JP2016204249A - Laminated glass manufacturing method, laminated glass, stereocamera calibration method and calibration system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To moderate influence of optical distortion caused by small swell shape generated in a manufacturing process of plate glass.SOLUTION: A cutting step cutting a first glass and a second glass from one plate glass with unevenness to an appointed direction on a face side generated in manufacturing so that the cutting direction of corresponding edges is same as the unevenness to the appointed direction, and a laminating step laminating the first glass and the second glass so that their unevennesses correspond are included.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a laminated glass manufacturing method, a laminated glass, a stereo camera calibration method, and a calibration system.

  In recent years, various optical devices such as a head-up display and an in-vehicle camera are mounted inside the vehicle. These optical instruments are often used through a windshield. Therefore, the performance as an optical component is required for the windshield itself. It is known that in the manufacturing process of the windshield, the temperature during the manufacturing process, tact management, etc. are carried out so that the shape is close to the design data and there is no optical distortion.

  For example, Patent Document 1 discloses a stereo camera adjustment apparatus for the purpose of adjusting optical distortion and positional deviation of a stereo camera by image processing. Patent Document 2 discloses detailed conditions for the manufacturing process for the purpose of reducing the fine uneven shape generated in the process of manufacturing the plate glass by the float process. Patent Document 3 describes a windshield in which directions of distortion generated in the windshield are different from each other and a method for manufacturing the windshield in order to reduce the occurrence of perspective distortion.

  However, in the conventional manufacturing technology, the fine waviness that occurs in the manufacturing process of the plate glass used in the windshield, optical distortion occurs due to the random occurrence on the front and back of the windshield. As a result, there is a problem that fine distortion occurs in an image taken with a camera or the like through a windshield.

  Patent Document 1 is similar in that the influence of distortion generated by the windshield is reduced by measuring and correcting the optical distortion and displacement of the stereo camera when mounted on a vehicle. However, because the windshield distortion that occurs due to the positional relationship between the camera and the windshield at the time of measurement is corrected by image processing, if the positional relationship changes due to impact or vibration, the effect of the windshield distortion occurs. Resulting in.

  Further, Patent Document 2 reduces the influence of optical distortion generated by reducing the fine uneven shape formed on the plate glass. However, since the unevenness generated on the surface of the plate glass itself cannot be completely eliminated, when the front glass is produced using this plate glass, fine unevenness is randomly generated on the front and back, and as a result Optical distortion will occur.

  Moreover, in the content of patent document 3, since the influence of the unevenness | corrugation which has generate | occur | produced in plate glass itself cannot fully be reduced, when a windshield is produced using this, a fine unevenness will generate | occur | produce on the front and back at random. Resulting in. As a result, optical distortion occurs.

  This invention is made | formed in view of the above, Comprising: It aims at relieving the influence of the optical distortion resulting from the fine waviness shape which generate | occur | produces in the manufacturing process of plate glass.

  In order to solve the above-described problems and achieve the object, the present invention provides the first glass so that the cutting direction of the corresponding sides is the same from one sheet glass in which irregularities are generated in a predetermined direction. And a cutting step of cutting out the second glass, and a bonding step of bonding the first glass and the second glass so that the unevenness is matched.

  The present invention has an effect of alleviating the influence of optical distortion caused by the fine waviness shape generated in the plate glass manufacturing process.

FIG. 1 is a cross-sectional view for each region of the windshield. FIG. 2 is an enlarged cross-sectional view showing a light beam input / output state for each windshield alignment. FIG. 3 is a flowchart illustrating a manufacturing process according to the windshield manufacturing example 1 of the embodiment. FIG. 4 is an explanatory view showing a plate glass manufacturing process in windshield manufacturing examples 1 and 2. FIG. FIG. 5 is an explanatory diagram illustrating a cutting process of the plate glass in the windshield manufacturing example 1. FIG. 6 is an explanatory view showing screen printing of plate glass in windshield manufacturing examples 1 and 2. FIG. 7 is an explanatory view showing a plate glass bending process in windshield manufacturing examples 1 and 2. FIG. FIG. 8 is an explanatory diagram showing a process of bonding glass sheets in windshield manufacturing examples 1 and 2. FIG. 9 is an explanatory view showing alignment mark examples in windshield manufacturing examples 1 and 2. FIG. FIG. 10 is an explanatory diagram illustrating a cutting process of the plate glass in the windshield manufacturing example 2. FIG. 11 is an explanatory diagram showing a configuration example of a calibration system in which a stereo camera is installed in a vehicle using the windshield according to the present embodiment. FIG. 12 is a block diagram illustrating a configuration example of a stereo camera. FIG. 13 is a block diagram illustrating a hardware configuration example of the information processing apparatus. FIG. 14 is a block diagram illustrating a functional configuration of the information processing apparatus. FIG. 15 is an explanatory diagram illustrating an example of a calibration chart. FIG. 16 is a flowchart showing a calibration procedure according to the present embodiment. FIG. 17 is an explanatory diagram showing an example in which the directions of undulation are orthogonalized between the front surface and the back surface of glass.

  Exemplary embodiments of a laminated glass manufacturing method, a laminated glass, a stereo camera calibration method, and a calibration system according to the present invention will be described below in detail with reference to the accompanying drawings.

(Embodiment)
[Outline of windshield]
First, an outline of the windshield and before and after alignment (adhesion adjustment) described later will be described with reference to FIGS. FIG. 1 is a cross-sectional view for each region of the windshield. FIG. 2 is an enlarged cross-sectional view showing a light beam input / output state for each windshield alignment.

  The windshield 10 has a three-sheet structure in which two sheet glasses and a film for preventing scattering are sandwiched between them. The two plate glasses are produced by a technique called a float method, and at that time, the plate glass is formed in a shape as if waves were struck at a fine pitch in one direction.

  That is, the float method is a method for producing a plate-like glass by melting a metal and thinly floating the melted glass. For this reason, the surface of the plate-like glass has a property that fine irregularities (waveforms) appear in the flow direction of the glass material.

  The produced plate glass is heated to be deformed into a desired shape, and is attached in a shape sandwiching a film. Fine irregularities formed by the float method are randomly scattered on the front and back surfaces of the windshield produced in such a plate glass manufacturing process.

  Regarding the cross section of the windshield 10 thus manufactured, the area A cross section is FIG. 1A, the area B cross section is FIG. 1B, the area C cross section is FIG. 1C, and the area D cross section is FIG. d) respectively. Region A and region B are in a state in which the front and back surfaces of the windshield 10 are substantially parallel, region C is in a state in which the irregularities on the front and back surfaces of the windshield 10 are matched, and region D is on the front and back surfaces of the windshield 10. It shows a state where the unevenness is inconsistent.

  FIG. 2A shows the light input / output state in the region D in the configuration of the conventional windshield 10. As shown in the region D cross section of FIG. 1D, when random irregularities are scattered on the front and back of the windshield 10, light rays passing through the windshield 10 are refracted in different directions on the front and back surfaces ( Incident angle j ≠ exit angle j ′). As a result, optical distortion occurs. Since the windshield 10 has a three-plate structure of plate glass / intermediate film / plate glass, there are four refracting boundary surfaces.

  However, as shown in FIG. 2B, when the front and back surfaces are parallel, as shown in the ray input / output state of the section C in FIG. 1, the refractive indexes of the windshield 10 and the intermediate film are substantially the same. Therefore, almost no refraction occurs at the boundary surface between the plate glass and the intermediate film. Therefore, it may be optically regarded as a single glass, and the front and back surfaces of the windshield 10 may be considered for the uneven shape.

  The two glass plates constituting the windshield 10 are aligned and bonded so that the fine irregularities formed on the front and back surfaces of the two glass plates are aligned (see FIG. 2B). The aligned windshield 10 has the same inclination (angle) on both sides in a minute region. Therefore, as shown in FIG. 2B, the incident light beam and the outgoing light beam that pass through the windshield 10 are parallel to each other (incident angle i = emission angle i ′). As a result, even when an image is acquired with a stereo camera or the like through the windshield 10, fine distortion does not occur on the image. Therefore, it is possible to reduce the influence of the optical distortion of the fine waviness shape generated in the plate glass manufacturing process.

  Therefore, in the present embodiment, when the windshield manufacturing method is used, alignment is performed so that the fine irregularities formed on the front and back surfaces of the two glass sheets constituting the windshield are matched. Therefore, the incident light beam and the outgoing light beam passing through the glass are parallel to each other, and even when an image is acquired with a camera or the like through the windshield, fine distortion does not occur on the image. Hereinafter, specific production examples and the like will be described in detail with reference to the drawings.

[Front glass production example 1]
In this embodiment, an example of a windshield 100 that is manufactured as a laminated glass by bonding the first glass 100a and the second glass 100b is described. FIG. 3 is a flowchart illustrating a manufacturing process according to the windshield manufacturing example 1 of the embodiment. First, plate glass is manufactured (step S11). As described above, the plate glass used for the windshield 100 is manufactured by a generally well-known float method. At this time, as shown in FIG. 4, as a characteristic of the manufacturing method, a fine uneven shape is formed in the plate glass in one direction W. In the present embodiment, windshield 100 is appropriately described as laminated glass 100.

  Next, it cut | disconnects according to the shape of the windshield 100 from the manufactured plate glass (step S12). Upper surfaces of the first glass 100a and the second glass 100b with respect to the direction W in which fine irregularities are generated when the first glass 100a and the second glass 100b used for the front and back surfaces are cut out from the plate glass, respectively. The direction of the lower surface is assumed to be parallel. At this time, the front and back surfaces of the first glass 100a and the second glass 100b are cut out on the same straight line (see FIG. 5). As described above, in the cutting step, the first glass 100a and the second glass 100b are cut out from one sheet glass having unevenness in a predetermined direction so that the cutting directions of the corresponding sides are the same.

  By the cutting process in step S12, even when alignment is performed in the next bonding process, it is possible to bond the first glass 100a and the second glass 100b with almost no deviation. That is, when the fine unevenness of the first glass 100a and the fine unevenness of the second glass 100b are aligned and adjusted, the unevenness of the first glass 100a and the second glass 100b is almost shifted. Disappear.

  Subsequently, as shown in FIG. 6, a black ceramic is screen-printed on the cut out first glass 100a and second glass 100b (step S13). Black ceramic is generally used for the purpose of improving the adhesion and durability of an adhesive used when the windshield 100 is assembled to the body of an automobile, and improving the appearance of the periphery of the windshield 100. In this screen printing, an alignment mark as shown in FIG. 9 (a) or FIG. 9 (b) is used in order to align the unevenness of the two glass sheets of the first glass 100a and the second glass 100b. To print.

  The pitch p of the alignment mark depends on the period of the fine unevenness that is generated, but if the unevenness is generated with a period of 100 mm, for example, the pitch p is about 10 mm.

  Subsequently, a bending process (see FIG. 7) is performed on the first glass 100a and the second glass 100b on which the black ceramic is printed (step S14). Subsequently, an interlayer film is disposed between the glass plates of the first glass 100a and the second glass 100b that have been subjected to the bending process, and a bonding process (see FIG. 8) is performed (step S15). Thus, in the bonding step, the first glass 100a and the second glass 100b are bonded so that the unevenness is matched.

  When the front and back surfaces of the first glass 100a and the second glass 100b are bonded together, fine irregularities generated by using the black ceramic alignment mark described above in FIG. 9 (a) or FIG. 9 (b). Bonding can be performed with an accuracy of about 1/10 of the shape.

  By producing the windshield 100 by the manufacturing process as described above, the fine uneven shapes formed on the front and the back can be aligned and bonded together.

[Front glass production example 2]
Next, a windshield production example 2 different from the windshield production example 1 described above will be described. This windshield manufacturing example 2 is basically the same as the process shown in the figure, and the cutting process in step S12 is different. That is, the production of the plate glass shown in FIG. 4, the screen printing shown in FIG. 6, the bending process shown in FIG. 7, and the bonding process shown in FIG. The process is different.

  That is, in the cutting step, the directions of the upper surface and the lower surface of the first glass 100a and the second glass 100b are orthogonal to the direction W in which fine irregularities are generated, and the first glass 100a and the second glass Cut the front and back of 100b on the same straight line (see FIG. 10).

  Therefore, according to this windshield production example 2, as in the windshield production example 1, the fine uneven shapes formed on the front and back surfaces can be aligned and bonded together.

[Example of calibration system]
Next, an example of a calibration system when the windshield 100 manufactured by the above-described manufacturing method is mounted on a vehicle will be described. FIG. 11 is an explanatory diagram showing a configuration example of a calibration system in which a stereo camera 110 is installed in a vehicle 150 using the windshield 100 according to the present embodiment.

  A windshield 100 is attached to the front surface of the vehicle 150, and the stereo camera 110 is mounted on the vehicle 150. A calibration chart 120 is installed in front of the vehicle 150. The calibration chart 120 is installed so as to fall within the shooting range of the stereo camera 110. The stereo camera 110 is connected to an information processing device (calibration device) 130 described later.

  The stereo camera 110 includes a first camera 111 and a second camera 112 as shown in FIG. The first camera 111 and the second camera 112 incorporate an optical system including a photoelectric conversion element such as a CCD (solid-state imaging device), as is generally spread. The stereo camera 110 configured as described above has a function of optically capturing and outputting as image data by photographing a subject (the calibration chart 120 in this example). The first camera 111 and the second camera 112 are installed with different baseline directions and horizontal directions.

  FIG. 13 is a block diagram illustrating a hardware configuration example of the information processing apparatus 130. The information processing apparatus 130 includes a CPU (Central Processing Unit) 140, a ROM (Read Only Memory) 141, a RAM (Random Access Memory) 142, a storage device 143, a communication device 144, and an external IF 145. The CPU 140, ROM 141, RAM 142, storage device 143, communication device 144, and external IF 145 are connected to each other via a bus 146.

  The CPU 140 executes predetermined control using the RAM 142 as a working memory according to a control program stored in the ROM 141. The storage device 143 is, for example, an HDD (Hard Disk Drive) or a memory card. The communication device 144 communicates with other devices via the external IF 145 by a wireless method or the like. The external IF 145 is an interface for transmitting / receiving data to / from another device by a wireless method or the like.

  FIG. 14 is a block diagram illustrating a functional configuration of the information processing apparatus 130. The information processing apparatus 130 includes a first image correction unit 131, a second image correction unit 132, a correction parameter recording unit 133, a parallax calculation unit 134, and an image processing unit 135 as functions for realizing a calibration device. Details of the information processing apparatus 130 as a calibration apparatus will be described later.

  The first image correction unit 131 captures the image of the calibration chart 120 taken by the first camera 111 and performs image correction using the correction parameters recorded in the correction parameter recording unit 133. The second image correction unit 132 captures the image of the calibration chart 120 taken by the second camera 112 and performs image correction using the correction parameters recorded in the correction parameter recording unit 133. The correction parameter recording unit 133 is a non-volatile memory that records correction parameters for performing image correction processing, and uses, for example, the storage device 143 described above.

  The parallax calculation unit 134 calculates the parallax from the two images of the image corrected by the first image correction unit 131 and the image corrected by the second image correction unit 132, and outputs a parallax image 136. That is, the parallax calculation unit 134 calculates the positional deviation of the calibration chart 120 from the two subject captured images. The image processing unit 135 restores a lowered MTF (Modulation Transfer Function) characteristic and outputs a luminance image 137.

  With the above configuration, the images captured by the first camera 111 and the second camera 112 are geometrically corrected by the image correction units 131 and 132 according to the parameters recorded in the correction parameter recording unit 133, respectively. The first image correction unit 131 and the second image correction unit 132 correct images in the horizontal direction by correcting the images captured by the first camera 111 and the second camera 112 in which the baseline direction and the horizontal direction are virtually matched. The parallax can be calculated and an accurate parallax image 136 can be output. Further, by restoring the MTF characteristic that has been reduced by the image processing unit 135, it is possible to output a luminance image 137 with improved resolution.

  Note that some or all of the functional blocks of the information processing apparatus 130 may be realized by hardware such as an IC (Integrated Circuit) instead of being realized by software.

  A program executed by the information processing apparatus 130 is provided by being incorporated in advance in the ROM 141 or the like. The above program is recorded in a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), etc. in a file that can be installed or executed. May be provided.

  Furthermore, the program executed in the present embodiment may be configured to be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network. In addition, the program executed in the present embodiment may be configured to be provided or distributed via a network such as the Internet.

  The program executed in the present embodiment has a module configuration including the above-described units. As actual hardware, a CPU (processor) 140 reads out a program from the ROM 141 and executes the program, so that each unit is loaded onto the main storage device, and each unit is generated on the main storage device.

  Further, the program of the information processing apparatus 130 may be provided by being incorporated in advance in the ROM 141 or the like.

[Calibration (calibration example)]
Now, the front glass 100 of the present embodiment is free from local optical distortion due to fine irregularities due to the manufacturing method described above. Therefore, it is very effective to use in a module such as the stereo camera 110 in which optical distortion affects the sensing accuracy.

  On the other hand, if the stereo camera 110 is installed on the windshield 100, the calibration may be lost due to the positional relationship between the stereo camera 110 and the windshield 100. Therefore, it is necessary to perform calibration when the stereo camera 110 is installed in the vehicle 150. Here, an example in which the position of the image of the subject can be configured to be in an almost ideal position will be described.

  In the system shown in FIG. 11, a calibration chart 120 is installed in front of the windshield 100, and a pattern printed on the calibration chart 120 appears on the imaging surface of the stereo camera 110. As the pattern of the calibration chart 120, a checker pattern as shown in FIG. 15 is used. By performing a two-dimensional search in the x and y directions using the pattern of the calibration chart 120 in FIG. 15, the calibration deviation of the stereo camera 110 in the x and y directions can be acquired.

  Note that the calibration chart 120 is not limited to the checker pattern shown in FIG. 15, and it is only necessary to extract feature points from a pattern such as a circular pattern. The smaller the lattice point pitch, the more corresponding points, and the local distortion of the windshield 100 that could not be removed due to misalignment in the manufacturing process of the windshield 100 as described above can be detected accurately. On the other hand, the pattern of the calibration chart 120 is likely to be erroneously detected when the lattice pitch is reduced, so that an irregular fine pattern can be used. On the other hand, it is necessary to note that the pattern of the calibration chart 120 becomes heavy as the amount of information increases as the fine pattern as described above is used. The pattern of the calibration chart 120 should be sufficiently large so that it appears on the entire screen of the stereo camera 110, and accurate calibration deviation information can be acquired by using the information on the corresponding points on the entire screen.

  Next, an operation example of the system configuration of the calibration (calibration) shown in FIGS. 11 to 14 will be described. FIG. 16 is a flowchart showing a calibration procedure according to the present embodiment. First, the calibration chart 120 (see FIG. 15) installed in front of the vehicle 150 is photographed by the first camera 111 and the second camera 112 (step S21). Subsequently, the corresponding points are searched for using the feature points with respect to the photographed calibration chart 120. A corresponding position difference (dx, dy) in the vertical and horizontal two-dimensional directions (x, y) of corresponding points of the left and right first cameras 111 and second cameras 112 is obtained (step S22).

  Subsequently, it is determined whether or not the captured image is reliable (step S23). For example, the white luminance of the pattern on the calibration chart 120 is extracted, and it is confirmed whether or not unevenness has occurred remarkably throughout the entire image. If luminance unevenness occurs on the calibration chart 120, the search accuracy of corresponding points is affected.

  When the result as described above is output in step S23 and it is determined that there is no data reliability (determination, No), readjustment of the environment such as calibration by the captured image of the calibration chart 120 is performed (step S24). ). Thereafter, the process returns to step S21, and the subsequent photographing of the calibration chart 120 is performed again.

  On the other hand, when it is determined in step S23 that the captured image is reliable (determination, Yes), the parallax calculation unit 134 makes the corresponding position difference dy minimum, and dx is a parallax value corresponding to the installation distance. A correction parameter is calculated such that (step S25). Subsequently, the obtained correction parameter is written in the correction parameter recording unit 133 (step S26), and this operation is terminated.

  The stereo camera 110 can be calibrated using the windshield 100 of the present embodiment by the above procedure. That is, distortion that cannot be removed even with the laminated glass 100 manufactured by the manufacturing method described above can be corrected with higher accuracy by calibration. As described above, according to the embodiment described above, it is possible to acquire an image (and distance information) with less distortion through the windshield 100 in which the influence of distortion due to minute unevenness generated at the time of plate glass manufacture is suppressed. it can.

  By the way, the influence of the windshield 100 on the accuracy of the stereo camera 110 is caused by the large distortion caused by the glass material and the overall shape and the fine waviness formed on the glass described in this embodiment. It can be classified into fine distortion. For fine distortion, as described in this embodiment, when two glass sheets are bonded, alignment (positioning) is performed so that the fine irregularities formed on the front and back are aligned. Therefore, the occurrence of fine distortion can be suppressed.

  However, in the actual process, there is a case where the above-described strict glass bonding cannot be realized in order to suppress tact and cost. In that case, the cutting direction of the glass may be changed so that the directions of the fine undulations on the front and back sides are shifted and bonded. That is, by bonding so that the above-described swell directions are crossed between the front surface and the back surface of the glass, the influence of distortion on the two surfaces of the front surface and the back surface of the glass can be dispersed.

  Specifically, for example, in consideration of the undulation generated on the surface of the plate glass material, the front surface and the back surface of the glass are cut and bonded using the alignment mark (see FIG. 9) as described above. FIG. 17 is an explanatory diagram showing an example in which the directions of undulation are orthogonalized between the front surface and the back surface of glass. In the cutting process of FIG. 17, the first cutting is performed so that the cutting direction of the corresponding side is not identical (orthogonal in this example) with respect to the direction W in which fine unevenness occurs in one sheet glass. The glass 100a and the second glass 100b are cut out.

  That is, as shown in FIG. 17, the front plate glass (the first glass plate with respect to the direction in which fine irregularities are generated when cutting the two windshields used on the front and back surfaces from one plate glass, respectively. The glass 100a) is cut so that the directions of the upper surface and the lower surface are orthogonal, and the back plate glass (second glass 100b) is cut so that the directions of the upper surface and the lower surface are parallel. In addition, the front plate glass may be cut out so that the top and bottom surfaces are parallel to the direction in which fine irregularities are generated, and the back plate glass may be cut out so that the top and bottom surfaces are orthogonal to each other. Good.

  Next, screen printing (see FIG. 6) and bending (see FIG. 7) are performed on the cut first glass 100a and the second glass 100b in the same manner as described above. The first glass 100a and the second glass 100b are bonded together so as to intersect (orthogonal in this example) (see FIG. 8).

  That is, as described above, black ceramic is screen-printed on the glass cut out in the screen printing process. Black ceramic is generally used for the purpose of improving the adhesiveness and durability of an adhesive used when assembling glass to an automobile body, and improving the appearance of the periphery of the glass. At this time, an alignment pattern as shown in FIG. 9 is printed. A bending process is performed on the plate glass on which the black ceramic is printed. An intermediate film is disposed between the front and back plate glasses subjected to the bending process, and the bonding process is started. By using the above-described black ceramic alignment pattern at the time of bonding, it is possible to make the directions of fine irregularities generated on the front and back surfaces orthogonal to each other with high accuracy.

  By producing the windshield 100 by the above manufacturing process, it can be aligned and bonded in a state in which the directions of the fine irregularities formed on the front and back are orthogonal.

  Therefore, the influence of the distortion of the two surfaces of the front surface and the back surface of the glass can be dispersed by shifting the direction of the fine waviness formed on the two sheets of glass to be bonded.

  Next, in the same manner as described with reference to FIG. 11, the uneven glass is calibrated by correcting the distortion of the image generated when photographing with the stereo camera 110 is performed through the manufactured laminated glass 100. Calibrate the stereo camera 110 when taking a picture via.

  By using the windshield (laminated glass 100) in which the influence of distortion is dispersed and the influence of fine distortion is reduced in this way, a chart is photographed through this glass and correction parameters are calculated from corresponding points of the left and right cameras. If the influence of distortion is reduced, the stereo camera 110 with high accuracy as a whole can be realized in consideration of even the influence of the windshield 100.

  As a calibration method using a chart, for example, a known method described in Japanese Patent No. 4109077 can be used. Further, the method for correcting the influence of large distortion is not limited to the method using a chart. For example, it may be calculated from a result measured in advance as described in JP-A-2015-169583, or calculated using simulation software as described in JP-A-2015-163866, for example. good.

  In the present embodiment, an example in which windshield 100 is mounted on vehicle 150 is described. However, the present invention is not limited to this embodiment, and the present invention can be applied to other devices that use the windshield 100 and perform calibration processing by the stereo camera 110 and the information processing device (calibration device) 130.

100 Windshield (Laminated glass)
DESCRIPTION OF SYMBOLS 100a 1st glass 100b 2nd glass 110 Stereo camera 111 1st camera 112 2nd camera 120 Chart for calibration 130 Information processing apparatus (calibration apparatus)
131 First Image Correction Unit 132 Second Image Correction Unit 133 Correction Parameter Recording Unit 134 Parallax Calculation Unit 135 Image Processing Unit 136 Parallax Image 137 Luminance Image 140 CPU
141 ROM
142 RAM

JP 2004-132870 A Japanese Patent Laid-Open No. 07-010569 JP 2007-290549 A

Claims (9)

A cutting step of cutting out the first glass and the second glass so that the cutting directions of the corresponding sides are the same from one sheet glass in which irregularities are generated in a predetermined direction,
A laminating step of laminating the first glass and the second glass so that the irregularities match;
The laminated glass manufacturing method characterized by including.   The method for producing laminated glass according to claim 1, wherein the cutting direction is a direction parallel to or orthogonal to a predetermined direction.   The first glass and the second glass cut out in the cut-out step are printed with alignment patterns used for bonding to each other, and the first glass in the bonding step of bonding the second glass is used. The method for producing a laminated glass according to claim 1, wherein the alignment patterns of the second glass and the second glass are matched and bonded together.   The first glass and the second glass are cut out from one sheet glass having unevenness in a predetermined direction so that the cutting directions of the corresponding sides are the same, and the first glass is set so that the unevenness matches. A laminated glass, characterized by laminating the glass and the second glass. The first glass and the second glass are cut out from one sheet glass having unevenness in a predetermined direction so that the cutting directions of the corresponding sides are the same, and the first glass is set so that the unevenness matches. A laminated glass obtained by laminating the glass and the second glass is installed at a predetermined position,
A calibration method for a stereo camera, comprising: photographing a calibration chart in which a predetermined pattern is formed through the laminated glass by a stereo camera, and performing a predetermined calibration process using the captured image. The first glass and the second glass are cut out from one sheet glass having unevenness in a predetermined direction so that the cutting directions of the corresponding sides are the same, and the first glass is set so that the unevenness matches. A glass supporting part in which a laminated glass obtained by bonding the glass of the second glass and the second glass is installed at a predetermined position;
A stereo camera for photographing through the laminated glass;
A calibration device that performs a predetermined calibration process using an image obtained by photographing a calibration chart in which a predetermined pattern is formed via the laminated glass by the stereo camera;
A calibration system characterized by comprising: The first glass and the second glass are cut out from a single sheet of glass with unevenness in a predetermined direction so that the cutting directions of the corresponding sides are not the same, and the first glass and the second glass are crossed so that the unevenness intersects. A laminated glass obtained by bonding the glass of 1 and the second glass is installed at a predetermined position,
Further, the stereo camera used for photographing through the glass having the unevenness is calibrated by performing calibration of distortion of an image generated when photographing with the stereo camera is performed through the laminated glass. Stereo camera calibration method. The stereo camera according to claim 7, wherein a calibration chart in which a predetermined pattern is formed through the laminated glass is photographed by a stereo camera, and a predetermined calibration process is performed using the photographed image. Calibration method. The first glass and the second glass are cut out from a single sheet of glass with unevenness in a predetermined direction so that the cutting directions of the corresponding sides are not the same, and the first glass and the second glass are crossed so that the unevenness intersects. A glass support portion in which a laminated glass obtained by bonding the glass of 1 and the second glass is installed at a predetermined position;
A stereo camera for photographing through the laminated glass;
A calibration device that performs a predetermined calibration process using an image obtained by photographing a calibration chart in which a predetermined pattern is formed via the laminated glass by the stereo camera;
A calibration system characterized by comprising:

Images