DETERMINATION METHOD AND DETERMINATION APPARATUS

• US 20150304650A1
• Filed: 03/19/2015
• Published: 10/22/2015
• Est. Priority Date: 04/18/2014
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Baba, Kozo, HASHIGUCHI, Norio
• Granted Patent: US 10,027,953 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/73 using feature-based methods
• 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 10/42 Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
• 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

Abstract

An image processing apparatus includes an acquiring unit and a determining unit. For example, the acquiring unit acquires an imaging image captured by a camera mounted on a vehicle and registers the acquired imaging image in drive recorder information. When a vanishing point is detected from the imaging image, the determining unit determines that the imaging direction of the imaging device is normal such that the front of the vehicle is normally imaged. When the vanishing point is not detected from the acquired the imaging image, the determining unit determines that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

Claims

1. A determination method executed by a computer, the determination method comprising:

acquiring an imaging image from an imaging device mounted on a vehicle; and

determining normality of an imaging direction of the imaging device in accordance with whether a vanishing point is detected from the acquired imaging image.

2. The determination method according to claim 1, wherein

when the vanishing point is detected from the acquired imaging image, the determining determines that the imaging direction of the imaging device is normal such that the front of the vehicle is normally imaged, and

when the vanishing point is not detected from the acquired the imaging image, the determining determines that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

3. The determination method according to claim 1, further comprising specifying the vanishing point on the basis of a plurality of sign lines included in the imaging image.

4. A determination method executed by a computer, the determination method comprising:

acquiring an imaging image from an imaging device mounted on a vehicle; and

determining normality of an imaging direction of the imaging device in accordance with whether the detection position of a vanishing point detected from the acquired imaging image is within a predetermined range.

5. The determination method according to claim 4, wherein

when the vanishing point detected from the acquired imaging image is within the predetermined range, the determining determines that the imaging direction of the imaging device is normal such that the front of the vehicle is normally imaged, and

when the vanishing point detected from the acquired imaging image is not within the predetermined range, the determining determines that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

6. The determination method according to claim 4, further comprising specifying the vanishing point on the basis of a plurality of sign lines included in the imaging image.

7. A computer-readable recording medium storing a program that causes a computer to execute a process comprising:

acquiring an imaging image from an imaging device mounted on a vehicle; and

determining normality of an imaging direction of the imaging device in accordance with whether a vanishing point is detected from the acquired imaging image.

8. The computer-readable recording medium according to claim 7, wherein

when the vanishing point is detected from the acquired imaging image, the determining determines that the imaging direction of the imaging device is normal such that the front of the vehicle is normally imaged, and

when the vanishing point is not detected from the acquired the imaging image, the determining determines that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

9. The computer-readable recording medium according to claim 7, further comprising specifying the vanishing point on the basis of a plurality of sign lines included in the imaging image.

10. A computer-readable recording medium storing a program that causes a computer to execute a process comprising:

acquiring an imaging image from an imaging device mounted on a vehicle; and

determining normality of an imaging direction of the imaging device in accordance with whether the detection position of a vanishing point detected from the acquired imaging image is within a predetermined range.

11. The computer-readable recording medium according to claim 10, wherein

when the vanishing point detected from the acquired imaging image is within the predetermined range, the determining determines that the imaging direction of the imaging device is normal such that the front of the vehicle is normally imaged, and

when the vanishing point detected from the acquired imaging image is not within the predetermined range, the determining determines that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

12. The determination program according to claim 10, further comprising specifying the vanishing point on the basis of a plurality of sign lines included in the imaging image.

13. A determination apparatus comprising a processor configured to:

acquire an imaging image from an imaging device mounted on a vehicle; and

determine normality of an imaging direction of the imaging device in accordance with whether a vanishing point is detected from the acquired imaging image.

14. The determination device according to claim 13, wherein the processor further configured to

when the vanishing point is detected from the acquired imaging image, determine that the imaging direction of the imaging device is normal such that the front of the vehicle is normally imaged, and

when the vanishing point is not detected from the acquired the imaging image, determine that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

15. The determination device according to claim 13, wherein the vanishing point is specified on the basis of a plurality of sign lines included in the imaging image.

16. A determination apparatus comprising a processor configured to:

acquire an imaging image from an imaging device mounted on a vehicle; and

determine normality of an imaging direction of the imaging device in accordance with whether the detection position of a vanishing point detected from the acquired imaging image is within a predetermined range.

17. The determination device according to claim 16, wherein the processor further configured to

when the vanishing point detected from the acquired imaging image is within the predetermined range, determine that the imaging direction of the imaging device is normal such that the front of the vehicle is normally imaged, and

when the vanishing point detected from the acquired imaging image is not within the predetermined range, determine that the imaging direction of the imaging device is abnormal such that the front of the vehicle is not normally imaged.

18. The determination device according to claim 16, wherein the vanishing point is specified on the basis of a plurality of sign lines included in the imaging image.