Estimating device and estimating program

• US 10,422,634 B2
• Filed: 06/24/2016
• Issued: 09/24/2019
• Est. Priority Date: 07/13/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Watanabe, Akihiro, Kataoka, Yusuke, Sakai, Tadashi, Kawasaki, Naoki
• Primary Examiner(s): Alam, Fayyaz
• Application Number:
  US15/735,357
• Publication Number:
  US 20180180409A1
• Time in Patent Office: 1,187 Days
• Field of Search: None
• CPC Class Codes: G01B 11/26 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30248 Vehicle exterior or interior
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

An estimating device includes: a movement amount computing section that, on the basis of a position of a predetermined region within an image picked-up at a first time, and a position of a region that corresponds to the predetermined region and is within an image picked-up in a same direction at a second time that is after the first time, computing a movement amount of the predetermined region in a vertical direction; a movement amount integrating section that computes an integrated value of the movement amounts, each time the movement amount is computed; a correcting section that corrects the integrated value of a current point in time on the basis of time series data of the integrated values of the movement amounts within a past predetermined time period; and an estimating section that estimates a pitch angle of the vehicle on the basis of a corrected integrated value.

Claims

1. An estimating device comprising:

an image pickup section, provided at a vehicle, that picks up images of at least one of a front or a rear of the vehicle;

a computing section that, on the basis of a position of a predetermined region that is within an image picked up by the image pickup section at a first time, and a position of a region that corresponds to the predetermined region and is within an image picked up in a same direction by the image pickup section at a second time that is after the first time, computes a movement amount of the predetermined region in a vertical direction;

an integrating section that, each time a movement amount is computed by the computing section, computes an integrated value of the movement amounts;

a correcting section that corrects an integrated value at a current point in time that is computed by the integrating section, on the basis of time series data of integrated values of the movement amounts computed by the integrating section within a past predetermined time period; and

an estimating section that estimates a pitch angle of the vehicle on the basis of the integrated value corrected by the correcting section.

2. The estimating device of claim 1, wherein the correcting section corrects the integrated value at the current point in time by using, as a correction amount, an average value of the time series data of the integrated values of the movement amounts.

3. The estimating device of claim 1, wherein the correcting section computes, as a correction amount, an extrapolated value obtained by approximating the time series data of the integrated values of the movement amounts, and corrects the integrated value at the current point in time by using the correction amount.

4. The estimating device of claim 1, wherein, on the basis of the time series data of the integrated values of the movement amounts, and the integrated value at the current point in time computed by the integrating section, the correcting section computes the corrected integrated value at the current point in time as an amount of offset, from a steady state, of the image in the vertical direction at the current point in time.

5. The estimating device of claim 1, wherein the predetermined region is a region that includes a vanishing point in perspective.

6. The estimating device of claim 1, wherein the correcting section corrects the integrated value at the current point in time by making the predetermined time period a longer time period as the time of correction becomes later.

7. The estimating device of claim 1, wherein the computing section computes the movement amount after retrieving, by pattern matching, the predetermined region of the second time that corresponds to the predetermined region of the first time.

8. A non-transitory recording medium storing an estimating program for causing a computer to execute a process, the process comprising:

on the basis of a position of a predetermined region that is within an image picked up at a first time by an image pickup section that is provided at a vehicle and is for picking up images of at least one of a front or a rear of the vehicle, and a position of a region that corresponds to the predetermined region and is within an image picked up in a same direction by the image pickup section at a second time that is after the first time, computing a movement amount of the predetermined region in a vertical direction;

each time a movement amount is computed, computing an integrated value of the movement amounts;

correcting an integrated value at a current point in time, on the basis of time series data of integrated values of the movement amounts within a past predetermined time period; and

estimating a pitch angle of the vehicle on the basis of the corrected integrated value.