DE60040774D1 - Vorrichtung zur Tiefekorrektur in einem Überwachungssystem - Google Patents

Vorrichtung zur Tiefekorrektur in einem Überwachungssystem

Info

Publication number
DE60040774D1
DE60040774D1 DE60040774T DE60040774T DE60040774D1 DE 60040774 D1 DE60040774 D1 DE 60040774D1 DE 60040774 T DE60040774 T DE 60040774T DE 60040774 T DE60040774 T DE 60040774T DE 60040774 D1 DE60040774 D1 DE 60040774D1
Authority
DE
Germany
Prior art keywords
monitoring system
depth correction
correction
depth
monitoring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE60040774T
Other languages
English (en)
Inventor
Itaru Seta
Keiji Hanawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Subaru Corp
Original Assignee
Fuji Jukogyo KK
Fuji Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Jukogyo KK, Fuji Heavy Industries Ltd filed Critical Fuji Jukogyo KK
Application granted granted Critical
Publication of DE60040774D1 publication Critical patent/DE60040774D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85Stereo camera calibration
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/50Context or environment of the image
    • G06V20/56Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/50Context or environment of the image
    • G06V20/56Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106Processing image signals
    • H04N13/133Equalising the characteristics of different image components, e.g. their average brightness or colour balance
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20Image signal generators
    • H04N13/204Image signal generators using stereoscopic image cameras
    • H04N13/239Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20Image signal generators
    • H04N13/204Image signal generators using stereoscopic image cameras
    • H04N13/246Calibration of cameras
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20Image signal generators
    • H04N13/204Image signal generators using stereoscopic image cameras
    • H04N13/25Image signal generators using stereoscopic image cameras using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10004Still image; Photographic image
    • G06T2207/10012Stereo images
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106Processing image signals
    • H04N13/111Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/189Recording image signals; Reproducing recorded image signals
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20Image signal generators
    • H04N13/296Synchronisation thereof; Control thereof
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074Stereoscopic image analysis
    • H04N2013/0081Depth or disparity estimation from stereoscopic image signals
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074Stereoscopic image analysis
    • H04N2013/0092Image segmentation from stereoscopic image signals
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074Stereoscopic image analysis
    • H04N2013/0096Synchronisation or controlling aspects
DE60040774T 1999-09-22 2000-09-22 Vorrichtung zur Tiefekorrektur in einem Überwachungssystem Expired - Lifetime DE60040774D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP26801599 1999-09-22
JP2000281266A JP4573977B2 (ja) 1999-09-22 2000-09-18 監視システムの距離補正装置、および監視システムの消失点補正装置

Publications (1)

Publication Number Publication Date
DE60040774D1 true DE60040774D1 (de) 2008-12-24

Family

ID=26548122

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60040774T Expired - Lifetime DE60040774D1 (de) 1999-09-22 2000-09-22 Vorrichtung zur Tiefekorrektur in einem Überwachungssystem

Country Status (4)

Country Link
US (1) US6985619B1 (de)
EP (2) EP1087626B1 (de)
JP (1) JP4573977B2 (de)
DE (1) DE60040774D1 (de)

Families Citing this family (67)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4803927B2 (ja) * 2001-09-13 2011-10-26 富士重工業株式会社 監視システムの距離補正装置および距離補正方法
JP3797949B2 (ja) * 2002-03-28 2006-07-19 株式会社東芝 画像処理装置及びその方法
KR100460869B1 (ko) * 2002-05-15 2004-12-09 현대자동차주식회사 차량의 영상 보정방법
JP4032843B2 (ja) * 2002-06-25 2008-01-16 富士重工業株式会社 監視システムおよび監視方法、当該監視システムにおける距離補正装置および距離補正方法
JP4216021B2 (ja) * 2002-08-30 2009-01-28 富士重工業株式会社 侵入物検出装置
JP4176430B2 (ja) * 2002-09-18 2008-11-05 富士重工業株式会社 車外監視装置、及び、この車外監視装置を備えた走行制御装置
ITRM20030345A1 (it) * 2003-07-15 2005-01-16 St Microelectronics Srl Metodo per ricavare una mappa di profondita'
KR101033948B1 (ko) 2004-02-18 2011-05-11 현대자동차주식회사 차선 이탈 경보 시스템
JP4522140B2 (ja) * 2004-05-14 2010-08-11 キヤノン株式会社 指標配置情報推定方法および情報処理装置
FR2874300B1 (fr) * 2004-08-11 2006-11-24 Renault Sas Procede de calibration automatique d'un systeme de stereovision
US7756358B2 (en) * 2004-11-30 2010-07-13 Hewlett-Packard Development Company, L.P. System and method of aligning images
JP4656017B2 (ja) * 2006-07-25 2011-03-23 株式会社島津製作所 ヘッドモーショントラッカ装置
US8496575B2 (en) * 2006-11-14 2013-07-30 Olympus Corporation Measuring endoscope apparatus, program and recording medium
CN101192269B (zh) * 2006-11-29 2012-05-02 佳能株式会社 从图像估计消失点的方法和装置、计算机程序及其存储介质
JP5234894B2 (ja) * 2007-06-28 2013-07-10 富士重工業株式会社 ステレオ画像処理装置
JP4801821B2 (ja) 2007-09-21 2011-10-26 本田技研工業株式会社 道路形状推定装置
JP4937933B2 (ja) * 2008-01-18 2012-05-23 富士重工業株式会社 車外監視装置
JP4956452B2 (ja) 2008-01-25 2012-06-20 富士重工業株式会社 車両用環境認識装置
JP4876080B2 (ja) 2008-01-25 2012-02-15 富士重工業株式会社 環境認識装置
DE102008026876A1 (de) * 2008-06-05 2009-12-10 Hella Kgaa Hueck & Co. Stereokamerasystem und Verfahren zum Ermitteln mindestens eines Kalibrierfehlers eines Stereokamerasystems
CN102197276A (zh) * 2008-10-28 2011-09-21 株式会社博思科 道路计测装置及道路计测方法
JP5039765B2 (ja) * 2009-09-17 2012-10-03 日立オートモティブシステムズ株式会社 車両制御装置
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
JP5059922B2 (ja) * 2010-09-15 2012-10-31 シャープ株式会社 立体画像生成装置、立体画像表示装置、立体画像調整方法、立体画像調整方法をコンピュータに実行させるためのプログラム、及びそのプログラムを記録した記録媒体
US9280711B2 (en) * 2010-09-21 2016-03-08 Mobileye Vision Technologies Ltd. Barrier and guardrail detection using a single camera
JP5821274B2 (ja) * 2011-05-20 2015-11-24 マツダ株式会社 移動体位置検出装置
US20130202155A1 (en) * 2012-02-03 2013-08-08 Gopal Gudhur Karanam Low-cost lane marker detection
JP6182866B2 (ja) * 2012-03-21 2017-08-23 株式会社リコー 校正装置、距離計測装置及び車両
JP6167525B2 (ja) 2012-03-21 2017-07-26 株式会社リコー 距離計測装置及び車両
JP6376429B2 (ja) * 2012-11-13 2018-08-22 株式会社リコー 対象地点到達検知装置、対象地点到達検知用プログラム、移動体機器制御システム及び移動体
JP2014138331A (ja) * 2013-01-17 2014-07-28 Ricoh Co Ltd 撮影装置及びプログラム
JP6344638B2 (ja) * 2013-03-06 2018-06-20 株式会社リコー 物体検出装置、移動体機器制御システム及び物体検出用プログラム
JP6194604B2 (ja) * 2013-03-15 2017-09-13 株式会社リコー 認識装置、車両及びコンピュータが実行可能なプログラム
JP6067462B2 (ja) * 2013-04-16 2017-01-25 株式会社東芝 車両検知装置、および、車両検知システム
JP2014224774A (ja) * 2013-05-16 2014-12-04 トヨタ自動車株式会社 車両傾斜計測装置、車両傾斜計測方法、プログラム及び媒体
JP6398347B2 (ja) * 2013-08-15 2018-10-03 株式会社リコー 画像処理装置、認識対象物検出方法、認識対象物検出プログラム、および、移動体制御システム
JP6151150B2 (ja) * 2013-10-07 2017-06-21 日立オートモティブシステムズ株式会社 物体検出装置及びそれを用いた車両
JP5906272B2 (ja) * 2014-03-28 2016-04-20 富士重工業株式会社 車両用ステレオ画像処理装置
JP6326624B2 (ja) * 2014-04-02 2018-05-23 パナソニックIpマネジメント株式会社 キャリブレーション装置、キャリブレーション方法、キャリブレーション機能を備えたカメラ及びプログラム
GB201410612D0 (en) * 2014-06-13 2014-07-30 Tomtom Int Bv Methods and systems for generating route data
KR101574020B1 (ko) 2014-06-24 2015-12-03 국민대학교산학협력단 스테레오 카메라의 좌우 영상 정합 방법 및 장치
PL3194882T3 (pl) * 2014-09-15 2021-10-25 Dti Group Limited Filtrowanie wyładowań łukowych przy użyciu urządzeń do rejestrowania wielu obrazów
JP6552192B2 (ja) * 2014-12-18 2019-07-31 京セラ株式会社 ステレオカメラ装置、移動体、制御方法及び較正装置
JP6674127B2 (ja) * 2015-03-20 2020-04-01 株式会社リコー 画像処理装置、撮影装置、プログラム、機器制御システム及び機器
US10007998B2 (en) 2015-03-20 2018-06-26 Ricoh Company, Ltd. Image processor, apparatus, and control system for correction of stereo images
JP6346869B2 (ja) * 2015-03-31 2018-06-20 公益財団法人鉄道総合技術研究所 ステレオ画像処理方法およびその装置
JP6159905B2 (ja) * 2015-05-27 2017-07-05 京セラ株式会社 演算装置、カメラ装置、車両及びキャリブレーション方法
JP6489645B2 (ja) * 2015-06-19 2019-03-27 株式会社Subaru 画像処理装置
CA2994645C (en) * 2015-08-04 2019-05-07 Nissan Motor Co., Ltd. Step detection device and step detection method
US9565363B1 (en) * 2015-08-10 2017-02-07 X Development Llc Stabilization of captured images for teleoperated walking biped robots
JP6521796B2 (ja) * 2015-08-26 2019-05-29 株式会社Subaru ステレオ画像処理装置
JP6619590B2 (ja) * 2015-09-02 2019-12-11 株式会社Subaru 画像処理装置
KR102327342B1 (ko) * 2015-09-10 2021-11-18 주식회사 만도모빌리티솔루션즈 차량용 카메라 보정 장치
WO2017056484A1 (ja) * 2015-09-28 2017-04-06 京セラ株式会社 画像処理装置、ステレオカメラ装置、車両及び画像処理方法
US10565736B2 (en) 2016-01-15 2020-02-18 Sony Corporation Image processing apparatus and method, program, and image processing system
JP6747176B2 (ja) 2016-08-25 2020-08-26 株式会社リコー 画像処理装置、撮影装置、プログラム、機器制御システム及び機器
US20180091797A1 (en) * 2016-09-27 2018-03-29 The Boeing Company Apparatus and method of compensating for relative motion of at least two aircraft-mounted cameras
US10477064B2 (en) * 2017-08-21 2019-11-12 Gopro, Inc. Image stitching with electronic rolling shutter correction
US11089288B2 (en) * 2017-09-11 2021-08-10 Tusimple, Inc. Corner point extraction system and method for image guided stereo camera optical axes alignment
US11158088B2 (en) 2017-09-11 2021-10-26 Tusimple, Inc. Vanishing point computation and online alignment system and method for image guided stereo camera optical axes alignment
CN109240572B (zh) * 2018-07-20 2021-01-05 华为技术有限公司 一种获取图片的方法、对图片进行处理的方法及装置
JP6956051B2 (ja) * 2018-09-03 2021-10-27 株式会社東芝 画像処理装置、運転支援システム、画像処理方法及びプログラム
KR102519666B1 (ko) * 2018-10-15 2023-04-07 삼성전자주식회사 이미지 변환 장치 및 방법
KR20200090527A (ko) * 2019-01-21 2020-07-29 현대자동차주식회사 차선 인식 장치 및 그 방법
US11729364B2 (en) 2019-09-18 2023-08-15 Gopro, Inc. Circular stitching of images
JP7132271B2 (ja) * 2020-03-31 2022-09-06 本田技研工業株式会社 挙動制御システム
WO2023145216A1 (ja) * 2022-01-26 2023-08-03 国立大学法人大阪大学 ウェアラブルモニタリングデバイス

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05114009A (ja) 1991-10-23 1993-05-07 Sharp Corp ワイヤボンデイング位置座標作成方法
JPH05265547A (ja) * 1992-03-23 1993-10-15 Fuji Heavy Ind Ltd 車輌用車外監視装置
JPH06341837A (ja) * 1993-06-01 1994-12-13 Matsushita Electric Ind Co Ltd 車間距離計測装置、カメラ位置補正装置及び衝突警告装置
CA2184561C (en) * 1995-09-12 2001-05-29 Yasuyuki Michimoto Object detecting apparatus in which the position of a planar object is estimated by using hough transform
US6163337A (en) * 1996-04-05 2000-12-19 Matsushita Electric Industrial Co., Ltd. Multi-view point image transmission method and multi-view point image display method
JP3456843B2 (ja) * 1996-07-22 2003-10-14 富士通株式会社 前方車間距離計測装置
JP3792832B2 (ja) * 1997-05-07 2006-07-05 富士重工業株式会社 ステレオカメラの調整装置
JP4172554B2 (ja) * 1998-03-12 2008-10-29 富士重工業株式会社 ステレオカメラの調整装置
DE60009114T2 (de) * 1999-09-20 2004-08-05 Matsushita Electric Industrial Co. Ltd. Vorrichtung zur unterstützung von kraftfahrzeugführern

Also Published As

Publication number Publication date
EP1944734B1 (de) 2017-02-22
EP1944734A3 (de) 2008-07-23
EP1944734A2 (de) 2008-07-16
US6985619B1 (en) 2006-01-10
JP4573977B2 (ja) 2010-11-04
EP1087626B1 (de) 2008-11-12
EP1087626A3 (de) 2003-08-13
EP1087626A2 (de) 2001-03-28
JP2001160137A (ja) 2001-06-12

Similar Documents

Publication Publication Date Title
DE60040774D1 (de) Vorrichtung zur Tiefekorrektur in einem Überwachungssystem
DE69911945D1 (de) Vorrichtung mit einem Verbindungssystem
DE60012885D1 (de) Vorrichtung zum Extrahieren einer Substanz mit einem mobilen Teil
DE69729339D1 (de) Vorrichtung zur Durchführung einen Tracheotomie
DE50115767D1 (de) Vorrichtung zur überwachung eines prozessors
DE69930582D1 (de) Vorrichtung zur Befestigung eines Transplantates in einem Knochentunnel
DE69933488D1 (de) Vorrichtung zur Befestigung eines Transplantates in einem Knochentunnel
DE69917893D1 (de) Vorrichtung zur automatisierten in ovo injektion
DE50000780D1 (de) Vorrichtung zur Detektion von Objekten
DE60001342T2 (de) Vorrichtung zur Photokoagulation
DE50008090D1 (de) Vorrichtung zur erfassung einer pulsierenden grösse
DE10085015T1 (de) Vorrichtung zur Beseitigung von Ionen in einem Computertomographiesystem
DE50012947D1 (de) Vorrichtung zur Positionierung eines Fahrzeugs
DE50000034D1 (de) Vorrichtung zur Überwachung einer Starteinrichtung
DE60027503D1 (de) Vorrichtung zur Entfernung von Wasserstoff
DE60034268D1 (de) Verfahren zur Erhöhung des Wirkungsgrads in einem Zeitaufteilungsnetzwerk
DE29822369U1 (de) Vorrichtung zur Halterung eines Werkzeuges
DE60016679D1 (de) Vorrichtung zur Speisung von Muttern
DE69902505T2 (de) Vorrichtung zur Wanddurchführung
DE69930368D1 (de) Vorrichtung zur Vakuumentlüftung
DE60005739D1 (de) Vorrichtung zur Vermeidung von Nahtlockerung
DE60000777T2 (de) Chirurgische vorrichtung zur durchführung eines lamellären hornhautschnittes
DE69934785D1 (de) Vorrichtung zur Oberflächenmontage
DE60032993D1 (de) Vorrichtung zur kardioplegie-verabreichung
DE60000300D1 (de) Vorrichtung zur Phako-Emulgierung

Legal Events

Date Code Title Description
8364 No opposition during term of opposition