Distance detection method and system using a stereoscopical imaging apparatus

• US 5,535,144 A
• Filed: 02/18/1994
• Issued: 07/09/1996
• Est. Priority Date: 03/24/1993
• Status: Expired due to Fees

• Current Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Kise, Katsuyuki
• Primary Examiner(s): Trammell, James P.
• Application Number:
  US08/198,570
• Time in Patent Office: 872 Days
• Field of Search: 364/561, 364/424.01, 364/424.02, 364/443-444, 364/460, 364/461, 348/116, 348/118, 348/113, 348/148, 348/143
• US Class Current: 702/158
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 1/753 Signal details
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 13/133 Equalising the characteristics of different image components, e.g. their average brightness or colour balance
• CPC Class Codes: H04N 13/167 Synchronising or controlling image signals
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 13/246 Calibration of cameras
• CPC Class Codes: H04N 13/25 using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2013/0077 Colour aspects
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 2013/0092 : Image segmentation from stereoscopic image signals
• CPC Class Codes: H04N 2013/0096 : Synchronisation or controlling aspects

Abstract

A distance detecting system for detecting a distance to an object from a moving body such an automobile by means of imaging pictures by an imaging apparatus and processing pictures into distance distribution information, the imaging apparatus having a capability of always providing proper image pictures under rapidly changing illuminance conditions, whereby securing an accuracy in the distance detecting system.

Claims

1. A distance detecting method for use with a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object, and a picture processing unit for processing said pictures and for outputting distance distribution information for said image, the method comprising the steps of:

dividing one of said pictures of said image into a plurality of zones;

determining an average brightness for at least one of said zones;

determining a correction level for a present shutter speed of said stereoscopical imaging apparatus based upon said average brightness of said at least one of said zones;

correcting said present shutter speed based on said determined correction level;

performing a high-speed calculation of coincidence between at least two of said pictures for each of a plurality of small regions of each picture, and determining deviation amounts of brightness corresponding to said at least two pictures on the basis of a minimum value of a brightness difference between said at least two pictures;

detecting a minimum value and maximum value of a degree of said coincidence between said at least two of said pictures; and

determining a deviation amount of each picture element corresponding to said at least two pictures with respect to a minimum value and a maximum value for said degree of said coincidence when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two pictures is a third predetermined value.

2. The distance detecting method according to claim 1, wherein

said imaging apparatus is provided with two image cameras for imaging an object at a short distance, and two image cameras for imaging an object at a long distance.

3. The distance detecting method according to claim 1, wherein said correction level is determined by referring to a map predetermined for said at least one of said zones, said map parameterizing a shutter speed associated with an average brightness for each of said zones.

4. The distance detecting method according to claim 1, wherein said correction level is determined based upon an average brightness for each of said zones.

5. A distance detecting method for use with a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object, and a picture processing unit for processing said pictures and for outputting distance distribution information for the image, the method comprising the steps of:

designating at least one particular zone in one of said pictures,

calculating a frequency of picture elements for said particular zone with a minimum brightness for said particular zone, and calculating a frequency of picture elements of said particular zone with a maximum brightness for said particular zone;

calculating a correction level for a present shutter speed of said stereoscopical imaging apparatus based upon said frequencies;

correcting said present shutter speed by said correction level;

performing a high-speed calculation of coincidence between at least two of said pictures for each of a plurality of small regions in each of said at least two pictures, and determining deviation amounts of brightness corresponding to said at least two pictures on the basis of a minimum value of a brightness difference between said at least two pictures;

detecting a minimum value and a maximum value of a degree of said coincidence; and

performing high-speed calculation of a degree of said coincidence between said at least two pictures for each said required small region of each of said at least two pictures, and determining a deviation amount of each picture element corresponding to said at least two pictures with respect to a minimum value and a maximum value for said degree of said coincidence when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two pictures is a third predetermined value.

6. The distance detecting method according to claim 5, wherein

said imaging apparatus is provided with two image cameras for imaging an object at a short distance, and two image cameras for imaging an object at a long distance.

7. The distance detecting method according to claim 5, further including the step of determining a frequency distribution of picture elements in said particular zone at each of a plurality of brightness levels of said particular zone, to thereby produce a brightness histogram for said particular zone from which the frequency of picture elements for said particular zone with a minimum brightness for said particular zone, and the frequency of picture elements of said particular zone with a maximum brightness for said particular zone is determined.

8. The distance detecting method according to claim 5, wherein the correction level is calculated based upon the difference between the frequency of picture elements of said particular zone with a minimum brightness for said particular zone and the frequency of picture elements of said particular zone with a maximum brightness for said particular zone.

9. A distance detecting system, comprising:

a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object;

first memory means for storing image data making up said pictures so as to obtain distance distribution information for said image;

second memory means for storing said image data so as to control a present shutter speed of said imaging apparatus, said second memory means being connected to said imaging apparatus in parallel with said first memory means;

zone dividing means for dividing one of said pictures into a plurality of zones;

brightness averaging means for obtaining average brightness for at least one of said zones;

correction level determining means for determining a correction level of said present shutter speed based upon said average brightness said at least one of said zones;

coincidence calculation means for performing a high-speed calculation of coincidence between at least two of said pictures for each of a plurality of required small regions in each of said at least two of said pictures;

deviation amount determining means for determining deviation amounts of brightness corresponding to said at least two of said pictures on the basis of a minimum value of a brightness difference between said pictures

maximum and minimum values detecting means for detecting a minimum value and a maximum value of a degree of coincidence between said at least two of said pictures;

deviation amount determining means, which uses said minimum value for said degree of said coincidence for determining a deviation amount of a picture element corresponding to said at least two of said of said pictures with respect to a minimum value and a maximum value for said degree when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two of said pictures is a third predetermined value; and

a picture processing unit for outputting a distance distribution information for an entire image based upon deviation amounts determined by said deviation amount determining means.

10. The distance detecting system according to claim 9, wherein

said imaging apparatus is provided with two image cameras for imaging an object at a short distance, and two image cameras for imaging an object at a long distance.

11. The distance detecting system according to claim 9, wherein said correction level determining means determines the correction level by referring to a map predetermined for said at least one of said zones, said map parameterizing a shutter speed associated with an average brightness for each of said zones.

12. The distance detecting system according to claim 9, wherein said correction level determining means determines the correction level based upon an average brightness for each of said zones.

13. A distance detecting system, comprising:

a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object;

first memory means for storing image data making up said pictures so as to obtain distance distribution information for said image;

second memory means for storing said image data so as to control a present shutter speed of said imaging apparatus, said second memory means being connected to said imaging apparatus in parallel with said first memory means;

zone designating means for designating at least one particular zone in one of said pictures;

frequency distribution producing means for calculating a frequency of picture elements of said particular zone with a minimum brightness for said particular zone, and calculating a frequency of picture elements of said particular zone with a maximum brightness for said particular zone;

correction level calculating means responsive to said frequencies for calculating a correction level for said present shutter speed;

shutter speed correcting means for correcting said present shutter based upon said correction level;

coincidence calculation means for performing a high-speed calculation of a coincidence between at least two of said pictures for each of a plurality of required small regions for each of said at least two of said pictures;

maximum and minimum values detecting means for detecting a minimum value and a maximum value of a degree of coincidence between said at least two of said pictures;

deviation amount determining means, which uses said minimum value for said degree of said coincidence for determining a deviation amount of a picture element corresponding to said plurality of said digital pictures with respect to a minimum value and a maximum value for said degree when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two of said pictures is a third predetermined value; and

a picture processing unit for outputting distance distribution information for said image based upon said deviation amounts determined by said deviation amount determining means.

14. The distance detecting system according to claim 13, wherein

said imaging apparatus is provided with two image cameras for imaging an object at a short distance, and two image cameras for imaging an object at a long distance.

15. The distance detecting system according to claim 13, wherein the frequency distribution producing means determines a frequency distribution of picture elements in said particular zone at each of a plurality of brightness levels of said particular zone, to thereby produce a brightness histogram for said particular zone from which the frequency of picture elements for said particular zone with a minimum brightness for said particular zone, and the frequency of picture elements of said particular zone with a maximum brightness for said particular zone is determined.

16. The distance detecting system according to claim 13, wherein the correction level calculating means calculates the correction level based upon the difference between the frequency of picture elements of said particular zone with a minimum brightness for said particular zone and the frequency of picture elements of said particular zone with a maximum brightness for said particular zone.