wherein

said test unit is configured to determine the position of said reference pattern on said photographed image, and to judge that the shooting direction of said camera apparatus is proper when the position of said reference pattern is determined to fall within a predetermined proper range defining a range appropriate for the shooting direction of said camera apparatus, and to judge that the shooting direction of said camera apparatus is improper when the position of said reference pattern falls outside said proper range,

said test unit is configured to evaluate a correlation of a plurality of specific regions in said photographed image with a previously prepared specific brightness characteristics pattern and, to specify the position of one of said specific regions having the greatest correlation as the position of said reference pattern, and

said brightness characteristics pattern has the same brightness characteristics as said reference pattern shown on said photographed image.

7. The test device for examining the shooting direction of the camera apparatus according to claim 6, wherein

said test unit is configured to evaluate the correlation of a plurality of specific regions existing in a specific search range within said photographed image with said brightness characteristics pattern, and

the setting position of said search range is determined based on the position of said reference pattern shown on said photographed image under conditions where said camera apparatus is properly mounted, and the area of said search range is set in consideration of a deviation of the shooting direction of said camera apparatus.

8. The test device for examining the shooting direction of the camera apparatus according to claim 6, wherein said reference pattern is at least one of a crisscross pattern and a rectangular pattern.

12. The test device for examining the shooting direction of the camera apparatus according to claim 6, wherein said camera apparatus is a stereo camera apparatus.

13. A method for examining the shooting direction of an onboard camera apparatus attached to a body of a vehicle using the test device of claim 6, comprising:

outputting a photographed image of a situation ahead of the vehicle; and

examining, with said test unit, the shooting direction of said camera apparatus based on a photographed image of a test chart placed at a predefined position ahead of the vehicle with a specific reference pattern on the test chart,

wherein examining with said test unit includes determining, with said test unit, the position of said reference pattern on said photographed image, and judging, with said test unit, that the shooting direction of said camera apparatus is proper if the position of said reference pattern is determined to fall within a predetermined proper range defining a range appropriate for the shooting direction of said camera apparatus, and that the shooting direction of said camera apparatus is improper if the position of said reference pattern is determined to fall outside said proper range.

14. The method according to claim 13, wherein

examining with said test unit includes evaluating a correlation of a plurality of specific regions in said photographed image with a previously prepared specific brightness characteristics pattern, and specifying the position of one of said regions having the greatest correlation as the position of said reference pattern, and

said brightness characteristics pattern has the same brightness characteristics as said reference pattern shown on said photographed image.

15. The method according to claim 14, wherein

examining with said test unit includes evaluating the correlation of a plurality of specific regions existing in a specific search range within said photographed image with said brightness characteristics pattern, and

the setting position of said search range is determined based on the position of said reference pattern shown on said photographed image under conditions where said camera apparatus is properly mounted, and the area of said search range is set in consideration of a deviation of the shooting direction of said camera apparatus.

16. The method according to claim according to claim 13, further comprising displaying on a display device said photographed image, wherein said display device is a navigation display provided in a navigation device.

9. A test device for examining the shooting direction of an onboard camera apparatus attached to a body of a vehicle, comprising:

a camera apparatus attached to the vehicle body and configured to photograph a situation ahead of the vehicle and output a photographed image;

a test unit for examining the shooting direction of said camera apparatus based on a photographed image obtained by photographing with said camera apparatus a test chart placed at a predefined position ahead of the vehicle with a specific reference pattern on the test chart; and

a mounting member, wherein

said test unit is configured to determine the position of said reference pattern on said photographed image, and to judge that the shooting direction of said camera apparatus is proper when the position of said reference pattern is determined to fall within a predetermined proper range defining a range appropriate for the shooting direction of said camera apparatus, and to judge that the shooting direction of said camera apparatus is improper when the position of said reference pattern falls outside said proper range,

said camera apparatus is attached to the vehicle body via said mounting member, and

said test unit is configured to output instructional information concerning adjustment of the mounting of said camera apparatus according to the amount of a deviation of said reference pattern relative to said proper range when the position of said reference pattern deviates from said proper range.

10. The test device for examining the shooting direction of the camera apparatus according to claim 9, wherein

said mounting member is a replaceable member being independent of said camera apparatus, and the shooting direction of said camera apparatus is determined by the shape of said mounting member;

and

said test unit is configured to select a mounting member having a shape for minimizing the amount of deviation of said reference pattern from a plurality of previously prepared mounting members having different shapes, and to output the instructional information concerning said selected mounting member.

11. The test device for examining the shooting direction of the camera apparatus according to claim 10, wherein said mounting member is a plate-like member having a tapered shape in cross section along the shooting direction, and the vertical component of the shooting direction of said camera apparatus is determined by said tapered shape.