Image processing device and image processing method for camera calibration
First Claim
1. An image processing device comprising:
- an integrating unit configured to acquire, from a camera installed on a movable body, images that are captured by the camera while the movable body is moving and integrates the acquired images so as to generate an integrated image;
a vanishing-point identifying unit configured to extract brightness edges from the integrated image and identifies an intersection point of lines determined by using the brightness edges as a vanishing point;
a determining unit configured to determine whether a parameter of the camera has an appropriate value by using coordinates of the vanishing point identified and reference coordinates, the reference coordinates being coordinates of a reference vanishing point stored; and
a correcting unit configured to correct the parameter of the camera in accordance with a difference between the coordinates of the vanishing point identified and the reference coordinates.
1 Assignment
0 Petitions
Accused Products
Abstract
In a calibration device, an image-integration averaging processing unit integrates/averages an image so as to generate an integrated and averaged image, and an edge extracting unit extracts the edges from the integrated and averaged image. A vanishing-point extracting unit calculates vanishing lines by using the edges and identifies the coordinates of the intersection point of the vanishing lines as the coordinates of the vanishing point. An error determining unit compares the coordinates of the current vanishing point with the coordinates of the previous vanishing point so as to determine whether a parameter of the camera needs correcting. In accordance with the result of the determination, a correction processing unit corrects a parameter of the camera.
-
Citations
9 Claims
-
1. An image processing device comprising:
-
an integrating unit configured to acquire, from a camera installed on a movable body, images that are captured by the camera while the movable body is moving and integrates the acquired images so as to generate an integrated image; a vanishing-point identifying unit configured to extract brightness edges from the integrated image and identifies an intersection point of lines determined by using the brightness edges as a vanishing point; a determining unit configured to determine whether a parameter of the camera has an appropriate value by using coordinates of the vanishing point identified and reference coordinates, the reference coordinates being coordinates of a reference vanishing point stored; and a correcting unit configured to correct the parameter of the camera in accordance with a difference between the coordinates of the vanishing point identified and the reference coordinates. - View Dependent Claims (2, 3, 4, 5)
-
-
6. An image processing method performed by an image processing device, the image processing method comprising:
-
acquiring, from a camera installed on a movable body, images that are captured by the camera while the movable body is moving and integrating the acquired images so as to generate an integrated image; extracting brightness edges from the integrated image and identifying an intersection point of lines determined by using the brightness edges as a vanishing point; determining whether a parameter of the camera has an appropriate value by using the coordinates of the vanishing point identified and reference coordinates, the reference coordinates being coordinates of a reference vanishing point stored; and correcting the parameter of the camera in accordance with a difference between the coordinates of the vanishing point identified and the reference coordinates. - View Dependent Claims (7, 8)
-
-
9. An image processing device comprising:
-
a processor; and a memory which stores a plurality of instructions, which when executed by the processor, cause the processor to execute; acquiring, from a camera installed on a movable body, images that are captured by the camera while the movable body is moving and integrating the acquired images so as to generate an integrated image; extracting brightness edges from the integrated image and identifying an intersection point of lines determined by using the brightness edges as a vanishing point; determining whether a parameter of the camera has an appropriate value by using the coordinates of the vanishing point identified and reference coordinates, the reference coordinates being coordinates of a reference vanishing point stored; and correcting the parameter of the camera in accordance with a difference between the coordinates of the vanishing point identified and the reference coordinates.
-
Specification