Parameter determining device, parameter determining system, parameter determining method, and recording medium

• US 8,947,533 B2
• Filed: 01/21/2011
• Issued: 02/03/2015
• Est. Priority Date: 01/22/2010
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Bandou, Fumiaki
• Primary Examiner(s): Lee, Michael
• Application Number:
  US13/574,711
• Publication Number:
  US 20120293659A1
• Time in Patent Office: 1,474 Days
• Field of Search: 348/148, 348/143, 348/147, 348/149, 348/159
• US Class Current: 348/148
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 17/002 for television cameras
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A parameter determining device configured to be installed in a vehicle includes an image acquirer, a parameter identifier, a synthetic image generator, and a validity judger. The image acquirer acquires camera images captured by cameras provided on the vehicle. The parameter identifier identifies installation parameters of the cameras based on the acquired camera images. The synthetic image generator generates a synthetic image showing a periphery of the vehicle viewed from a prescribed virtual viewpoint based on the acquired camera images and the identified installation parameters. The validity judger compares the synthetic image with a reference image showing the periphery of the vehicle viewed from a prescribed position to judge whether the identified installation parameters have validity.

Claims

1. A parameter determining device configured to be installed in a vehicle, comprising:

an image acquirer configured to acquire camera images captured by cameras provided on the vehicle;

a parameter identifier configured to identify installation parameters of the cameras based on the acquired camera images;

a synthetic image generator configured to generate a synthetic image based on the acquired camera images and the identified installation parameters, the synthetic image showing a periphery of the vehicle viewed from a prescribed virtual viewpoint; and

a validity judge configured to compare the synthetic image with a reference image to judge whether validity of the identified installation parameters, the reference image showing the periphery of the vehicle viewed from a prescribed position.

2. The parameter determining device according to claim 1, wherein the reference image is an actual image of the periphery of the vehicle which is captured by an external camera disposed in an outside of the vehicle.

3. The parameter determining device according to claim 1, wherein each of the prescribed virtual viewpoint and the prescribed position is right above of the vehicle.

4. The parameter determining device according to claim 1, further comprising a brightness adjuster configured to adjust an average brightness of the synthetic image to be coincident with an average brightness of the reference image, before the validity judge compares the synthetic image with the reference image.

5. The parameter determining device according to claim 1, wherein each of the synthetic image and the reference image contains a pattern at the periphery of the vehicle.

6. The parameter determining device according to claim 5, wherein the pattern entirely surrounds the vehicle.

7. The parameter determining device according to claim 1, wherein the validity judge is configured to automatically judge the validity of the installation parameters when the installation parameters are identified.

8. The parameter determining device according to claim 1, further comprising a storage configured to store the reference image.

9. A parameter determining system, comprising:

an external camera configured to capture an image of a periphery of a vehicle viewed from a prescribed position as a reference image;

cameras provided on the vehicle; and

a parameter determining device configured to be installed in the vehicle, comprising;

an image acquirer configured to acquire camera images captured by the cameras;

a parameter identifier configured to identify installation parameters of the cameras based on the acquired camera images;

a synthetic image generator configured to generate a synthetic image based on the acquired camera images and the identified installation parameters, the synthetic image showing a periphery of the vehicle viewed from a prescribed virtual viewpoint; and

a validity judge configured to compare the synthetic image with the reference image to judge whether validity of the identified installation parameters.

10. The parameter determining system according to claim 9, further comprising a pattern arranged to be disposed at the periphery of the vehicle.

11. The parameter determining system according to claim 10, wherein the pattern is arranged so as to entirely surround the vehicle.

12. A parameter determining method, comprising:

acquiring camera images captured by cameras provided on a vehicle;

identifying installation parameters of the cameras based on the acquired camera images;

generating a synthetic image based on the acquired camera images and the identified installation parameters, the synthetic image showing a periphery of the vehicle viewed from a prescribed virtual viewpoint; and

comparing the synthetic image with a reference image to judge whether validity of the identified installation parameters, the reference image showing the periphery of the vehicle viewed from a prescribed position.

13. The parameter determining method according to claim 12, further comprising:

placing the vehicle at a prescribed location so that a pattern is disposed in the periphery of the vehicle; and

capturing an actual image of the periphery of the vehicle with an external camera disposed in an outside of the vehicle, as the reference image.

14. A non-transitory recording medium having recorded a computer-readable program configured to cause a computer to execute the parameter determining method according to claim 12.