JP5321635B2 - Position coordinate correspondence table creation system and position coordinate correspondence table creation method - Google Patents

Description

  The present invention relates to a position coordinate correspondence table creation system and a position coordinate correspondence table creation method for creating a correspondence table between a camera coordinate system and a world coordinate system for position coordinates of a vehicle traveling on a road.

  In a system that detects a vehicle traveling on the target road using a camera installed along the road and image processing technology, the positional relationship between the camera coordinate system and the world coordinate system that is the actual coordinate system on the road surface It is necessary to prepare information that associates.

  FIG. 13 is a diagram for explaining the association between the camera coordinate system and the world coordinate system.

  As shown in FIG. 13, by associating the camera coordinate system with the world coordinate system, when a vehicle is present at a certain pixel on the camera image, the world coordinate on the road surface associated with the pixel is displayed. By referring to the position, the actual position of the vehicle can be known, and the movement distance and speed can be calculated by referring to this in time series.

  As a specific method for performing this association, for example, a method using an in-vehicle device and a roadside device is disclosed in Patent Document 1.

  FIG. 14 is a diagram for explaining processing for creating a correspondence table in which a camera coordinate system and a world coordinate system are associated with each other.

  The in-vehicle device used to create the correspondence table in which the camera coordinate system and the world coordinate system are associated is configured with a GPS receiver, a light source / heat source, and the like, and the roadside device is configured with a camera and a recording device. .

  As shown in FIG. 14, in the in-vehicle device, the latitude and longitude information is received by the GPS receiver while the vehicle is running, and the road of the vehicle is obtained from the latitude and longitude information and the vehicle speed pulse output from the vehicle. The position information in the world coordinate system on the surface is calculated. Further, the light source blinks in synchronization with the GPS time.

  On the other hand, in the roadside device, the state of travel of the vehicle equipped with the in-vehicle device is photographed with a camera, and the image information is recorded by the recording unit.

  Then, the position information of the world coordinate system and the camera image information acquired by both devices are used by the blinking timing at the GPS time of the light source of the in-vehicle device and the blinking timing of the light source in the image of the camera that took the image. By synchronizing the time and specifying the vehicle position (pixel) on the camera image, the position information of the world coordinate system on the road surface corresponding to the pixel is associated. This is performed in time series, for example, for each frame of the camera image, thereby completing the association with the travel locus of the vehicle. In addition, the association with each camera pixel other than the traveling locus of the vehicle is obtained by calculation such as linear interpolation.

  As a result, a correspondence table in which the camera coordinate system and the world coordinate system are associated with each other is created.

Japanese Unexamined Patent Application Publication No. 2010-236891

  However, when the above-described method is actually performed, there are problems in terms of time synchronization between the position information of the world coordinate system and the position information on the camera image, and the specification of the vehicle position on the camera image.

  In order to perform time synchronization between the position information of the world coordinate system and the position information on the camera image, for example, an in-vehicle device and a roadside device are connected via a network and time adjustment such as NTP (Network Time Protocol) is performed. A method of constructing a system such as utilizing a mechanism is conceivable. However, it is difficult to say that such a mechanism can always be constructed within the constraints that occur for each case, such as when each device cannot be connected to the network.

  Therefore, as described above, as a method for ensuring time synchronization without being influenced by the constraint conditions for each case, as described above, a human confirms the blinking timing at the GPS time of the light source of the in-vehicle device on the camera image. Therefore, time synchronization can be considered.

  FIG. 15 is a diagram for explaining a problem when synchronization is performed using the timing of blinking of the light source of the in-vehicle device.

  When time synchronization is achieved by human confirmation of the blinking timing at the GPS time of the light source of the in-vehicle device on the image of the camera, as shown in FIG. 15, when the blinking timing of the light source is constant, It becomes difficult to quickly determine which blinking indicates which position on the camera image.

  The present invention has been made in view of the problems of the above-described technology, and is acquired by a vehicle world coordinate system and a roadside device acquired by an in-vehicle device mounted on a vehicle traveling on a road. It is an object of the present invention to provide a position coordinate correspondence table creation system and a position coordinate correspondence table creation method capable of improving the efficiency of processing for creating a correspondence table with a camera coordinate system of a vehicle.

In order to achieve the above object, the present invention provides:
A position coordinate correspondence table creation system for creating a correspondence table between position coordinate data of a world coordinate system of a vehicle equipped with an in-vehicle device and position coordinate data of camera system coordinates of the vehicle photographed by a roadside device. ,
The in-vehicle device is
Position coordinate acquisition means for acquiring position coordinate data of the world coordinate system of the vehicle;
A light source / heat source output means for intermittently outputting a light source or a heat source in a pattern in which the intervals are not uniform;
Vehicle data recording means for recording the position coordinate data of the world coordinate system of the vehicle acquired by the position coordinate acquisition means and the output timing information of the light source or heat source in the light source / heat source output means in association with the time; Have
The roadside device is
Photographing means for photographing the vehicle;
Video recording means for recording an image photographed by the photographing means,
Further, based on the output timing information of the light source or heat source recorded in the in-vehicle data recording means and the output timing of the light source or heat source included in the image recorded in the video recording means, the world coordinate system of the vehicle The position coordinate data of the vehicle and the position coordinate data of the camera coordinate system of the vehicle are time-synchronized to create a correspondence table between the position coordinate data of the world coordinate system and the position coordinate data of the camera system coordinate for the vehicle It has a table creation means.

Further, a position coordinate correspondence table creating method for creating a correspondence table between position coordinate data in the world coordinate system of a vehicle on which an in-vehicle device is mounted and position coordinate data of a camera system coordinate of the vehicle photographed by a roadside device. There,
The roadside device photographing the vehicle and recording the image;
The in-vehicle device acquires position coordinate data of the world coordinate system of the vehicle;
The vehicle-mounted device intermittently outputs a light source or a heat source in a pattern in which the interval is uneven.
The in-vehicle device records the position coordinate data of the world coordinate system of the vehicle and the output timing information of the light source or heat source in association with time, and
Based on the output timing information of the light source or heat source and the output timing of the light source / heat source included in the recorded image, the position coordinate data of the world coordinate system of the vehicle and the position coordinate of the camera coordinate system of the vehicle And time synchronization of the data, and creating a correspondence table between the position coordinate data of the world coordinate system and the position coordinate data of the camera system coordinate for the vehicle.

  As described above, the present invention uses the output timing of the light source or the heat source intermittently output in a pattern in which the intervals are not uniform, and the vehicle acquired by the in-vehicle device mounted on the vehicle traveling on the road. By creating a correspondence table between the world coordinate system and the camera coordinate system of the vehicle acquired by the roadside device, the processing becomes easy and the efficiency can be improved.

It is a figure which shows one Embodiment of the position coordinate corresponding | compatible table preparation system of this invention. It is a figure which shows the detailed structure of the roadside apparatus shown in FIG. It is a figure which shows the structure of the vehicle-mounted apparatus shown in FIG. 1, (a) is a figure which shows the structure of what outputs a light source, (b) is a figure which shows the structure of what outputs a heat source. It is a figure which shows the detailed structure of the position corresponding | compatible table preparation part shown in FIG. It is a figure for demonstrating the output pattern of the light source or heat source in the position coordinate corresponding | compatible table preparation system shown in FIGS. It is a flowchart for demonstrating an example of the position coordinate corresponding | compatible table preparation method in the position coordinate corresponding | compatible table preparation system shown in FIGS. It is a figure for demonstrating the bad effect when the mark / light source part for pixel designation | designated of a vehicle-mounted apparatus, and the heat source part for pixel designation | designated are attached in the position higher than road surfaces, such as on the loading platform of a vehicle. It is a figure which shows the installation position of the pixel designation | designated mark / light source part and pixel designation | designated heat source part of the vehicle-mounted apparatus in the position coordinate corresponding | compatible table preparation system shown in FIGS. 5 is a flowchart for explaining another example of a position coordinate correspondence table creation method in the position coordinate correspondence table creation system shown in FIGS. 5 is a flowchart for explaining another example of a position coordinate correspondence table creation method in the position coordinate correspondence table creation system shown in FIGS. It is a figure for demonstrating the process for performing time synchronization automatically in the position coordinate corresponding | compatible table production system shown in FIGS. It is a figure for demonstrating the process for performing designation | designated of a vehicle position automatically in the position coordinate corresponding | compatible table creation system shown in FIGS. It is a figure for demonstrating matching with a camera coordinate system and a world coordinate system. It is a figure for demonstrating the process which produces the corresponding table with which the camera coordinate system and the world coordinate system were matched. It is a figure for demonstrating the problem in the case of taking synchronization using the blink timing of the light source of a vehicle-mounted apparatus.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a diagram showing an embodiment of a position coordinate correspondence table creation system of the present invention.

  In the present embodiment, as shown in FIG. 1, a roadside device 10 installed on a road on which the vehicle travels, an in-vehicle device 20 mounted on the vehicle, and position coordinate data in the world coordinate system of the vehicle in which the in-vehicle device 20 is mounted. And a position correspondence table creating unit 30 that creates a correspondence table between the position coordinate data of the camera system coordinates of the vehicle photographed by the roadside device 10.

  The roadside device 10 is a device that images a target road with a visible camera or an infrared camera and records the image.

  The in-vehicle device 20 records position information in the world coordinate system together with accurate time information by GPS or a vehicle speed pulse. The in-vehicle device 20 has a light source or a heat source, and can blink or open / close the shutter at an arbitrarily set specific timing, and records the control information together with accurate time information.

  The position correspondence table creation unit 30 reads the image recorded by the roadside device 10, the position information of the world coordinate system recorded by the in-vehicle device 20, and the control information of the light source or heat source, and the correspondence table of the camera coordinate system and the world coordinate system. Create

  FIG. 2 is a diagram showing a detailed configuration of the roadside apparatus 10 shown in FIG.

  As shown in FIG. 2, the roadside device 10 in this embodiment includes a camera unit 11 that is an imaging unit that captures a vehicle traveling on a road by imaging a target road with a visible camera or an infrared camera, and a camera. And a video recording unit 12 that records an image photographed by the unit 11.

  3A and 3B are diagrams illustrating the configuration of the in-vehicle device 10 illustrated in FIG. 1, in which FIG. 3A is a diagram illustrating a configuration of a device that outputs a light source, and FIG. 3B is a diagram illustrating a configuration of a device that outputs a heat source.

  As shown in FIG. 3A, the in-vehicle device 10 in this embodiment includes a position calculation / time synchronization unit 21 that is a position coordinate acquisition unit, a light source control unit 22 that is a light source / heat source output unit, a light source unit 23, and A configuration having a pixel designation mark / light source unit 25 and an in-vehicle data recording unit 24 is conceivable.

  The position calculation / time synchronization unit 21 acquires and calculates position coordinate data of the world coordinate system of the vehicle based on GPS or vehicle speed pulse information, and measures time synchronization of the entire in-vehicle apparatus 10.

  The light source unit 23 includes illumination such as an LED that emits light visible with a visible camera and can be turned on / off.

  The light source control unit 22 controls turning on / off of the light source unit 23 so that the output of the light source from the light source unit 23 becomes an intermittent output of a pattern in which the intervals are not uniform.

  The pixel designation mark / light source unit 25 indicates a mark for designating a vehicle position on the camera image.

  The in-vehicle data recording unit 24 records the position coordinate data acquired and calculated by the position calculation / time synchronization unit 21 and the output timing information of the light source from the light source unit 23 in association with the time.

  Further, as the in-vehicle device 10, as shown in FIG. 3B, in addition to the one shown in FIG. 3A, the light source control unit 22, the light source unit 23, and the pixel designation mark shown in FIG. Instead of the light source unit 25, a light source / heat source output unit having a heat source unit 18, a heat source shutter unit 27, a heat source shutter control unit 26, and a pixel specifying heat source unit 29 is conceivable.

  The heat source unit 28 emits heat visible with an infrared camera.

  The heat source shutter unit 27 is a movable shield for preventing the heat source from being visually recognized from the infrared camera.

  The heat source shutter control unit 26 controls opening and closing of the heat source shutter unit 27.

  The pixel specifying heat source unit 29 indicates a mark for specifying the vehicle position on the camera image.

  FIG. 4 is a diagram showing a detailed configuration of the position correspondence table creation unit 30 shown in FIG.

  As shown in FIG. 4, the position correspondence table creation unit 30 in this embodiment includes a correspondence table representative point creation unit 31 and a correspondence table complementing unit 32.

  The correspondence table representative point creation unit 31 includes a camera image recorded in the video recording unit 12 of the roadside device 10, vehicle position information in the world coordinate system recorded in the in-vehicle data recording unit 24 of the in-vehicle device 20, and a light source The light source or the heat source shutter control information in the control unit 22 or the heat source shutter control unit 26 is read, respectively, and is included in the output timing information of the light source or the heat source recorded in the in-vehicle data recording unit 24 and the image recorded in the video recording unit 12 The position coordinate data of the vehicle world coordinate system and the position coordinate data of the camera coordinate system of the vehicle photographed by the roadside device 10 are time-synchronized based on the output timing of the light source / heat source to be generated, and the world of the vehicle A correspondence table between the position coordinate data of the coordinate system and the position coordinate data of the camera system coordinate is created.

  The correspondence table complementing unit 32 is position information recorded in the in-vehicle data recording unit 24 of the in-vehicle device 20 in the camera coordinate system / world coordinate system position correspondence table of the representative points created by the correspondence table representative point creation unit 31. A value corresponding to a pixel (for example, the entire road surface) other than the camera pixel corresponding to is calculated by calculation, and the table is complemented.

  The position coordinate correspondence table creation method in the position coordinate correspondence table creation system configured as described above will be described below.

  FIG. 5 is a diagram for explaining an output pattern of a light source or a heat source in the position coordinate correspondence table creation system shown in FIGS.

  In this embodiment, the output of the light source 23 by the light source control unit 22 and the opening and closing of the heat source shutter unit 27 by the heat source shutter control unit 26 are intermittently performed in a pattern in which the intervals are not uniform. Thereby, it becomes easy to understand the correspondence between the position coordinate data of the world coordinate system of the vehicle acquired by the in-vehicle device 20 and the position coordinate data of the camera coordinate system of the vehicle photographed by the roadside device 10. The time synchronization between the position coordinate data of the world coordinate system and the position coordinate data of the camera camera coordinate system is made intuitive and easy and quick. The output of the light source 23 by the light source control unit 22 and the opening / closing pattern of the heat source shutter unit 27 by the heat source shutter control unit 26 are implemented with a program for executing the pattern and operated at a specific timing using this program. Set to do.

  FIG. 6 is a flowchart for explaining an example of the position coordinate correspondence table creation method in the position coordinate correspondence table creation system shown in FIGS.

  In this example, first, a vehicle on which the in-vehicle device 20 is mounted is traveled, and the image is taken by the camera unit 11 of the roadside device 10 (step 1). The roadside device 10 records the vehicle image captured by the camera unit 11 in the video recording unit 12 (step 2).

  In parallel with this, in the in-vehicle device 20, the position calculation / time synchronization unit 21 acquires an accurate position and time as position coordinate data of the world coordinate system of the vehicle and records them in the in-vehicle data recording unit 24. At the same time (step 3), the light source unit 23 blinks the light source in a pattern in which the interval becomes uneven by the control of the light source control unit 22, or the interval of the heat source shutter unit 27 is controlled by the control of the heat source shutter control unit 26. The control information is recorded in the in-vehicle data recording unit 24 together with the time (step 4). In the following description, the output of the light source and the output of the heat source described above are collectively referred to as a light source / heat source, and indicate either one of the output of the light source or the output of the heat source.

  And if the said vehicle passes the arbitrary area | region outside a camera visual field or a camera visual field, the recording of the vehicle-mounted apparatus 20 and imaging | photography of the roadside apparatus 10 will be complete | finished (steps 5 and 6).

  After that, the position correspondence table is created by using the light source / heat source shutter control information and the vehicle position information recorded in the in-vehicle data recording unit 24 of the in-vehicle device 20 and the camera image recorded in the video recording unit 12 of the roadside device 10. It is read into the correspondence table representative point creation unit 31 of the unit 30 and visually displayed, and is included in the output timing information of the light source / heat source recorded in the in-vehicle data recording unit 24 and the camera image recorded in the video recording unit 12. Based on the output timing of the light source / heat source, the position coordinate data of the world coordinate system of the vehicle and the position coordinate data of the camera coordinate system of the vehicle are synchronized in time. At this time, by setting the output timing of the light source / heat source to a specific pattern in which the intervals are not uniform, it is easy for a person to visually synchronize the time, and the time synchronization is made efficient (step 7). .

  Next, a person designates the vehicle position on the camera coordinate system in each frame of the in-vehicle device 20 with reference to the position of the light source / heat source. And the correspondence table with the position in the world coordinate system recorded on the vehicle-mounted apparatus 20 corresponding to the time is created, and thereby, the position coordinate data of the world coordinate system and the position coordinate data of the camera system coordinate for the vehicle Is created (step 8).

  Thereafter, the correspondence table of representative points created using the correspondence table representative point creation unit 31 is read into the correspondence table complementing unit 32, and the positions of the corresponding world coordinate system are calculated for all pixels other than the vehicle position in the camera coordinate system. And the correspondence table is complemented (step 9). Then, a camera coordinate system / world coordinate system position correspondence table in which association is performed for all camera pixels is output (step 10).

  As described above, since the timing of the blinking of the light source and the opening and closing of the heat source shutter is a specific pattern in which the intervals are not uniform, the blinking of the light source in the light source unit 23 or the opening and closing of the heat source shutter unit 27 is performed at the same timing. The user can easily find the portion (pattern) that has been broken and easily synchronize the time between the position / control information recorded in the in-vehicle device 20 and the camera image recorded in the roadside device 10 visually. .

  Here, in the case where the pixel designation mark / light source unit 25 and the pixel designation heat source unit 29 of the vehicle-mounted device 20 described above are attached to a position higher than the road surface such as on the loading platform of the vehicle, an error occurs in the position. . The adverse effects will be described below.

  FIG. 7 is a diagram for explaining an adverse effect when the pixel designation mark / light source unit 25 and the pixel designation heat source unit 29 of the in-vehicle device 20 are mounted at a position higher than the road surface such as on the loading platform of the vehicle. It is.

  When the pixel designation mark / light source unit 25 and the pixel designation heat source unit 29 of the in-vehicle device 20 are attached to a position higher than the road surface such as on the loading platform of the vehicle, as shown in FIG. Thus, an error occurs, and the error is greatly different between a vehicle photographed in the vicinity of the roadside device 10 and a vehicle photographed far away from the roadside device 10. Therefore, it is necessary to make an association in consideration of the height of the installation position of the pixel designation mark / light source unit 25 and the pixel designation heat source unit 29 of the in-vehicle device 20. For example, the pixel position of the road surface corresponding to the direct source of the heat source / light source on the camera image is calculated by calculation using a trigonometric function or the like based on the actual height information of the device or the installation position information of the camera, and is originally associated It is conceivable to obtain the pixel position of the road surface to be performed.

  However, such a method is complicated due to information and calculations to be prepared, and the designation of the pixel position of the heat source / light source is visually performed by a person, which causes human error, which further adversely affects the calculation result. May affect.

  FIG. 8 is a diagram illustrating the installation positions of the pixel designation mark / light source unit 25 and the pixel designation heat source unit 29 of the in-vehicle device 20 in the position coordinate correspondence table creation system illustrated in FIGS. 1 to 4.

  As shown in FIG. 8, the pixel designation mark / light source unit 25 and the pixel designation heat source unit 29 are attached as close to the road surface as possible in the lower part of the vehicle, thereby facilitating the specification of the position and improving the processing efficiency. The error in the perspective direction caused by the height difference on the image can be reduced without calculating the offset in the height direction.

  FIG. 9 is a flowchart for explaining another example of the position coordinate correspondence table creation method in the position coordinate correspondence table creation system shown in FIGS.

  In this example, instead of step 8 shown in FIG. 6, a mark such as a light source or a heat source is attached to the lower part of the vehicle, for example, when the camera unit 11 of the roadside device 10 is rear imaging, refer to this. The position is confirmed (step 11).

  As described above, by directly specifying the mark of the light source / heat source mounted on the lower part of the vehicle, the vehicle position can be obtained more easily and human error can be reduced.

(Other embodiments)
In the above-described embodiment, processing involving humans is included, but it is preferable to perform the processing in the position correspondence table creation unit 30. In the present embodiment, in the above-described embodiment, the two processes of time synchronization and vehicle position designation that were performed by human visual recognition are performed by the correspondence table representative point creation unit 31 with the image processing technology and pattern matching of the computer, respectively. Automate by implementing technology.

  FIG. 11 is a diagram for explaining processing for automatically performing time synchronization in the position coordinate correspondence table creating system shown in FIGS. 1 to 4.

  As for time synchronization, as shown in FIG. 11, the blinking timing of the light source / heat source of the vehicle recorded in the camera image is extracted by image processing technology, and the extracted timing information and the control information of the in-vehicle device 20 (on the in-vehicle device 20 side). By pattern matching with the recorded blinking timing information), it becomes possible to automatically synchronize the time without human intervention.

  FIG. 12 is a diagram for explaining processing for automatically specifying the vehicle position in the position coordinate correspondence table creating system shown in FIGS. 1 to 4.

  The vehicle position is specified by extracting the vehicle pixel designation mark / light source unit 25 or the pixel designation heat source unit 29 recorded in the camera image by an image processing technique as shown in FIG. Therefore, it is possible to automatically specify the vehicle position.

  FIG. 10 is a flowchart for explaining another example of the position coordinate correspondence table creation method in the position coordinate correspondence table creation system shown in FIGS.

  In this example, instead of step 7 shown in FIG. 6, the above-described time synchronization is automatically performed by the correspondence table representative point creation unit 31 (step 12). Is automatically specified by the correspondence table representative point creation unit 31 (step 13).

  In this way, this embodiment eliminates human error and further increases efficiency by automating using computer image processing and pattern matching technology instead of human time synchronization and vehicle position designation. Can be planned.

  Since the technology of the present invention is used to construct a system for detecting the position of a vehicle or an object on a camera image using image processing technology, it is mainly constructed by a road manager, a traffic manager, a facility manager, etc. This can be applied to infrastructure management.

DESCRIPTION OF SYMBOLS 10 Roadside apparatus 11 Camera part 12 Image | video recording part 20 In-vehicle apparatus 21 Position calculation / time synchronization part 22 Light source control part 23 Light source part 24 In-vehicle data recording part 25 Mark for specifying pixel / light source part 26 Heat source shutter control part 27 Heat source shutter part 28 Heat source part 29 Heat source part for pixel designation 30 Position correspondence table creation part 31 Correspondence table representative point creation part 32 Correspondence table complement part

Claims (4)

A position coordinate correspondence table creation system for creating a correspondence table between position coordinate data of a world coordinate system of a vehicle equipped with an in-vehicle device and position coordinate data of camera system coordinates of the vehicle photographed by a roadside device. ,
The in-vehicle device is
Position coordinate acquisition means for acquiring position coordinate data of the world coordinate system of the vehicle;
A light source / heat source output means for intermittently outputting a light source or a heat source in a pattern in which the intervals are not uniform;
Vehicle data recording means for recording the position coordinate data of the world coordinate system of the vehicle acquired by the position coordinate acquisition means and the output timing information of the light source or heat source in the light source / heat source output means in association with the time; Have
The roadside device is
Photographing means for photographing the vehicle;
Video recording means for recording an image photographed by the photographing means,
Further, based on the output timing information of the light source or heat source recorded in the in-vehicle data recording means and the output timing of the light source or heat source included in the image recorded in the video recording means, the world coordinate system of the vehicle The position coordinate data of the vehicle and the position coordinate data of the camera coordinate system of the vehicle are time-synchronized to create a correspondence table between the position coordinate data of the world coordinate system and the position coordinate data of the camera system coordinate for the vehicle A position coordinate correspondence table creation system having a table creation means. In the position coordinate correspondence table creation system according to claim 1,
The light source / heat source output means is a position coordinate correspondence table creation system attached to the lower part of the vehicle. In the position coordinate correspondence table creation system according to claim 1 or 2,
The correspondence table creating means performs pattern matching between the output timing information of the light source or heat source recorded in the in-vehicle data recording means and the output timing of the light source or heat source included in the image recorded in the video recording means. Thus, a position coordinate correspondence table creation system that synchronizes the position coordinate data of the world coordinate system of the vehicle and the position coordinate data of the camera coordinate system of the vehicle with time. A position coordinate correspondence table creation method for creating a correspondence table between position coordinate data in a world coordinate system of a vehicle equipped with an in-vehicle device and position coordinate data of a camera system coordinate of the vehicle photographed by a roadside device. ,
The roadside device photographing the vehicle and recording the image;
The in-vehicle device acquires position coordinate data of the world coordinate system of the vehicle;
The vehicle-mounted device intermittently outputs a light source or a heat source in a pattern in which the interval is uneven.
The in-vehicle device records the position coordinate data of the world coordinate system of the vehicle and the output timing information of the light source or heat source in association with time, and
Based on the output timing information of the light source or heat source and the output timing of the light source / heat source included in the recorded image, the position coordinate data of the world coordinate system of the vehicle and the position coordinate of the camera coordinate system of the vehicle A position coordinate correspondence table creation method comprising: synchronizing time with data and creating a correspondence table between the position coordinate data of the world coordinate system and the position coordinate data of the camera system coordinate for the vehicle.

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