JP2018177004A5 - - Google Patents
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- JP2018177004A5 JP2018177004A5 JP2017079665A JP2017079665A JP2018177004A5 JP 2018177004 A5 JP2018177004 A5 JP 2018177004A5 JP 2017079665 A JP2017079665 A JP 2017079665A JP 2017079665 A JP2017079665 A JP 2017079665A JP 2018177004 A5 JP2018177004 A5 JP 2018177004A5
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- vehicle
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- image information
- calibration
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Claims (4)
上記車両に配置された複数のカメラが撮像した画像情報が入力され、入力された上記画像情報に従って、上記複数のカメラのそれぞれの外部パラメータの上記校正処理を行うカメラ毎処理部と、
上記車両状態判定部により上記車両の走行状態が上記校正処理を行うのに適すると判定された場合には、上記カメラ毎処理部に、上記複数のカメラを１個毎に、上記校正処理を行うように指示する動作制御部と、
を備えることを特徴とする車載カメラのキャリブレーション装置。 A vehicle state determination unit that determines whether the traveling state of the vehicle is suitable for performing the calibration process ,
Image information in which a plurality of cameras arranged in the vehicle is captured is input, according to the image information input, a camera each processing unit that performs the calibration process for each of the external parameters of the plurality of cameras,
When the running state of the vehicle by the vehicle state determination unit determines that suitable for performing the Calibration process, the camera each processing unit, a plurality of cameras for each one, the calibration process an operation control unit for instructions to perform,
A calibration device for a vehicle-mounted camera, comprising:
上記校正処理は、
上記複数のカメラそれぞれが撮像した画像情報の特徴点の発生数を監視する監視モードと、
特徴点の発生数が規定数以上である場合に上記監視モードから移行され、上記画像情報から特徴点を抽出し、複数時間における上記画像情報に対して同一の特徴点を追跡する認識モードと、
追跡された前記特徴点が一定の量蓄積された場合に上記認識モードから移行され、上記認識モードにより追跡された同一の特徴点の軌跡に従って、上記外部パラメータを推定するキャリブモードと、
上記外部パラメータの推定を停止する休止モードと、
を含む複数の動作モードからなり、
上記動作制御部は、上記カメラ毎処理部に対して、上記複数の動作モード間の移行を指示する
ことを特徴とする車載カメラのキャリブレーション装置。 The calibration device for a vehicle-mounted camera according to claim 1,
The calibration process described above
A monitoring mode for monitoring the number of occurrences of feature points of the image information captured by each of the plurality of cameras,
When the number of occurrences of the feature points is equal to or more than the specified number, the mode is shifted from the monitoring mode, a feature point is extracted from the image information, and a recognition mode for tracking the same feature point with respect to the image information in a plurality of times,
A transition is made from the recognition mode when the tracked feature points are accumulated by a certain amount, and in accordance with the trajectory of the same feature point tracked by the recognition mode, a calib mode that estimates the external parameter,
A pause mode for stopping the estimation of the external parameters ,
Consists of multiple operation modes, including
The calibration device for a vehicle-mounted camera, wherein the operation control unit instructs the processing unit for each camera to switch between the plurality of operation modes .
上記動作制御部は、上記休止モードの状態が予め定めた時間経過した場合は、上記カメラ毎処理部に対して、上記監視モードへの移行を指示する
ことを特徴とする車載カメラのキャリブレーション装置。 The calibration device for a vehicle-mounted camera according to claim 2 ,
The operation control unit, if the state of the sleep mode has elapsed predetermined time, relative to the camera for each processing unit, the calibration of the on-vehicle camera, characterized in that that instructs transition to the monitoring mode apparatus.
上記動作制御部は、上記車両の速度が規定値以上、上記車両が非直線走行中、及び上記画像情報における上記特徴点の発生数が規定数よりも少ないの各条件のうち、少なくとも一つの条件を満たす場合、上記カメラ毎処理部に対して、上記複数のカメラのうちの上記認識モードのカメラを上記監視モードへの移行を指示する
ことを特徴とする車載カメラのキャリブレーション装置。 The calibration device for a vehicle-mounted camera according to claim 2 or 3 ,
The operation control unit may include at least one of a condition that the speed of the vehicle is equal to or greater than a prescribed value, the vehicle is traveling non-linearly, and the number of occurrences of the feature points in the image information is less than a prescribed number. If the condition is satisfied, the calibration apparatus for a vehicle-mounted camera instructs the camera-by-camera processing unit to shift the camera in the recognition mode among the plurality of cameras to the monitoring mode .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017079665A JP6798926B2 (en) | 2017-04-13 | 2017-04-13 | In-vehicle camera calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017079665A JP6798926B2 (en) | 2017-04-13 | 2017-04-13 | In-vehicle camera calibration device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2018177004A JP2018177004A (en) | 2018-11-15 |
| JP2018177004A5 true JP2018177004A5 (en) | 2020-02-27 |
| JP6798926B2 JP6798926B2 (en) | 2020-12-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2017079665A Active JP6798926B2 (en) | 2017-04-13 | 2017-04-13 | In-vehicle camera calibration device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP6798926B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7236352B2 (en) * | 2019-08-23 | 2023-03-09 | 株式会社デンソーテン | Posture estimation device and posture estimation method |
| CN111210478B (en) * | 2019-12-31 | 2023-07-21 | 重庆邮电大学 | Common-view-free multi-camera system external parameter calibration method, medium and system |
| CN114049404B (en) * | 2022-01-12 | 2022-04-05 | 深圳佑驾创新科技有限公司 | Method and device for calibrating internal phase and external phase of vehicle |
| JP7394934B1 (en) | 2022-08-16 | 2023-12-08 | 株式会社デンソーテン | Information processing device, information processing method, and program |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5552892B2 (en) * | 2010-05-13 | 2014-07-16 | 富士通株式会社 | Image processing apparatus and image processing program |
| JP5898475B2 (en) * | 2011-11-28 | 2016-04-06 | クラリオン株式会社 | In-vehicle camera system, calibration method thereof, and calibration program thereof |
| JP5971939B2 (en) * | 2011-12-21 | 2016-08-17 | アルパイン株式会社 | Image display device, imaging camera calibration method in image display device, and calibration program |
| JP6151535B2 (en) * | 2013-02-27 | 2017-06-21 | 富士通テン株式会社 | Parameter acquisition apparatus, parameter acquisition method and program |
| JP6371185B2 (en) * | 2014-09-30 | 2018-08-08 | クラリオン株式会社 | Camera calibration device and camera calibration system |
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2017
- 2017-04-13 JP JP2017079665A patent/JP6798926B2/en active Active
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