DE112016000356T5 - Selbstrektifizierung von Stereokameras - Google Patents

Selbstrektifizierung von Stereokameras Download PDF

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Publication number
DE112016000356T5
DE112016000356T5 DE112016000356.0T DE112016000356T DE112016000356T5 DE 112016000356 T5 DE112016000356 T5 DE 112016000356T5 DE 112016000356 T DE112016000356 T DE 112016000356T DE 112016000356 T5 DE112016000356 T5 DE 112016000356T5
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Germany
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Pending
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DE112016000356.0T
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German (de)
English (en)
Inventor
Sylvain Bougnoux
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IMRA Europe SAS
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IMRA Europe SAS
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Publication of DE112016000356T5 publication Critical patent/DE112016000356T5/de
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/246—Calibration of cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20021—Dividing image into blocks, subimages or windows
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20072—Graph-based image processing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Image Analysis (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Studio Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Image Processing (AREA)
DE112016000356.0T 2015-01-16 2016-01-18 Selbstrektifizierung von Stereokameras Pending DE112016000356T5 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015000250 2015-01-16
DE102015000250.3 2015-01-16
PCT/EP2016/050916 WO2016113429A2 (en) 2015-01-16 2016-01-18 Self-rectification of stereo camera

Publications (1)

Publication Number Publication Date
DE112016000356T5 true DE112016000356T5 (de) 2018-01-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE112016000356.0T Pending DE112016000356T5 (de) 2015-01-16 2016-01-18 Selbstrektifizierung von Stereokameras

Country Status (4)

Country Link
US (1) US20180007345A1 (enExample)
JP (1) JP6769010B2 (enExample)
DE (1) DE112016000356T5 (enExample)
WO (1) WO2016113429A2 (enExample)

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EP2972478B1 (en) 2013-03-15 2020-12-16 Uatc, Llc Methods, systems, and apparatus for multi-sensory stereo vision for robotics
US10077007B2 (en) * 2016-03-14 2018-09-18 Uber Technologies, Inc. Sidepod stereo camera system for an autonomous vehicle
US20170359561A1 (en) * 2016-06-08 2017-12-14 Uber Technologies, Inc. Disparity mapping for an autonomous vehicle
JP7165484B2 (ja) * 2017-04-17 2022-11-04 コグネックス・コーポレイション 高精密な校正システム及び方法
US11568568B1 (en) * 2017-10-31 2023-01-31 Edge 3 Technologies Calibration for multi-camera and multisensory systems
US10967862B2 (en) 2017-11-07 2021-04-06 Uatc, Llc Road anomaly detection for autonomous vehicle
CN111343360B (zh) * 2018-12-17 2022-05-17 杭州海康威视数字技术股份有限公司 一种校正参数获得方法
CN109520480B (zh) * 2019-01-22 2021-04-30 合刃科技（深圳）有限公司 基于双目立体视觉的测距方法及测距系统
WO2021150369A1 (en) 2020-01-22 2021-07-29 Nodar Inc. Non-rigid stereo vision camera system
US11427193B2 (en) 2020-01-22 2022-08-30 Nodar Inc. Methods and systems for providing depth maps with confidence estimates
CN111743510B (zh) * 2020-06-24 2023-09-19 中国科学院光电技术研究所 一种基于聚类的人眼哈特曼光斑图像去噪方法
US20240169574A1 (en) * 2021-01-27 2024-05-23 Sony Group Corporation Mobile body, information processing method, and program
CN112991464B (zh) * 2021-03-19 2023-04-07 山东大学 基于立体视觉的三维重建的点云误差补偿方法及系统
WO2022219862A1 (ja) 2021-04-15 2022-10-20 ソニーグループ株式会社 情報処理装置、情報処理方法およびプログラム
US11577748B1 (en) 2021-10-08 2023-02-14 Nodar Inc. Real-time perception system for small objects at long range for autonomous vehicles
CN114897997B (zh) * 2022-07-13 2022-10-25 星猿哲科技(深圳)有限公司 相机标定方法、装置、设备及存储介质
US12277732B2 (en) * 2022-12-28 2025-04-15 Apollo Autonomous Driving USA LLC Video camera calibration refinement for autonomous driving vehicles

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JP3617709B2 (ja) * 1995-11-10 2005-02-09 株式会社日本自動車部品総合研究所 距離計測装置
EP2026589B1 (en) 2007-08-10 2011-02-23 Honda Research Institute Europe GmbH Online calibration of stereo camera systems including fine vergence movements
JP2009048516A (ja) * 2007-08-22 2009-03-05 Sony Corp 情報処理装置、および情報処理方法、並びにコンピュータ・プログラム
DE102008008619A1 (de) 2008-02-12 2008-07-31 Daimler Ag Verfahren zur Kalibrierung eines Stereokamerasystems
US8120644B2 (en) * 2009-02-17 2012-02-21 Autoliv Asp, Inc. Method and system for the dynamic calibration of stereovision cameras
JP5440461B2 (ja) * 2010-09-13 2014-03-12 株式会社リコー 校正装置、距離計測システム、校正方法および校正プログラム
US20120242806A1 (en) 2011-03-23 2012-09-27 Tk Holdings Inc. Dynamic stereo camera calibration system and method
US9191649B2 (en) * 2011-08-12 2015-11-17 Qualcomm Incorporated Systems and methods to capture a stereoscopic image pair
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Publication number Publication date
JP6769010B2 (ja) 2020-10-14
US20180007345A1 (en) 2018-01-04
JP2018508853A (ja) 2018-03-29
WO2016113429A3 (en) 2016-09-09
WO2016113429A2 (en) 2016-07-21
WO2016113429A4 (en) 2017-04-20

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Representative=s name: SCHIFFER, AXEL, DIPL.-PHYS.UNIV. DR.RER.NAT., DE