JP2016149613A5

JP2016149613A5 -

Info

Publication number: JP2016149613A5
Application number: JP2015024544A
Authority: JP
Filing date: 2015-02-10
Publication date: 2016-12-28
Anticipated expiration: 2035-02-10

Description

その目的を達成するための第１の発明は、車両に搭載され、車両の周辺のうち、それぞれ異なる範囲を撮影する少なくとも２つのカメラ（２，３）と、複数のカメラ毎に設定されている、車両に対する搭載位置及び取付姿勢を表すカメラパラメータを記憶するパラメータ記憶部（１３ａ）と、カメラが撮影した画像と、そのカメラに対応するカメラパラメータに基づいて、そのカメラの撮影範囲に対応する俯瞰画像である部分俯瞰画像を生成する俯瞰変換処理部（Ｆ２）と、複数のカメラのうち、所定のカメラのカメラパラメータを調整する際の基準とするカメラである基準カメラを決定する基準カメラ選択部（Ｆ８）と、基準カメラが撮影した画像と、基準カメラに対応するカメラパラメータに基づいて、基準カメラによって撮影された物体の車両に対する相対位置を特定する第１相対位置特定部（Ｇ１）と、複数のカメラのうち、基準カメラ以外のカメラであって、カメラパラメータの調整対象とするカメラである調整対象カメラが撮影した画像と、調整対象カメラに対応するカメラパラメータに基づいて、調整対象カメラによって撮影された物体の車両に対する相対位置を特定する第２相対位置特定部（Ｇ２）と、基準カメラが撮影した画像と、調整対象カメラが撮影した画像とに基づいて、基準カメラと調整対象カメラとが、同一の物体を撮影したか否かを判定する判定部（Ｆ９）と、判定部が調整対象カメラと基準カメラとが同一の物体を撮影したと判定した場合に、第２相対位置特定部が調整対象カメラと基準カメラの両方によって撮影された物体である共通撮影物に対して特定した相対位置と、第１相対位置特定部が共通撮影物に対して特定した相対位置とのずれ度合いを算出するずれ度合い算出部（Ｇ３）と、調整対象カメラに対するカメラパラメータとして、ずれ度合い算出部が算出したずれ度合いが０となるカメラパラメータである整合化パラメータを算出するパラメータ算出部（Ｇ４）と、を備え、カメラに設定されているカメラパラメータが表すそのカメラの搭載位置及び取付姿勢と、実際のそのカメラの搭載位置及び取付姿勢との誤差である取付誤差を、複数のカメラのそれぞれに対して算出する誤差算出部（Ｆ１１）と、カメラ毎の信頼度を評価する信頼度評価部（Ｆ８１）と、を備え、信頼度評価部は、誤差算出部が算出する誤差が小さいほど、そのカメラに対する信頼度を高く評価し、基準カメラ選択部は、信頼度評価部が評価した信頼度が最も高いカメラを基準カメラとして採用し、瞰変換処理部は、パラメータ算出部が算出した整合化パラメータを、調整対象カメラが撮像した画像から部分俯瞰画像を生成する際のカメラパラメータとして用いることを特徴とする。
上記目的を達成するための第２の発明は、車両に搭載され、車両の周辺のうち、それぞれ異なる範囲を撮影する少なくとも２つのカメラ（２，３）と、カメラ毎に設定されている、車両に対する搭載位置及び取付姿勢を表すカメラパラメータを記憶するパラメータ記憶部（１３ａ）と、カメラが撮影した画像と、そのカメラに対応するカメラパラメータに基づいて、そのカメラの撮影範囲に対応する俯瞰画像である部分俯瞰画像を生成する俯瞰変換処理部（Ｆ２）と、複数のカメラのうち、所定のカメラのカメラパラメータを調整する際の基準とするカメラである基準カメラを選択する基準カメラ選択部（Ｆ８）と、基準カメラが撮影した画像と、基準カメラに対応するカメラパラメータに基づいて、基準カメラによって撮影された物体の車両に対する相対位置を特定する第１相対位置特定部（Ｇ１）と、複数のカメラのうち、基準カメラ以外のカメラであって、カメラパラメータの調整対象とするカメラである調整対象カメラが撮影した画像と、調整対象カメラに対応するカメラパラメータに基づいて、調整対象カメラによって撮影された物体の車両に対する相対位置を特定する第２相対位置特定部（Ｇ２）と、基準カメラが撮影した画像と、調整対象カメラが撮影した画像とに基づいて、基準カメラと調整対象カメラとが、同一の物体を撮影したか否かを判定する判定部（Ｆ９）と、判定部が調整対象カメラと基準カメラとが同一の物体を撮影したと判定した場合に、調整対象カメラと基準カメラの両方によって撮影された物体である共通撮影物に対して第２相対位置特定部が特定した相対位置と、第１相対位置特定部が共通撮影物に対して特定した相対位置とのずれ度合いを算出するずれ度合い算出部（Ｇ３）と、調整対象カメラに対するカメラパラメータとして、ずれ度合い算出部が算出したずれ度合いが０となるカメラパラメータである整合化パラメータを算出するパラメータ算出部（Ｇ４）と、カメラが撮影した画像、又は、カメラが撮影した画像に基づいて俯瞰変換処理部が生成した部分俯瞰画像を、その画像に含まれる物体の車両に対する現在の相対位置を特定するためのデータである位置特定用データと対応づけて記憶する画像データ記憶部（１２ａ）と、を備え、第１相対位置特定部は、共通撮影物が基準カメラによる現在の撮影画像に含まれている場合には、現在の撮影画像とカメラパラメータと基づいて共通撮影物の相対位置を特定する一方、共通撮影物が基準カメラによる現在の撮影画像に含まれていない場合には、画像データ記憶部に格納されている基準カメラに対応する画像のうち、共通撮影物を含む画像と、その画像に対応付けられている位置特定用データと、基準カメラのカメラパラメータとに基づいて共通撮影物の相対位置を特定し、第２相対位置特定部は、共通撮影物が調整対象カメラによる現在の撮影画像に含まれている場合には、現在の撮影画像とカメラパラメータと基づいて共通撮影物の相対位置を特定する一方、共通撮影物が調整対象カメラによる現在の撮影画像に含まれていない場合には、画像データ記憶部に格納されている調整対象カメラに対応する画像のうち、共通撮影物を含む画像と、その画像に対応付けられている位置特定用データと、調整対象カメラのカメラパラメータとに基づいて、共通撮影物の相対位置を特定するものであり、俯瞰変換処理部は、パラメータ算出部が算出した整合化パラメータを、調整対象カメラが撮像した画像から部分俯瞰画像を生成する際のカメラパラメータとして用いることを特徴とする。

上記目的を達成するための第３の発明は、車両に搭載され、車両の周辺のうち、それぞれ異なる範囲を撮影する少なくとも２つのカメラ（２，３）と、カメラ毎に設定されている、車両に対する搭載位置及び取付姿勢を表すカメラパラメータを記憶するパラメータ記憶部（１３ａ）と、カメラが撮影した画像と、そのカメラに対応するカメラパラメータに基づいて、そのカメラの撮影範囲に対応する俯瞰画像である部分俯瞰画像を生成する俯瞰変換処理部（Ｆ２）と、複数のカメラのうち、所定のカメラのカメラパラメータを調整する際の基準とするカメラである基準カメラを選択する基準カメラ選択部（Ｆ８）と、基準カメラが撮影した画像と、基準カメラに対応するカメラパラメータに基づいて、基準カメラによって撮影された物体の車両に対する相対位置を特定する第１相対位置特定部（Ｇ１）と、複数のカメラのうち、基準カメラ以外のカメラであって、カメラパラメータの調整対象とするカメラである調整対象カメラが撮影した画像と、調整対象カメラに対応するカメラパラメータに基づいて、調整対象カメラによって撮影された物体の車両に対する相対位置を特定する第２相対位置特定部（Ｇ２）と、基準カメラが撮影した画像と、調整対象カメラが撮影した画像とに基づいて、基準カメラと調整対象カメラとが、同一の物体を撮影したか否かを判定する判定部（Ｆ９）と、判定部が調整対象カメラと基準カメラとが同一の物体を撮影したと判定した場合に、調整対象カメラと基準カメラの両方によって撮影された物体である共通撮影物に対して第２相対位置特定部が特定した相対位置と、第１相対位置特定部が共通撮影物に対して特定した相対位置とのずれ度合いを算出するずれ度合い算出部（Ｇ３）と、調整対象カメラに対するカメラパラメータとして、ずれ度合い算出部が算出したずれ度合いが０となるカメラパラメータである整合化パラメータを算出するパラメータ算出部（Ｇ４）と、を備え、カメラとして、車両の前方の所定範囲を撮影する前方カメラと、車両の後方の所定範囲を撮影する後方カメラと、を備え、基準カメラ選択部は、前方カメラと後方カメラの何れか一方を基準カメラとして採用し、他方を調整対象カメラとし、俯瞰変換処理部は、パラメータ算出部が算出した整合化パラメータを、調整対象カメラが撮像した画像から部分俯瞰画像を生成する際のカメラパラメータとして用いることを特徴とする。
上記目的を達成するための第４の発明は、車両に搭載され、車両の周辺のうち、それぞれ異なる範囲を撮影する少なくとも２つのカメラ（２，３）と、カメラ毎に設定されている、車両に対する搭載位置及び取付姿勢を表すカメラパラメータを記憶するパラメータ記憶部（１３ａ）と、カメラが撮影した画像と、そのカメラに対応するカメラパラメータに基づいて、そのカメラの撮影範囲に対応する俯瞰画像である部分俯瞰画像を生成する俯瞰変換処理部（Ｆ２）と、複数のカメラのうち、所定のカメラのカメラパラメータを調整する際の基準とするカメラである基準カメラを選択する基準カメラ選択部（Ｆ８）と、基準カメラが撮影した画像と、基準カメラに対応するカメラパラメータに基づいて、基準カメラによって撮影された物体の車両に対する相対位置を特定する第１相対位置特定部（Ｇ１）と、複数のカメラのうち、基準カメラ以外のカメラであって、カメラパラメータの調整対象とするカメラである調整対象カメラが撮影した画像と、調整対象カメラに対応するカメラパラメータに基づいて、調整対象カメラによって撮影された物体の車両に対する相対位置を特定する第２相対位置特定部（Ｇ２）と、基準カメラが撮影した画像と、調整対象カメラが撮影した画像とに基づいて、基準カメラと調整対象カメラとが、同一の物体を撮影したか否かを判定する判定部（Ｆ９）と、判定部が調整対象カメラと基準カメラとが同一の物体を撮影したと判定した場合に、調整対象カメラと基準カメラの両方によって撮影された物体である共通撮影物に対して第２相対位置特定部が特定した相対位置と、第１相対位置特定部が共通撮影物に対して特定した相対位置とのずれ度合いを算出するずれ度合い算出部（Ｇ３）と、調整対象カメラに対するカメラパラメータとして、ずれ度合い算出部が算出したずれ度合いが０となるカメラパラメータである整合化パラメータを算出するパラメータ算出部（Ｇ４）と、を備え、カメラとして、車両の前方の所定範囲を撮影する前方カメラと、車両の後方の所定範囲を撮影する後方カメラと、車両の右側方の所定範囲を撮影する右側方カメラ（８）と、車両の左側方の所定範囲を撮影する左側方カメラ（９）と、を備え、前方カメラの撮影範囲は、右側方カメラの撮影範囲の一部、及び左側方カメラの撮影範囲の一部とそれぞれ重なっており、後方カメラの撮影範囲は、右側方カメラの撮影範囲の一部、及び左側方カメラの撮影範囲の一部とそれぞれ重なっており、基準カメラ選択部は、前方カメラと後方カメラの何れか一方を基準カメラとして採用し、基準カメラ選択部が、前方カメラを基準カメラとした場合には、パラメータ算出部は後方カメラ、右側方カメラ、左側方カメラのそれぞれに対して整合化パラメータを算出する一方、後方カメラを基準カメラとした場合には、パラメータ算出部は前方カメラ、右側方カメラ、左側方カメラのそれぞれに対して整合化パラメータを算出し、俯瞰変換処理部は、パラメータ算出部が算出した整合化パラメータを、調整対象カメラが撮像した画像から部分俯瞰画像を生成する際のカメラパラメータとして用いることを特徴とする。 A first invention for achieving the object is set for each of a plurality of cameras mounted on a vehicle and at least two cameras (2, 3) for photographing different ranges of the periphery of the vehicle. , A parameter storage unit (13a) for storing camera parameters representing the mounting position and mounting orientation with respect to the vehicle, an image taken by the camera, and an overhead view corresponding to the shooting range of the camera based on the camera parameter corresponding to the camera An overhead conversion processing unit (F2) that generates a partial overhead image that is an image, and a reference camera selection unit that determines a reference camera that is a reference camera when adjusting camera parameters of a predetermined camera among a plurality of cameras (F8), an image photographed by the reference camera based on an image photographed by the reference camera and camera parameters corresponding to the reference camera The first relative position specifying unit (G1) for specifying the relative position of the vehicle to the vehicle and the adjustment target camera that is a camera other than the reference camera among the plurality of cameras and that is a camera parameter adjustment target. A second relative position specifying unit (G2) for specifying a relative position of the object captured by the adjustment target camera with respect to the vehicle based on the image and a camera parameter corresponding to the adjustment target camera; an image captured by the reference camera; A determination unit (F9) for determining whether or not the reference camera and the adjustment target camera have captured the same object based on an image captured by the adjustment target camera, and the determination unit includes the adjustment target camera and the reference camera. If the second relative position specifying unit determines that the same object has been captured, the second relative position specifying unit is configured to display the common captured object that is an object captured by both the adjustment target camera and the reference camera. As a camera parameter for the adjustment target camera, a deviation degree calculation unit (G3) that calculates a deviation degree between the relative position specified in this way and the relative position specified by the first relative position specification unit with respect to the common photographed object. A parameter calculation unit (G4) that calculates a matching parameter, which is a camera parameter for which the degree of deviation calculated by the degree calculation unit is zero, and the mounting position and attachment of the camera represented by the camera parameter set in the camera An error calculation unit (F11) that calculates an attachment error that is an error between the posture and the actual mounting position and attachment posture of the camera for each of a plurality of cameras, and a reliability that evaluates the reliability of each camera An evaluation unit (F81), and the reliability evaluation unit evaluates the reliability of the camera higher as the error calculated by the error calculation unit is smaller. The quasi-camera selection unit adopts the camera with the highest reliability evaluated by the reliability evaluation unit as the reference camera, and the viewpoint conversion processing unit captures the matching parameter calculated by the parameter calculation unit by the adjustment target camera. It uses as a camera parameter at the time of producing | generating a partial overhead view image from.
According to a second aspect of the invention for achieving the above object, there is provided a vehicle mounted on a vehicle, at least two cameras (2, 3) for photographing different ranges in the periphery of the vehicle, and a vehicle set for each camera. Based on the parameter storage unit (13a) for storing camera parameters representing the mounting position and mounting orientation with respect to the camera, the image captured by the camera, and the camera parameter corresponding to the camera, an overhead view image corresponding to the imaging range of the camera An overhead conversion processing unit (F2) that generates a partial overhead image, and a reference camera selection unit (F8) that selects a reference camera that is a reference camera for adjusting camera parameters of a predetermined camera among a plurality of cameras. ), The image of the object captured by the reference camera based on the image captured by the reference camera and the camera parameters corresponding to the reference camera. A first relative position specifying unit (G1) that specifies a relative position with respect to the image, and an image captured by an adjustment target camera that is a camera other than the reference camera among a plurality of cameras and that is a camera parameter adjustment target; The second relative position specifying unit (G2) for specifying the relative position of the object photographed by the adjustment target camera to the vehicle based on the camera parameter corresponding to the adjustment target camera, the image photographed by the reference camera, and the adjustment target A determination unit (F9) for determining whether or not the reference camera and the adjustment target camera have captured the same object based on an image captured by the camera, and the determination unit is the same for the adjustment target camera and the reference camera. If it is determined that the object is photographed, the second relative position specifying unit detects the common photographed object photographed by both the adjustment target camera and the reference camera. A deviation degree calculation unit (G3) for calculating a deviation degree between the determined relative position and the relative position specified by the first relative position specifying unit with respect to the common photographed object, and a deviation degree calculation as a camera parameter for the adjustment target camera A parameter calculation unit (G4) that calculates a matching parameter that is a camera parameter with a deviation degree calculated by the unit of 0, and an overhead image conversion processing unit that is generated based on an image captured by the camera or an image captured by the camera An image data storage unit (12a) that stores the partial overhead view image in association with position specifying data that is data for specifying the current relative position of the object included in the image with respect to the vehicle, 1 The relative position specifying unit, when the common photographed object is included in the current photographed image by the reference camera, If the common photographed object is not included in the current photographed image by the reference camera, the relative position of the common photographed object is identified, and among the images corresponding to the reference camera stored in the image data storage unit The relative position of the common object is specified based on the image including the common object, the position specifying data associated with the image, and the camera parameters of the reference camera, and the second relative position specifying unit includes: When the common photographed object is included in the current photographed image by the adjustment target camera, the relative position of the common photographed object is specified based on the current photographed image and the camera parameter, while the common photographed object is determined by the adjustment target camera. If the image is not included in the current photographed image, the image corresponding to the adjustment target camera stored in the image data storage unit and the image including the common photographed object are associated with the image. The relative position of the common object is specified based on the position specifying data and the camera parameter of the adjustment target camera, and the overhead conversion processing unit calculates the matching parameter calculated by the parameter calculation unit, It is used as a camera parameter when generating a partial overhead view image from an image captured by an adjustment target camera.

According to a third aspect of the present invention for achieving the above object, there is provided a vehicle mounted on a vehicle and configured for each camera, and at least two cameras (2, 3) for photographing different ranges in the periphery of the vehicle. Based on the parameter storage unit (13a) for storing camera parameters representing the mounting position and mounting orientation with respect to the camera, the image captured by the camera, and the camera parameter corresponding to the camera, an overhead view image corresponding to the imaging range of the camera An overhead conversion processing unit (F2) that generates a partial overhead image, and a reference camera selection unit (F8) that selects a reference camera that is a reference camera for adjusting camera parameters of a predetermined camera among a plurality of cameras. ), The image of the object captured by the reference camera based on the image captured by the reference camera and the camera parameters corresponding to the reference camera. An image taken by an adjustment target camera that is a camera other than a reference camera among a plurality of cameras and that is a camera to be adjusted for camera parameters, and that specifies a relative position with respect to both the first relative position specification unit (G1). A second relative position specifying unit (G2) for specifying the relative position of the object captured by the adjustment target camera with respect to the vehicle based on the camera parameter corresponding to the adjustment target camera, the image captured by the reference camera, and the adjustment A determination unit (F9) that determines whether the reference camera and the adjustment target camera have captured the same object based on an image captured by the target camera, and the determination unit determines whether the adjustment target camera and the reference camera are When it is determined that the same object is photographed, the second relative position specifying unit is configured for the common photographed object photographed by both the adjustment target camera and the reference camera. A deviation degree calculation unit (G3) for calculating a deviation degree between the determined relative position and the relative position specified by the first relative position specifying unit with respect to the common photographed object, and a deviation degree calculation as a camera parameter for the adjustment target camera A parameter calculation unit (G4) that calculates a matching parameter that is a camera parameter for which the degree of deviation calculated by the unit is 0, and as a camera, a front camera that captures a predetermined range in front of the vehicle, and a rear of the vehicle A reference camera selection unit adopts either the front camera or the rear camera as a reference camera, the other as an adjustment target camera, and the overhead conversion processing unit calculates parameters. Parameter used as a camera parameter when generating a partial overhead view image from an image captured by the adjustment target camera It is characterized in.
According to a fourth aspect of the invention for achieving the above object, there is provided a vehicle mounted on a vehicle and configured for each camera, and at least two cameras (2, 3) for photographing different ranges of the periphery of the vehicle. Based on the parameter storage unit (13a) for storing camera parameters representing the mounting position and mounting orientation with respect to the camera, the image captured by the camera, and the camera parameter corresponding to the camera, an overhead view image corresponding to the imaging range of the camera An overhead conversion processing unit (F2) that generates a partial overhead image, and a reference camera selection unit (F8) that selects a reference camera that is a reference camera for adjusting camera parameters of a predetermined camera among a plurality of cameras. ), The image of the object captured by the reference camera based on the image captured by the reference camera and the camera parameters corresponding to the reference camera. A first relative position specifying unit (G1) that specifies a relative position with respect to the image, and an image captured by an adjustment target camera that is a camera other than the reference camera among a plurality of cameras and that is a camera parameter adjustment target; The second relative position specifying unit (G2) for specifying the relative position of the object photographed by the adjustment target camera to the vehicle based on the camera parameter corresponding to the adjustment target camera, the image photographed by the reference camera, and the adjustment target A determination unit (F9) for determining whether or not the reference camera and the adjustment target camera have captured the same object based on an image captured by the camera, and the determination unit is the same for the adjustment target camera and the reference camera. If it is determined that the object is photographed, the second relative position specifying unit detects the common photographed object photographed by both the adjustment target camera and the reference camera. A deviation degree calculation unit (G3) for calculating a deviation degree between the determined relative position and the relative position specified by the first relative position specifying unit with respect to the common photographed object, and a deviation degree calculation as a camera parameter for the adjustment target camera A parameter calculation unit (G4) that calculates a matching parameter that is a camera parameter for which the degree of deviation calculated by the unit is 0, and as a camera, a front camera that captures a predetermined range in front of the vehicle, and a rear of the vehicle A rear camera that captures a predetermined range of the vehicle, a right-side camera (8) that captures a predetermined range on the right side of the vehicle, and a left-side camera (9) that captures a predetermined range on the left side of the vehicle. The shooting range of the camera overlaps with a part of the shooting range of the right side camera and a part of the shooting range of the left side camera. The shooting range of the rear camera is the same as that of the right side camera. A part of the shooting range and a part of the shooting range of the left camera overlap each other, the reference camera selection unit employs either the front camera or the rear camera as the reference camera, and the reference camera selection unit When the front camera is the reference camera, the parameter calculation unit calculates the alignment parameters for each of the rear camera, the right side camera, and the left side camera. The calculation unit calculates matching parameters for each of the front camera, the right side camera, and the left side camera, and the overhead conversion processing unit calculates the matching parameters calculated by the parameter calculation unit from the image captured by the adjustment target camera. It is used as a camera parameter when generating a partial overhead view image.

Claims

At least two cameras (2, 3) that are mounted on a vehicle and photograph different ranges of the periphery of the vehicle;
A parameter storage unit (13a) that stores camera parameters that are set for each camera and that represents a mounting position and a mounting posture with respect to the vehicle;
An overhead conversion processing unit (F2) that generates a partial overhead image that is an overhead image corresponding to the shooting range of the camera based on the image captured by the camera and the camera parameter corresponding to the camera;
A reference camera selection unit (F8) that selects a reference camera that is the camera to be used as a reference when adjusting the camera parameters of the predetermined camera among the plurality of cameras;
A first relative position specifying unit (G1) for specifying a relative position of an object photographed by the reference camera with respect to the vehicle based on an image photographed by the reference camera and the camera parameter corresponding to the reference camera;
Among the plurality of cameras, the camera other than the reference camera, the image captured by the adjustment target camera that is the camera to be adjusted for the camera parameter, and the camera parameter corresponding to the adjustment target camera A second relative position specifying unit (G2) for specifying a relative position of the object photographed by the adjustment target camera with respect to the vehicle;
A determination unit (F9) that determines whether the reference camera and the adjustment target camera have captured the same object based on an image captured by the reference camera and an image captured by the adjustment target camera. When,
When the determination unit determines that the adjustment target camera and the reference camera have photographed the same object, the common photographing object that is an object photographed by both the adjustment target camera and the reference camera A deviation degree calculating unit (G3) that calculates a deviation degree between the relative position specified by the second relative position specifying unit and the relative position specified by the first relative position specifying unit with respect to the common photographed object;
A parameter calculation unit (G4) that calculates a matching parameter that is the camera parameter for which the deviation degree calculated by the deviation degree calculation unit is 0 as the camera parameter for the adjustment target camera;
A mounting error that is an error between the mounting position and mounting posture of the camera represented by the camera parameter set in the camera and the actual mounting position and mounting posture of the camera is represented for each of the plurality of cameras. An error calculating unit (F11) to calculate;
A reliability evaluation unit (F81) for evaluating the reliability of each camera,
The reliability evaluation unit evaluates the reliability of the camera higher as the error calculated by the error calculation unit is smaller.
The reference camera selection unit employs the camera having the highest reliability evaluated by the reliability evaluation unit as the reference camera,
The overhead view conversion processing unit uses the matching parameter calculated by the parameter calculation unit as the camera parameter when generating the partial overhead image from an image captured by the adjustment target camera. Adjustment device.

Oite to claim 1,
In order to identify the current relative position of the object included in the image captured by the camera or the partial overhead image generated by the overhead conversion processing unit based on the image captured by the camera with respect to the vehicle An image data storage unit (12a) for storing the data in association with the position specifying data,
The first relative position specifying unit includes:
When the common photographed object is included in the current photographed image by the reference camera, the relative position of the common photographed object is specified based on the current photographed image and the camera parameter,
In a case where the common photographed object is not included in the current photographed image by the reference camera, an image including the common photographed object among images corresponding to the reference camera stored in the image data storage unit; , Specifying the relative position of the common object based on the position specifying data associated with the image and the camera parameters of the reference camera,
The second relative position specifying unit is
When the common photographed object is included in the current photographed image by the adjustment target camera, the relative position of the common photographed object is specified based on the current photographed image and the camera parameter,
When the common photographed object is not included in the current photographed image by the adjustment target camera, the common photographed object is included among the images corresponding to the adjustment target camera stored in the image data storage unit. A camera parameter adjustment device that specifies a relative position of the common object based on an image, the position specifying data associated with the image, and the camera parameter of the camera to be adjusted. .

At least two cameras (2, 3) that are mounted on a vehicle and photograph different ranges of the periphery of the vehicle;
A parameter storage unit (13a) that stores camera parameters that are set for each camera and that represents a mounting position and a mounting posture with respect to the vehicle;
An overhead conversion processing unit (F2) that generates a partial overhead image that is an overhead image corresponding to the shooting range of the camera based on the image captured by the camera and the camera parameter corresponding to the camera;
A reference camera selection unit (F8) that selects a reference camera that is the camera to be used as a reference when adjusting the camera parameters of the predetermined camera among the plurality of cameras;
A first relative position specifying unit (G1) for specifying a relative position of an object photographed by the reference camera with respect to the vehicle based on an image photographed by the reference camera and the camera parameter corresponding to the reference camera;
Among the plurality of cameras, the camera other than the reference camera, the image captured by the adjustment target camera that is the camera to be adjusted for the camera parameter, and the camera parameter corresponding to the adjustment target camera A second relative position specifying unit (G2) for specifying a relative position of the object photographed by the adjustment target camera with respect to the vehicle;
A determination unit (F9) that determines whether the reference camera and the adjustment target camera have captured the same object based on an image captured by the reference camera and an image captured by the adjustment target camera. When,
When the determination unit determines that the adjustment target camera and the reference camera have photographed the same object, the common photographing object that is an object photographed by both the adjustment target camera and the reference camera A deviation degree calculating unit (G3) that calculates a deviation degree between the relative position specified by the second relative position specifying unit and the relative position specified by the first relative position specifying unit with respect to the common photographed object;
A parameter calculation unit (G4) that calculates a matching parameter that is the camera parameter for which the deviation degree calculated by the deviation degree calculation unit is 0 as the camera parameter for the adjustment target camera;
In order to identify the current relative position of the object included in the image captured by the camera or the partial overhead image generated by the overhead conversion processing unit based on the image captured by the camera with respect to the vehicle An image data storage unit (12a) for storing the data in association with the position specifying data ,
The first relative position specifying unit includes:
When the common photographed object is included in the current photographed image by the reference camera, the relative position of the common photographed object is specified based on the current photographed image and the camera parameter,
In a case where the common photographed object is not included in the current photographed image by the reference camera, an image including the common photographed object among images corresponding to the reference camera stored in the image data storage unit; , Specifying the relative position of the common object based on the position specifying data associated with the image and the camera parameters of the reference camera,
The second relative position specifying unit is
When the common photographed object is included in the current photographed image by the adjustment target camera, the relative position of the common photographed object is specified based on the current photographed image and the camera parameter,
When the common photographed object is not included in the current photographed image by the adjustment target camera, the common photographed object is included among the images corresponding to the adjustment target camera stored in the image data storage unit. Based on the image, the position specifying data associated with the image, and the camera parameters of the adjustment target camera, the relative position of the common object is specified,
The overhead view conversion processing unit uses the matching parameter calculated by the parameter calculation unit as the camera parameter when generating the partial overhead image from an image captured by the adjustment target camera. Adjustment device.

In claim 3 ,
A reliability evaluation unit (F81) for evaluating the reliability of each camera;
The camera parameter adjustment device, wherein the reference camera selection unit employs the camera having the highest reliability evaluated by the reliability evaluation unit as the reference camera.

Oite claims 2 to any one of 4,
A movement amount specifying unit (F3) that sequentially acquires information related to the movement of the vehicle and sequentially specifies the movement amount of the vehicle based on the information,
The position specifying data is determined based on time information at the time when an image associated with the position specifying data is taken or generated, or the moving amount sequentially specified by the moving amount specifying unit. A camera parameter characterized in that it is data indicating a corresponding movement area that is an area represented by the image in the periphery of the vehicle, which is determined based on the total movement amount from the time of shooting to the present or the total movement amount. Adjustment device.

In any one of Claim 1 to 5 ,
As the camera, a front camera for photographing a predetermined range in front of the vehicle, and a rear camera for photographing a predetermined range in the rear of the vehicle,
The reference camera selection unit employs one of the front camera and the rear camera as the reference camera and the other as the adjustment target camera.

In any one of Claim 1 to 5 ,
As the camera, a front camera that captures a predetermined range in front of the vehicle, a rear camera that captures a predetermined range behind the vehicle, and a right-side camera (8) that captures a predetermined range on the right side of the vehicle; A left side camera (9) for photographing a predetermined range on the left side of the vehicle,
The shooting range of the front camera overlaps with a part of the shooting range of the right side camera and a part of the shooting range of the left side camera,
The shooting range of the rear camera overlaps with a part of the shooting range of the right side camera and a part of the shooting range of the left side camera,
The reference camera selection unit employs either the front camera or the rear camera as the reference camera,
When the reference camera selection unit uses the front camera as the reference camera, the parameter calculation unit calculates the matching parameter for each of the rear camera, the right side camera, and the left side camera. On the other hand, when the rear camera is the reference camera, the parameter calculation unit calculates the matching parameter for each of the front camera, the right side camera, and the left side camera. Camera parameter adjustment device.

At least two cameras (2, 3) that are mounted on a vehicle and photograph different ranges of the periphery of the vehicle;
A parameter storage unit (13a) that stores camera parameters that are set for each camera and that represents a mounting position and a mounting posture with respect to the vehicle;
An overhead conversion processing unit (F2) that generates a partial overhead image that is an overhead image corresponding to the shooting range of the camera based on the image captured by the camera and the camera parameter corresponding to the camera;
A reference camera selection unit (F8) that selects a reference camera that is the camera to be used as a reference when adjusting the camera parameters of the predetermined camera among the plurality of cameras;
A first relative position specifying unit (G1) for specifying a relative position of an object photographed by the reference camera with respect to the vehicle based on an image photographed by the reference camera and the camera parameter corresponding to the reference camera;
Among the plurality of cameras, the camera other than the reference camera, the image captured by the adjustment target camera that is the camera to be adjusted for the camera parameter, and the camera parameter corresponding to the adjustment target camera A second relative position specifying unit (G2) for specifying a relative position of the object photographed by the adjustment target camera with respect to the vehicle;
A determination unit (F9) that determines whether the reference camera and the adjustment target camera have captured the same object based on an image captured by the reference camera and an image captured by the adjustment target camera. When,
When the determination unit determines that the adjustment target camera and the reference camera have photographed the same object, the common photographing object that is an object photographed by both the adjustment target camera and the reference camera A deviation degree calculating unit (G3) that calculates a deviation degree between the relative position specified by the second relative position specifying unit and the relative position specified by the first relative position specifying unit with respect to the common photographed object;
A parameter calculation unit (G4) that calculates a matching parameter that is the camera parameter for which the deviation degree calculated by the deviation degree calculation unit is 0 as the camera parameter for the adjustment target camera;
As the camera, a front camera for photographing a predetermined range in front of the vehicle, and a rear camera for photographing a predetermined range in the rear of the vehicle,
The reference camera selection unit employs either the front camera or the rear camera as the reference camera, and the other as the adjustment target camera.
The overhead view conversion processing unit uses the matching parameter calculated by the parameter calculation unit as the camera parameter when generating the partial overhead image from an image captured by the adjustment target camera. Adjustment device.

At least two cameras (2, 3) that are mounted on a vehicle and photograph different ranges of the periphery of the vehicle;
A parameter storage unit (13a) that stores camera parameters that are set for each camera and that represents a mounting position and a mounting posture with respect to the vehicle;
An overhead conversion processing unit (F2) that generates a partial overhead image that is an overhead image corresponding to the shooting range of the camera based on the image captured by the camera and the camera parameter corresponding to the camera;
A reference camera selection unit (F8) that selects a reference camera that is the camera to be used as a reference when adjusting the camera parameters of the predetermined camera among the plurality of cameras;
A first relative position specifying unit (G1) for specifying a relative position of an object photographed by the reference camera with respect to the vehicle based on an image photographed by the reference camera and the camera parameter corresponding to the reference camera;
Among the plurality of cameras, the camera other than the reference camera, the image captured by the adjustment target camera that is the camera to be adjusted for the camera parameter, and the camera parameter corresponding to the adjustment target camera A second relative position specifying unit (G2) for specifying a relative position of the object photographed by the adjustment target camera with respect to the vehicle;
A determination unit (F9) that determines whether the reference camera and the adjustment target camera have captured the same object based on an image captured by the reference camera and an image captured by the adjustment target camera. When,
When the determination unit determines that the adjustment target camera and the reference camera have photographed the same object, the common photographing object that is an object photographed by both the adjustment target camera and the reference camera A deviation degree calculating unit (G3) that calculates a deviation degree between the relative position specified by the second relative position specifying unit and the relative position specified by the first relative position specifying unit with respect to the common photographed object;
A parameter calculation unit (G4) that calculates a matching parameter that is the camera parameter for which the deviation degree calculated by the deviation degree calculation unit is 0 as the camera parameter for the adjustment target camera;
As the camera, a front camera that captures a predetermined range in front of the vehicle, a rear camera that captures a predetermined range behind the vehicle, and a right-side camera (8) that captures a predetermined range on the right side of the vehicle; A left side camera (9) for photographing a predetermined range on the left side of the vehicle,
The shooting range of the front camera overlaps with a part of the shooting range of the right side camera and a part of the shooting range of the left side camera,
The shooting range of the rear camera overlaps with a part of the shooting range of the right side camera and a part of the shooting range of the left side camera,
The reference camera selection unit employs either the front camera or the rear camera as the reference camera,
When the reference camera selection unit uses the front camera as the reference camera, the parameter calculation unit calculates the matching parameter for each of the rear camera, the right side camera, and the left side camera. On the other hand, when the rear camera is the reference camera, the parameter calculation unit calculates the matching parameter for each of the front camera, the right side camera, and the left side camera,
The overhead view conversion processing unit uses the matching parameter calculated by the parameter calculation unit as the camera parameter when generating the partial overhead image from an image captured by the adjustment target camera. Adjustment device.

In claim 8 or 9 ,
A reliability evaluation unit (F81) for evaluating the reliability of each camera;
The camera parameter adjustment device, wherein the reference camera selection unit employs the camera having the highest reliability evaluated by the reliability evaluation unit as the reference camera.

In any one of Claim 1 to 10 ,
An overhead image integration processing unit that generates an integrated overhead image that is an overhead image around the vehicle by synthesizing the partial overhead images corresponding to the captured images of the plurality of cameras generated by the overhead conversion processing unit ( F6)
A camera parameter adjustment apparatus comprising: a display processing unit (F7) that displays the integrated overhead image generated by the overhead image integration processing unit on a display.