DISTANCE MEASUREMENT DEVICE AND ENVIRONMENT MAP GENERATION APPARATUS
First Claim
1. A distance measurement device, comprising:
- an imaging unit configured to image an image around a vehicle while the vehicle is moving;
a feature point detecting unit configured to detect feature points of a plurality of objects present around the vehicle from the image imaged by the imaging unit;
a first distance calculating unit configured to calculate a first distance from the feature point to the imaging unit based on a temporal change of the feature point detected by the feature point detecting unit;
a second distance calculating unit configured to calculate a second distance from a certain object included in the plurality of objects present in the image to the imaging unit using some pixels of the certain object; and
a scale modifying unit configured to extract a certain feature point substantially matching some pixels of the certain object from among feature points of the plurality of objects, calculate a ratio of the first distance and the second distance in the certain feature point, and modify the first distance of the plurality of feature points, other than the certain feature point, simultaneously detected by the feature point detecting unit based on the ratio.
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Accused Products
Abstract
Based on an image imaged by an imaging unit (2), feature points of a plurality of objects present around a vehicle are detected by a feature point detecting unit (35). A first distance from the feature point to the imaging unit (2) is calculated based on a temporal change of the feature point. A second distance from a certain object included in the plurality of objects present in the image to the imaging unit is calculated using some pixels of the certain object. The first distance of the plurality of feature points, other than the certain feature point, simultaneously detected by the feature point detecting unit (35) is modified based on a ratio of the first distance and the second distance.
60 Citations
9 Claims
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1. A distance measurement device, comprising:
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an imaging unit configured to image an image around a vehicle while the vehicle is moving; a feature point detecting unit configured to detect feature points of a plurality of objects present around the vehicle from the image imaged by the imaging unit; a first distance calculating unit configured to calculate a first distance from the feature point to the imaging unit based on a temporal change of the feature point detected by the feature point detecting unit; a second distance calculating unit configured to calculate a second distance from a certain object included in the plurality of objects present in the image to the imaging unit using some pixels of the certain object; and a scale modifying unit configured to extract a certain feature point substantially matching some pixels of the certain object from among feature points of the plurality of objects, calculate a ratio of the first distance and the second distance in the certain feature point, and modify the first distance of the plurality of feature points, other than the certain feature point, simultaneously detected by the feature point detecting unit based on the ratio. - View Dependent Claims (2)
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3. An environment map generation apparatus that is mounted in a vehicle and generates an environment map around a traveling road, comprising:
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an imaging unit configured to image an image around a vehicle; a feature point detecting unit configured to detect a plurality of feature points from the image imaged by the imaging unit; an own vehicle position estimating unit configured to estimate an own vehicle position including an installation position of the imaging unit from a plurality of consecutively arranged feature points detected by the feature point detecting unit; a first distance calculating unit configured to calculate a first distance of the own vehicle position estimated by the own vehicle position estimating unit from the installation position of the imaging unit to the plurality of feature points; an environment map generating unit configured to perform 3D conversion on the plurality of feature points detected by the feature point detecting unit based on the first distance calculated by the first distance calculating unit, and generate an environment map; a projecting unit configured to project pulsed light having a light-emitting region in a horizontal direction; a detecting unit configured to extract the pulsed light from the image imaged by the imaging unit by synchronous detection; an edge detecting unit configured to detect an edge portion of an upper end of the pulsed light detected by the detecting unit; and a second distance calculating unit configured to calculate a second distance between the edge portion detected by the edge detecting unit and the imaging unit, wherein the environment map generating unit determines whether or not image positions of the plurality of feature points match an image position of the edge portion; and the environment map generation apparatus further comprises a scale modifying unit configured to use a feature point determined as being matched as a certain feature point, calculate a scale ratio which is a ratio of the first distance and the second distance of the certain feature point, and modify the first distance of the plurality of feature points, other than the certain feature point, simultaneously detected by the feature point detecting unit based on the scale ratio. - View Dependent Claims (4, 5, 6, 7)
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8. A distance measurement device, comprising:
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imaging means for imaging an image around a vehicle while the vehicle is moving; feature point detecting means for detecting feature points of a plurality of objects present around the vehicle from the image imaged by the imaging means; first distance calculating means for calculating a first distance from the feature point to the imaging means based on a temporal change of the feature point detected by the feature point detecting means; second distance calculating means for calculating a second distance from a certain object included in the plurality of objects present in the image to the imaging means using some pixels of the certain object; and scale modifying means for extracting a certain feature point substantially matching some pixels of the certain object from among feature points of the plurality of objects, calculating a ratio of the first distance and the second distance in the certain feature point, and modifying the first distance of the plurality of feature points, other than the certain feature point, simultaneously detected by the feature point detecting means based on the ratio.
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9. An environment map generation apparatus that is mounted in a vehicle and generates an environment map around a traveling road, comprising:
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imaging means for imaging an image around a vehicle; feature point detecting means for detecting a plurality of feature points from the image imaged by the imaging means; own vehicle position estimating means for estimating an own vehicle position including an installation position of the imaging means from a plurality of consecutively arranged feature points detected by the feature point detecting means; first distance calculating means for calculating a first distance of the own vehicle position estimated by the own vehicle position estimating means from the installation position of the imaging means to the plurality of feature points; environment map generating means for performing 3D conversion on a plurality of feature points detected by the feature point detecting means based on the first distance calculated by the first distance calculating means, and generating an environment map; projecting means for projecting pulsed light having a light-emitting region in a horizontal direction; detecting means for extracting the pulsed light from the image imaged by the imaging means by synchronous detection; edge detecting means for detecting an edge portion of an upper end of the pulsed light detected by the detecting means; and second distance calculating means for calculating a second distance between the edge portion detected by the edge detecting means and the imaging means, wherein the environment map generating means determines whether or not image positions of the plurality of feature points match an image position of the edge portion; and the environment map generation apparatus further comprises scale modifying means for using a feature point determined as being matched as a certain feature point, calculating a scale ratio which is a ratio of the first distance and the second distance of the certain feature point, and modifying the first distance of the plurality of feature points, other than the certain feature point, simultaneously detected by the feature point detecting means based on the scale ratio.
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Specification