Method for examining shooting direction of camera apparatus, device thereof and structure for installing sensor

• US 7,248,287 B1
• Filed: 09/21/2000
• Issued: 07/24/2007
• Est. Priority Date: 09/22/1999
• Status: Expired due to Fees

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Murakami, Keiichi, Sogawa, Yoshiyuki, Tozawa, Yoshio
• Primary Examiner(s): Srivastava; Vivek
• Assistant Examiner(s): SELBY, GEVELL V
• Application Number:
  US09/665,950
• Time in Patent Office: 2,497 Days
• Field of Search: 348/373, 348/116, 348/333.01, 348/333.06, 348/118, 348/148, 348/187, 348/188, 348/190, 348/51, 348/53, 348/333.04, 340/937, 340/947, 340/948, 340/953, 340/954
• US Class Current: 348/208.99
• CPC Class Codes: G01B 11/272 using photoelectric detection means
• CPC Class Codes: G01S 11/00 Systems for determining distance or velocity not using reflection or reradiation position-fixing by co-ordinating two or more distance determinations G01S5/00
• 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: 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 13/246 Calibration of cameras
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 2013/0096 Synchronisation or controlling aspects

Abstract

In a test method in which an image photographed by a camera apparatus 1 attached to a body of a vehicle is displayed on a display device 17 and an examiner examines compliance or non-compliance of the shooting direction of the camera apparatus 1 by comparing the position of a reference pattern and the position of a judgment pattern on the displayed photographed image, the photographed image is obtained at first by photographing with the camera apparatus 1 a test chart which is placed at a predefined position ahead of the vehicle with the reference pattern drawn on the test chart. Next, the judgment pattern is set at a specific position on the photographed image. Then, the photographed image on which the judgment pattern has been set is displayed on the display device 17.

Claims

1. A test method for examining a shooting direction of a camera apparatus by comparing a position of a reference pattern and a position of a judgment pattern on a displayed photographed image so as to judge if said shooting direction is adjustable by a first adjuster, wherein said shooting direction is adjustable by a second adjuster, and a first adjustable range by said first adjuster is smaller than a second adjustable range by said second adjuster, comprising:

photographing with said camera apparatus a test chart placed at a predefined position ahead of said camera apparatus with a reference pattern drawn on the test chart, the photographing producing a photographed image;

setting a judgment pattern at a specific position on said photographed image, said judgment pattern represents said first adjustable range; and

displaying said photographed image including said reference pattern with said judgment pattern on a display device;

judging whether said reference pattern is within said judgment pattern; and

notifying of information concerning adjustment of said shooting direction by said second adjuster in the case where said reference pattern deviates from said judgment pattern.

2. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said judgment pattern having at least one judgment reference line extending in a horizontal direction and at least one judgment reference line extending in a vertical direction is set on said photographed image in said setting step.

3. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said photographed image is displayed on a navigation display provided in a navigation device in said displaying step.

4. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said reference pattern is at least one of a crisscross pattern and a rectangular pattern.

5. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein

said camera apparatus is a stereo camera apparatus having a pair of cameras, and

said photographed image is an image photographed by one of said cameras.

6. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein

said camera apparatus is attached to a vehicle body via a replaceable mounting member and adjusting the shooting direction of said camera apparatus by said second adjuster is determined by the shape of said mounting member;

and

said information concerning adjustment of said shooting direction comprises information concerning said mounting member having a shape for minimizing the amount of deviation of said reference pattern from a plurality of previously prepared mounting members having different shapes.

7. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said first adjuster is an image transformation.

8. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said second adjuster is a mechanical mounting of the camera apparatus.

9. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said information concerning adjustment of said shooting direction comprises an information for minimizing the amount of deviation of said reference pattern from said judgment pattern.

10. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said information concerning adjustment of said shooting direction comprises an information required for shifting said reference pattern within said judgment pattern.

11. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said information concerning adjustment of said shooting direction comprises a warning to notice that said shooting direction is out of said first adjustable range.

12. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said information concerning adjustment of said shooting direction comprises a warning to notice that an adjustment by said second adjuster is required.

13. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein said displaying said photographed image comprises presenting said photographed image to an examiner so that said examiner is able to visually verify a relationship between said reference pattern and said judgment pattern.

14. The test method for examining the shooting direction of the camera apparatus according to claim 13, wherein said examiner judges whether said reference pattern is within said judgment pattern.

15. The test method for examining the shooting direction of the camera apparatus according to claim 1, wherein a test unit automatically judges whether said reference pattern is within said judgment pattern.

16. A test method for examining whether a shooting direction of a camera apparatus attached to a body of a vehicle is within a finely adjustable range which is an adjustable range by an image transformation, wherein said shooting direction is adjustable by a mounting adjuster of said camera apparatus, and said finely adjustable range is smaller than a mounting adjustable range by said mounting adjuster, comprising:

obtaining a photographed image by photographing with said camera apparatus a test chart placed at a predefined position ahead of the vehicle with a reference pattern drawn on the test chart;

determining a position of said reference pattern on said photographed image;

judging on compliance or non-compliance of the shooting direction of said camera apparatus based on a relationship between the position of said reference pattern determined and a proper range defining a finely adjustable range which is an adjustable range by said image transformation for the shooting direction of said camera apparatus; and

notifying of information concerning adjustment of said shooting direction by said mounting adjuster in the case where said reference pattern deviates from said proper range.

17. The test method for examining the shooting direction of the camera apparatus according to claim 16, wherein said determining step includes:

evaluating a correlation of each of specific regions in said photographed image with a previously prepared specific brightness characteristics pattern; and

specifying a position of one of said regions having the greatest correlation as the position of said reference pattern;

wherein said brightness characteristics pattern has the same brightness characteristics as said reference pattern shown on said photographed image.

18. The test method for examining the shooting direction of the camera apparatus according to claim 17,

wherein said determining step includes evaluating the correlation with said brightness characteristics pattern by searching through a specific search range within said photographed image,

wherein a setting position of said search range is determined based on the position of said reference pattern shown on said photographed image under conditions where said camera apparatus is properly mounted, and an area of said search range is set in consideration of a deviation of the shooting direction of said camera apparatus.

19. The test method for examining the shooting direction of the camera apparatus according to claim 16, comprising:

notifying of information concerning current mounting conditions of said camera apparatus in the case said reference pattern deviates from said proper range.

20. The test method for examining the shooting direction of the camera apparatus according to claim 16, wherein

said camera apparatus is attached to the vehicle body via a replaceable mounting member and adjusting the shooting direction of said camera apparatus by said mounting adjuster is determined by the shape of said mounting member;

and

said information concerning adjustment of said shooting direction comprises information concerning said mounting member having a shape for minimizing the amount of deviation of said reference pattern from a plurality of previously prepared mounting members having different shapes.

21. A test method for examining the shooting direction of the camera apparatus attached to a body of a vehicle, comprising:

obtaining a photographed image by photographing with said camera apparatus a test chart placed at a predefined position ahead of the vehicle with a reference pattern drawn on the test chart;

determining a position of said reference pattern on said photographed image;

judging on compliance or non-compliance of the shooting direction of said camera apparatus based on a relationship between the position of said reference pattern determined and a proper range defining a range appropriate for the shooting direction of said camera apparatus;

notifying an examiner of information concerning current mounting conditions of said camera apparatus or information concerning adjustment of the mounting of said camera apparatus according to the amount of deviation of said reference pattern when said reference pattern deviates from said proper range,

wherein camera apparatus is attached to the vehicle body via a replaceable mounting member and the shooting direction of said camera apparatus is determined by the shape of said mounting member; and

said notifying step includes;

selecting a mounting member having a shape for minimizing the amount of deviation of said reference pattern from a plurality of previously prepared mounting members having different shapes; and

notifying the examiner of said selected mounting member.

22. A test method for examining a shooting direction of a camera apparatus to judge whether or not the camera apparatus can be positioned within a finely adjustable range which is adjusted by an image transformation with respect to the deviation of a camera position, wherein said shooting direction is adjustable by a mounting adjuster of said camera apparatus, and said finely adjustable range is smaller than a mounting adjustable range by said mounting adjuster, comprising:

obtaining a photographed image by photographing with said camera apparatus a test chart placed at a predefined position ahead of said camera apparatus with a reference pattern drawn on the test chart;

setting a judgment pattern at a specific position on said photographed image, said judgment pattern represents said finely adjustable range;

displaying said photographed image with said judgment pattern on a display device; and

examining compliance or non-compliance of the shooting direction of said camera apparatus by comparing a position of said reference pattern and a position of said judgment pattern on said displayed photographed image; and

notifying of information concerning adjustment of said shooting direction by said mounting adjuster in the case where said reference pattern deviates from said proper range.

23. The test method for examining the shooting direction of the camera apparatus according to claim 22,

wherein said judgment pattern having at least one judgment reference line extending in a horizontal direction and at least one judgment reference line extending in a vertical direction is set on said photographed image in said setting step.

24. The test method for examining the shooting direction of the onboard camera apparatus according to claim 22, wherein

said camera apparatus is attached to a vehicle body via a replaceable mounting member and adjusting the shooting direction of said camera apparatus by said mounting adjuster is determined by the shape of said mounting member;

and

said information concerning adjustment of said shooting direction comprises information concerning said mounting member having a shape for minimizing the amount of deviation of said reference pattern from a plurality of previously prepared mounting members having different shapes.

25. A test method for examining a shooting direction of a camera apparatus comprising:

photographing with said camera apparatus a test chart placed at a predefined position ahead of said camera apparatus with a reference pattern drawing on the test chart, and producing a photographed image of said reference pattern;

setting a judgment pattern at a specific position on said photographed image, said judgment pattern representing a first adjustable range;

comparing a position of the reference pattern and a position of the judgment pattern on the photographed image so as to judge if said shooting direction is adjustable by a first adjuster, wherein said shooting direction is adjustable to a second adjustable range by a second adjuster, and the first adjustable range is smaller than a second adjustable range,

displaying said photographed image including said reference pattern with said judgment pattern on a display device;

judging whether said reference pattern is within said judgment pattern; and

notifying of information concerning adjustment of said shooting direction by said second adjuster in the case where said reference pattern deviates from said judgment pattern.