Calibration device and calibration method for a stereo camera without placing physical markers
First Claim
1. A calibration apparatus comprising:
- distance image generation circuitry which, in operation, calculates a distance from a stereo camera for each of a plurality of pixels included in a stereo image including a road surface and that generates a distance image in which each of the plurality of pixels is associated with the calculated distance;
first region detection circuitry which, in operation, detects a road surface image region based on the stereo image including the road surface;
second region detection circuitry which, in operation, detects a setting prohibited region including a group of non-effective pixels with which calculating the distance in the distance image is not possible;
area setting processing circuitry which, in operation, adjusts an arrangement pattern in a direction in which positions of a plurality of area setting frames become distant from each other, based on the road surface image region and the setting prohibited region;
extraction processing that circuitry which, in operation, extracts, from the distance image, a plurality of partial images corresponding to the plurality of area setting frames included in the adjusted arrangement pattern; and
calculation circuitry which, in operation, calculates an installation state parameter used in an installation state of the stereo camera of the stereo image, based on the plurality of extracted partial images.
4 Assignments
0 Petitions
Accused Products
Abstract
Provided is a calibration device that can calculate the mounting state of a stereo camera without the placing of a physical marker. In this device, an area setting processor (113) preliminarily sets, for an integrated image in which a road surface image region and a setting-prohibited region are integrated, an arrangement pattern having a plurality of area setting frames, and adjusts the arrangement pattern so that the plurality of area setting frames recede from each other. An extraction processor (114) extracts from distance images a plurality of partial images corresponding to the plurality of area setting frames. A mounting-state calculation unit (104) calculates a mounting-state parameter on the basis of a plurality of partial images, such parameter relating to the mounting state of a stereo camera used to pick up stereo images.
9 Citations
12 Claims
-
1. A calibration apparatus comprising:
-
distance image generation circuitry which, in operation, calculates a distance from a stereo camera for each of a plurality of pixels included in a stereo image including a road surface and that generates a distance image in which each of the plurality of pixels is associated with the calculated distance; first region detection circuitry which, in operation, detects a road surface image region based on the stereo image including the road surface; second region detection circuitry which, in operation, detects a setting prohibited region including a group of non-effective pixels with which calculating the distance in the distance image is not possible; area setting processing circuitry which, in operation, adjusts an arrangement pattern in a direction in which positions of a plurality of area setting frames become distant from each other, based on the road surface image region and the setting prohibited region; extraction processing that circuitry which, in operation, extracts, from the distance image, a plurality of partial images corresponding to the plurality of area setting frames included in the adjusted arrangement pattern; and calculation circuitry which, in operation, calculates an installation state parameter used in an installation state of the stereo camera of the stereo image, based on the plurality of extracted partial images. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A calibration method comprising:
-
calculating, by a calibration apparatus, a distance from a stereo camera for each of a plurality of pixels included in a stereo image including a road surface; generating, by the calibration apparatus, a distance image in which each of the plurality of pixels is associated with the calculated distance; detecting, by the calibration apparatus, a road surface image region based on the stereo image including the road surface; detecting, by the calibration apparatus, a setting prohibited region including a group of non-effective pixels with which calculating the distance in the distance image is not possible; adjusting, by the calibration apparatus, an arrangement pattern in a direction in which a plurality of area setting frames become distant from each other, based on the road surface image region and the setting prohibited region; extracting, by the calibration apparatus, from the distance image, a plurality of partial images corresponding to the plurality of area setting frames included in the adjusted arrangement pattern; and calculating, by the calibration apparatus, an installation state parameter used in an installation state of the stereo camera, based on the plurality of extracted partial images. - View Dependent Claims (8, 9, 10, 11, 12)
-
Specification