JP2021093670A5

JP2021093670A5 -

Info

Publication number: JP2021093670A5
Application number: JP2019224292A
Authority: JP
Filing date: 2019-12-12
Publication date: 2022-06-29
Anticipated expiration: 2039-12-12

Claims

An acquisition unit that acquires images taken by a camera mounted on a moving object,
An extraction unit that extracts a plurality of feature points including the first feature point and the second feature point from the captured image, and an extraction unit.
A flow derivation unit that derives an optical flow for each of the plurality of feature points,
Selection to select the optical flow of the first feature point and the optical flow of the second feature point from the optical flows derived by the flow derivation section based on the position of the optical flow derived by the flow derivation section. Department and
Based on the optical flow of the first feature point and the optical flow of the second feature point selected by the selection section, a specific section that specifies two sets of faces whose intersections with a predetermined plane are parallel to each other. ,
An estimation unit that estimates the posture of the camera based on the set of surfaces specified by the specific unit, and an estimation unit.
A posture estimation device.

The selection unit has the first feature point so that the distance between the position of the first feature point in the real world and the position of the second feature point in the real world in a predetermined direction is equal to or more than a predetermined value. The posture estimation device according to claim 1, wherein the optical flow and the optical flow of the second feature point are selected.

The selection unit increases the predetermined value as the distance between the position of the first feature point in the real world and the position of the second feature point in the real world in the direction perpendicular to the predetermined direction is larger. , The posture estimation device according to claim 2.

The second or third aspect, wherein the selection unit selects an optical flow of the first feature point and an optical flow of the second feature point located in a region within a predetermined distance from the center of the optical axis of the camera. Attitude estimation device.

The posture estimation device according to claim 4, wherein the camera faces the front or the rear of the moving body.

The selection unit is the optical flow of the first feature point located in a region within a predetermined distance from the center of the optical axis of the camera, and the second feature located in a region away from the center of the optical axis of the camera. The attitude estimation device according to claim 2 or 3, wherein the optical flow of points is selected.

The posture estimation device according to claim 6, wherein the camera faces the left or right side of the moving body.

The posture estimation device according to any one of claims 1 to 7.
Based on the posture of the camera estimated by the estimation unit, a determination unit for determining whether or not the mounting of the camera is misaligned, and a determination unit.
Anomaly detection device.

The posture estimation device according to any one of claims 1 to 7.
A correction unit that corrects the parameters of the camera based on the posture of the camera estimated by the estimation unit, and a correction unit.
A correction device.

The acquisition process to acquire the captured image taken by the camera mounted on the moving body, and
An extraction step of extracting a plurality of feature points including the first feature point and the second feature point from the captured image, and
The flow derivation process for deriving the optical flow for each of the plurality of feature points, and
Selection to select the optical flow of the first feature point and the optical flow of the second feature point from the optical flows derived in the flow derivation step based on the position of the optical flow derived in the flow derivation step. Process and
Based on the optical flow of the first feature point and the optical flow of the second feature point selected in the selection step, a specific step of specifying two sets of planes whose intersections with a predetermined plane are parallel to each other. ,
An estimation process that estimates the posture of the camera based on the set of surfaces specified in the specific process, and an estimation process.
A posture estimation method.

It is a posture estimation device equipped with a control unit that estimates the posture of the camera mounted on the moving body.
The control unit
The captured image taken by the camera is acquired, and the photographed image is acquired.
A plurality of feature points including the first feature point and the second feature point are extracted from the captured image.
An optical flow is derived for each of the plurality of feature points, and the optical flow is derived.
Based on the derived position of the optical flow, the optical flow of the first feature point and the optical flow of the second feature point are selected from the optical flows.
Based on the selected optical flow of the first feature point and the optical flow of the second feature point, two sets of planes whose intersections with a predetermined plane are parallel to each other are specified.
Estimate the posture of the camera based on the specified set of faces,
Posture estimation device.