JP5332811B2 - Position coordinate conversion method between camera coordinate system and world coordinate system, in-vehicle device, roadside photographing device, and position coordinate conversion system - Google Patents

Description

  The present invention relates to a position coordinate conversion method between a camera coordinate system and a world coordinate system for detecting the position of a vehicle traveling on a road and the like, an in-vehicle apparatus, a roadside photographing apparatus, and a position coordinate conversion system.

  As a system that automatically captures the vehicle type, its position and speed by photographing the vehicle with a camera installed on the roadside and processing the video image, the traffic counter that measures traffic flow and the prevention of collision accidents There are safe driving support systems such as AHS and DSSS that are being developed for such reasons (for example, Non-Patent Document 1). Of these, especially for the safe driving support system, TTC (Time-To-Collision) is estimated based on the position and speed of the vehicle measured from the video to alert the driver and brake the vehicle. High accuracy is required for the measurement such as control.

  In order to accurately determine the position and speed of the vehicle from the video captured by the camera, each pixel in the camera coordinate system in which the vehicle is shown, and each pixel and the world coordinate system (latitude / longitude / altitude) The association (position coordinate conversion) needs to be performed accurately in advance. However, in particular, a safe driving support system is installed, that is, a part that causes an accident is often accompanied by a curvature or a gradient instead of a simple straight line such as a curve section shown in FIG. . In such a case, the road shape projected on the camera coordinate system is complicatedly distorted, and accurate association between the camera coordinate system and the world coordinate system is not easy.

  Therefore, for example, when a new camera or the like for monitoring a traffic vehicle is installed on the roadside, the first thing to be done is a correspondence table (two-dimensional) that accurately associates the position coordinates of the camera coordinate system with the position coordinates of the world coordinate system. It is important to create a table obtained by converting a coordinate table into a three-dimensional coordinate table. In general, as a method for performing this association, the following methods are mainly cited.

  Method 1 is a method of deriving the position in the world coordinate system of the main target on the camera field of view, such as an illumination column, using a general map, an aerial photograph, a road drawing, and the like. Then, the position of the derived target in the world coordinate system is compared with the position on the captured image, that is, the position in the camera coordinate system, and the two are correlated. In addition, the coordinates between the targets are interpolated to create a continuous correspondence table.

  Method 2 is a method for deriving the position in the world coordinate system of a main target on the camera field of view, such as an illumination column, using road surveying equipment such as a total station. The position of the derived target in the world coordinate system is compared with the position on the captured image, that is, the position in the camera coordinate system, and the two are correlated. The coordinates between the targets are interpolated to create a continuous correspondence table.

  Method 3 uses a GPS (Global Positioning System) / surveying vehicle equipped with an inertial navigation system, stereo camera, laser radar, etc. to derive road shape data (map data) in a three-dimensional continuous world coordinate system. It is a method to do. A map data value of a main target in the camera field of view, such as an illumination column, is compared with an image obtained by photographing them, that is, a position in the camera coordinate system, and the two are correlated. Also for the coordinates between the targets, a continuous correspondence table is created without using interpolation or the like by using map data.

  Although it is not a method using a surveying vehicle, for example, in Patent Document 1, the front of the traveling direction is imaged with a camera mounted on the vehicle to measure the position of the host vehicle and the road shape. A technique for generating a warning for assisting safe driving by calculating a precise position of a host vehicle by obtaining a three-dimensional road model with reference to GPS and map information is disclosed.

  Japanese Patent Application Laid-Open No. 2004-228561 discloses a technique for capturing a traffic situation with a camera installed at an intersection and displaying the captured image on an in-vehicle device mounted on a vehicle approaching the intersection to notify the driver.

  In Patent Document 3, a road image is recognized by processing an image captured in front by a camera mounted on a vehicle, a road shape in real space is obtained, and the image is displayed as an overhead view on a display device mounted on the vehicle. The technology to do is disclosed.

Japanese Patent Application Laid-Open No. 07-27541 JP 2004-94862 A Japanese Patent Laid-Open No. 01-265399

"Trends in safe driving support systems at intersections and NEC's efforts", NEC Technical Report Vol. 61, no. 1, p14-18, 2008.

  However, in Method 1, the general map has a large error, and there are many places where aerial photographs do not exist, and even if they exist, they are often not up-to-date. Furthermore, road drawings are not always available, and due to construction reasons, the actual road shape may not be as shown. For this reason, there is a problem that association with high accuracy is often difficult.

  In the method 2, it is usually necessary to perform lane control in order to perform surveying using a total station on an elevated road such as an expressway. Surveying with lane restrictions is costly and it is not easy to implement lane restrictions that impede traffic flow on highways. For example, surveying across lanes may require complete closure, but there is usually a problem that it is difficult to stop traffic on a main road.

  In Method 3, when a surveying vehicle is used, the problem of lane regulation in association method 2 does not occur. However, in order to use a survey vehicle equipped with a lot of expensive equipment, it is usually necessary to cost more than the lane regulations. In addition, altitude information is required to measure road gradients, but GPS, which is the base of surveying, has a large error in the height direction, and there is a problem that it is difficult to associate with high accuracy in locations with gradients. It was.

  Moreover, in patent document 1, there exists a problem that the measuring device of the own vehicle position and the measuring device of a road shape are required.

  Also, from Patent Document 2 and Patent Document 3, an overhead view is constructed using captured images, but since the vehicle position coordinates actually traveling are not obtained, a deviation from the constructed overhead view occurs. There is a problem that it ends up.

  As described above, in each method described above, when the camera field of view (camera coordinate system) is associated with the real coordinates (world coordinate system), the camera coordinates on the captured image actually reflected in the camera field of view are as follows. In order to correlate the position coordinates in the system with the corresponding position coordinates (latitude / longitude / altitude) in the continuous three-dimensional world coordinate system (position coordinate conversion), the measured quantity such as the road shape is used. Surveying costs and surveying accuracy were issues.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to perform highly accurate position coordinate conversion between the camera coordinate system and the world coordinate system.

  In order to solve the above-described problem, a position coordinate conversion method according to the present invention includes a camera photographing process for recording and recording a vehicle traveling by recording a vehicle's position coordinates in the world coordinate system and a time, and a time. A time information recording step for recording information in a photographed image, a time transmission step for transmitting the time taken by the camera photographing step, and an acquisition step for obtaining position coordinates in the world coordinate system of the vehicle at the time transmitted from the vehicle And a coordinate calculation step for obtaining the position coordinate of the camera camera coordinate system in the shooting data shot by the shooting step, the position coordinate of the world coordinate system, and the position coordinate of the camera coordinate system are associated with each other. A position information table creating step for creating a position information data creating step for converting the position coordinates of the camera coordinate system into the coordinates of the world coordinate system and specifying the coordinates of the shooting data. And wherein the Rukoto.

  The roadside photographing apparatus according to the present invention includes a camera photographing means for photographing and recording a vehicle traveling by recording a vehicle position coordinate in the world coordinate system and a time, and time information in the photographed image. Time information recording means for recording, time transmitting means for transmitting the time taken by the camera photographing means, acquisition means for obtaining position coordinates in the world coordinate system of the vehicle at the time transmitted from the vehicle, and photographing by the photographing means By creating a position information table by associating the coordinate calculation means for obtaining the position coordinates of the camera's camera coordinate system in the captured data, the position coordinates of the world coordinate system, and the position coordinates of the camera coordinate system, And position information data generating means for converting the position coordinates of the coordinate system into the coordinates of the world coordinate system and specifying the coordinates of the photographing data.

  The vehicle-mounted device according to the present invention includes a position time information recording unit that records position coordinates in the world coordinate system and time based on external information such as GPS and vehicle speed pulses, and a world at the time received from the time transmitting unit. And a position coordinate transmission means for transmitting the position coordinates of the coordinate system.

  A position coordinate conversion system according to the present invention is a position coordinate conversion system that includes a roadside imaging device that is provided on the roadside and captures a vehicle, and an in-vehicle device that is provided in the vehicle. Camera photographing means for photographing and recording a vehicle traveling by recording a vehicle position coordinate in the coordinate system and time, time information recording means for recording time information in a photographed image, and camera photographing means Time transmitting means for transmitting the time taken by the vehicle, acquisition means for obtaining the position coordinates of the world coordinate system of the vehicle at the time transmitted from the vehicle, and the position of the camera coordinate system of the vehicle in the photographing data taken by the photographing means By creating a position information table by associating coordinate calculation means for obtaining coordinates, position coordinates in the world coordinate system, and position coordinates in the camera coordinate system, the camera coordinate system Position information data creating means for converting the position coordinates into the coordinates of the world coordinate system to identify the coordinates of the shooting data, and the in-vehicle device is based on external information such as GPS and vehicle speed pulse. It is characterized by comprising position time information recording means for recording coordinates and time, and position coordinate transmission means for transmitting the position coordinates of the world coordinate system at the time received from the time transmission means.

  According to the present invention, it is possible to accurately perform position coordinate conversion between a camera coordinate system and a world coordinate system for accurately obtaining the position and speed of a vehicle from an image captured by a camera.

It is a figure which shows the road condition which concerns on embodiment of this invention. It is a figure which shows the roadside imaging device which concerns on embodiment of this invention. It is a figure which shows the vehicle-mounted apparatus which concerns on embodiment of this invention. It is a flowchart showing the process step which concerns on embodiment of this invention. It is a figure which shows the roadside imaging device of other embodiment which concerns on embodiment of this invention. It is a figure which shows the roadside imaging device of other embodiment which concerns on embodiment of this invention. It is a figure which shows the vehicle-mounted apparatus of other embodiment which concerns on embodiment of this invention. It is a flowchart showing the process step in other embodiment which concerns on embodiment of this invention. It is a figure which shows the vehicle-mounted apparatus of other embodiment which concerns on embodiment of this invention. It is a figure which shows operation | movement of the heat-source shutter part which concerns on embodiment of this invention.

  The first feature of the embodiment according to the present invention is that the position of the vehicle on the camera coordinate system is recorded at each time by using the camera to record the position in the world coordinate system and taking a picture of the traveling vehicle. And directly creating a correspondence table of positions in the world coordinate system recorded in the vehicle. As a result, the camera coordinate system and the world coordinate system can be associated without performing road surveying (described in FIG. 4 and step S108).

  Further, when creating the correspondence table, it is necessary to accurately synchronize the time of the position data recorded in each of the in-vehicle device and the roadside photographing device. As for the position data of the in-vehicle device, normally, if GPS is used, it is possible to record the accurate absolute time (GPS time) at the time of positioning.

  However, camera images recorded on a roadside photographing device usually have an indefinite error factor such as a frame shift inside the camera or recording device. It is not easy to specify whether or not.

  Therefore, the second feature of the embodiment according to the present invention is that the shutter of the camera is opened and closed in synchronization with an accurate time such as GPS, and accurate time information, that is, a time stamp is directly recorded in the image. is there. As a result, accurate time information can be recorded on an image regardless of temporal error factors such as frame shifts in the camera or in the recording apparatus.

  Accordingly, it is possible to accurately synchronize the position data recorded in the vehicle-mounted device and the roadside photographing device, that is, to associate the camera coordinate system with the world coordinate system with high accuracy (see FIG. 2 and the shutter control unit 6). Description).

  On the other hand, when the present invention is applied to an existing roadside photographing apparatus, there is a problem that a shutter that opens and closes in synchronization with an accurate time such as GPS cannot be attached.

  Therefore, the third feature of the embodiment according to the present invention is that in such a case, a light source such as a high-intensity LED or a strobe light is mounted on the vehicle-mounted device instead of the roadside photographing device, and the light source is an accurate GPS or the like. The flashing is synchronized with the time. Thereby, accurate time information can be recorded on the image only by the response on the in-vehicle device side, that is, the time stamp can be directly recorded in the image (described in FIG. 7 and the light source control unit 10).

  When recording a far-infrared image (thermal image) instead of a normal visible image with a roadside imaging device, the visible heat source such as a high-brightness LED or strobe light is flashed directly ( (Heating / cooling) is not easy.

  Therefore, the fourth feature of the present invention is that in such a case, a shutter that physically shields the heat source in synchronization with an accurate time such as GPS is provided. Thereby, the same effect as blinking of the visible light source can be obtained, and accurate time information can be recorded on the image only by the response on the vehicle-mounted device side (the heat source shutter control unit 13 in FIG. 9).

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 2 is a diagram illustrating a configuration of the roadside photographing apparatus. First, each component is demonstrated in order about the roadside imaging device of FIG. An image of a vehicle on the road is collected by the lens unit 1 and input to the light receiving element unit 3 through the shutter unit 2. The light receiving element unit 3 converts the received video into an analog electric signal and outputs it to the video data generation unit 4. The video data generation unit 4 performs A / D conversion of the video and shaping processing into frame units, and the result. Is output to the video data recording unit 7. Further, the data recorded in the video data recording unit 7 includes an arithmetic processing unit (not shown) and a transmission / reception unit (not shown) capable of transmitting and receiving the result of arithmetic processing as required to an external device. You may make it prepare.

  On the other hand, the time synchronization unit 5 performs accurate time synchronization using a GPS satellite or an NTP server and outputs time information to the shutter control unit 6. Based on the input time information, the shutter control unit 6 generates a signal for opening and closing the shutter at regular intervals, for example, every 0.1 second, and outputs the signal to the shutter unit 2 and the video data recording unit 7. To do. The shutter unit 2 opens and closes the shutter based on the input signal, and interrupts the exposure of the light receiving element unit 3. The video data recording unit 7 stores the processing result of the video data generation unit 4 and the shutter open / close signal of the shutter control unit 6.

  FIG. 3 is a diagram illustrating a configuration of the in-vehicle device. Next, the components of the in-vehicle device in FIG. 3 will be described in order. The position calculation / time synchronization unit 8 calculates an accurate current position and time using a GPS satellite or a vehicle speed pulse signal from a vehicle, and outputs the result to the in-vehicle data recording unit 9. The in-vehicle data recording unit 9 stores the input current position and time information. Furthermore, you may make it provide the data recorded on the vehicle-mounted data recording part 9 with the transmission / reception part (not shown) which can be transmitted / received to an external apparatus as needed.

  Further, the information processing apparatus (not shown) receives the data recorded in the roadside photographing apparatus in FIG. 2 and the data recorded in the in-vehicle apparatus in FIG. A correspondence table between the above vehicle position and the position in the world coordinate system corresponding to the time may be created and a series of position coordinate conversion processing may be performed. Note that the data recorded in the video data recording unit 7 of the roadside photographing apparatus and the data acquisition method recorded in the in-vehicle data recording unit 9 are preferably performed by, for example, data transmission / reception through communication, but are not limited thereto. Any means may be used.

  FIG. 4 is a diagram illustrating steps for associating the camera coordinate system with the world coordinate system. The operation will be explained step by step. First, a vehicle equipped with an in-vehicle device is caused to travel, and imaging of the video with the roadside imaging device is started (step S101). At that time, the in-vehicle device continuously calculates an accurate position and time by the position calculation / time synchronization unit 8 and stores the result in the in-vehicle data recording unit 9 (step S102).

  In parallel with the operation in step S102, the roadside photographing apparatus continuously stores the output of the video data generating unit 4, that is, the video image of the vehicle equipped with the in-vehicle device, in the roadside data recording unit 7 (step S103). At this time, in the roadside photographing apparatus, based on the accurate time obtained by the time synchronization unit 5, the shutter control unit 6 periodically opens and closes the shutter unit 2, and an accurate time stamp is displayed on the image stored in step S103. Recording is performed (step S104).

  Next, it is determined whether or not the vehicle equipped with the in-vehicle device is out of the field of view of the camera (step S105). If it is not out of the field of view, the photographing process is continued (step S105, NO). YES), the photographing process is ended (step S106), and the process proceeds to step S107.

  Next, on the video stored in the roadside data recording unit 7, the accurate time of each video frame is calculated based on the recorded time stamp (step S107). Subsequently, a correspondence table between the vehicle position on the camera coordinate system in each video frame and the position on the world coordinate system recorded in the in-vehicle data recording unit 9 corresponding to the time is created (step S108). The series of association processes is completed. The data acquisition method of the in-vehicle data recording unit 9 is preferably performed by data transmission / reception by communication, for example, but is not limited thereto, and any means may be used.

  In the present invention, the shutter unit 2 is provided between the lens unit 1 and the light receiving element unit 3 of the roadside photographing apparatus, and the time stamp is recorded by physically blocking the exposure. However, even if the time stamp is not a physical exposure block, the shutter 2 is provided by, for example, electrically interrupting exposure or superimposing some marker on the video in the video data generation unit 4. It is possible to obtain an effect equivalent to this.

  Therefore, the time stamp may be recorded in any form as long as it is a data (time marker) that directly records data synchronized with the correct time in the video data.

  FIG. 5 shows the configuration of the roadside photographing apparatus in the above case. The operation of this embodiment is the same except that the position of step S104 shown in FIG. 4 is electrically interrupted by exposure or is changed to superposition of some markers.

  In addition, regarding the time stamp, it is possible to provide the mechanism in the in-vehicle device instead of the roadside photographing device. In this case, as shown in FIG. 6, the roadside photographing apparatus does not have any mechanism related to the time stamp, and is configured to only record video.

  On the other hand, as shown in FIG. 7, the in-vehicle device is added with a light source unit 11 that blinks in synchronization with an accurate time obtained from a GPS satellite, and a light source control unit 10 that blinks the light source.

  The operation of this embodiment will be described with reference to FIG. First, a vehicle equipped with an in-vehicle device is caused to travel, and image capturing of the image by the roadside image capturing device is started (step S201). At that time, in the roadside photographing apparatus, the output of the video data generating unit 4, that is, the video image of the vehicle equipped with the in-vehicle device is continuously stored in the roadside data recording unit 7 (step S202).

  In parallel with the operation in step S202, the in-vehicle device continuously calculates an accurate position and time by the position calculation / time synchronization unit 8, and stores the result in the in-vehicle data recording unit 9 (step S203). At that time, in the in-vehicle device, the light source control unit 10 periodically blinks the light source unit 11 based on the accurate time obtained by the position calculation / time synchronization unit 8 and is accurately displayed on the video stored in step S202. A time stamp is recorded (step S204).

  Next, it is determined whether or not the vehicle equipped with the in-vehicle device is out of the field of view of the camera (step S205). If the vehicle is not out of the field of view, the imaging process is continued (step S205, NO). YES), the photographing process is ended (step S206), and the process proceeds to step S207.

  Next, on the video stored in the roadside data recording unit 7, the exact time of each video frame is calculated based on the recorded time stamp (step S207). Subsequently, a correspondence table between the vehicle position on the camera coordinate system in each video frame and the position on the world coordinate system recorded in the in-vehicle data recording unit 9 corresponding to the time is created (step S208). The series of association processes is completed.

  In the present embodiment, by providing a time stamp generating mechanism in the in-vehicle device, for example, the present invention can be applied to an existing roadside photographing apparatus that does not have such a mechanism.

  When a time stamp generating mechanism, that is, a light source blinking mechanism is provided in an in-vehicle device, a high-brightness LED, a strobe light, or the like may be used as the light source if the roadside photographing device is a camera that records visible light.

  However, when the roadside imaging device is a camera that records thermal images such as far-infrared rays, a heat source such as a heater can be mounted on the vehicle, but itself is sufficiently fast, for example, in one frame of the camera image. It is not easy to generate heat or cool in 1/30 seconds or less.

  Therefore, in such a case, the present invention is also applied to a roadside photographing apparatus that records a thermal image by providing a heat source shutter unit that physically shields a heat source in an in-vehicle device and blinking far infrared rays at a sufficient speed. Applicable.

  FIG. 9 shows the configuration of the in-vehicle apparatus described in the above embodiment. However, in contrast to FIG. 3, the heat source unit 12 that constantly generates heat and emits far infrared rays is synchronized with an accurate time obtained from a GPS satellite. A heat source shutter unit 14 for opening and closing the shutter and a heat source shutter control unit 13 for opening and closing the heat source shutter are added.

  FIG. 10 is a diagram schematically showing the operation of the heat source shutter unit. First, the shutter at the standby position slides only during operation and moves to a position where the heat source is shielded. Immediately thereafter, the shutter immediately returns to the standby position. By such an operation, the shutter is in front of the heat source, that is, the time for shielding the heat source is minimized, and far infrared radiation due to heating of the shutter itself is prevented.

  The operation of this embodiment is the same except that the location of step S204 shown in FIG. 8 is changed to blinking of the heat source.

  As described above, this embodiment has the following effects.

  The first effect is that, in this embodiment, surveying is not performed, and the association between the camera coordinate system and the world coordinate system can be realized. The reason is that the time table of the data stored in the in-vehicle device and the roadside photographing device is synchronized, and a correspondence table that correlates the coordinates of the two is directly created.

  The second effect is that the time synchronization of the data stored in the in-vehicle device and the roadside photographing device can be accurately taken and the association between the highly accurate camera coordinate system and the world coordinate system can be realized. The reason is that the time stamp used for time synchronization is recorded directly in the image by opening and closing the shutter synchronized with the correct time, etc., and error factors that are indefinite in time, such as the frame shift inside the camera or recording device It is because it eliminates.

  The third effect is that the first effect and the second effect can be applied without modifying a roadside photographing apparatus such as an existing one. The reason is that by providing a time stamp function by blinking of the light source in the in-vehicle device, the same effect as the method of providing the shutter in the roadside photographing device can be exhibited.

  The fourth effect is that the third effect can be applied even when a far-infrared image (thermal image) is recorded instead of a normal visible image with an existing roadside photographing apparatus. This is because a shutter capable of physically shielding the heat source is mounted on the in-vehicle device.

  According to the above-described embodiment, for example, when a camera for monitoring traffic is newly installed on the road side of the road, the camera is adjusted for the first adjustment after installation and the adjustment after operation performed to operate the camera. It is not necessary to perform surveying in order to create a correspondence table that accurately associates the position coordinates of the coordinate system with the position coordinates of the world coordinate system, and it is possible to easily perform installation adjustment of a camera or the like at a low cost.

  For roadside imaging devices, various driving assistance information is transmitted based on position coordinate data in world coordinates obtained from vehicle imaging and various related information such as road information such as vehicle operation information and traffic jam information. You will be able to Therefore, it is desirable that the roadside photographing apparatus is provided with means capable of transmitting and receiving data by communication.

  In addition, it is desirable to install an in-vehicle display device capable of displaying various data by transmitting and receiving data by communication with a roadside imaging device that is different from the above-described in-vehicle device.

  According to the above-described embodiment, the data can be transmitted and received between the above-described in-vehicle display device and the roadside imaging device, and used in combination so that various types of data and various types of information based on position coordinates based on world coordinates can be used. Needless to say, the present invention can be applied to various embodiments as well as the construction of a driving support system and a driving support system for preventing traffic accidents in vehicle operation.

  In addition, various embodiments are possible without being limited to combinations of the above embodiments.

  Further, the roadside photographing apparatus of the present invention has shutter control means for performing photographing by controlling opening and closing of the shutter of the camera in synchronization with time accurately synchronized with the time based on the external time information. Based on the time information recorded in the captured image, the position coordinate of the camera coordinate system is created by associating the position coordinate of the world coordinate system and the position coordinate of the camera coordinate system with each other. The coordinates of the photographing data may be specified by converting into coordinates in the world coordinate system.

  Further, the roadside photographing apparatus of the present invention photographs a vehicle equipped with a light source that blinks in synchronization with the time exactly synchronized with the time by a camera photographing means, and the image data recorded directly in the photographed image of the blinking light source. Based on this, the position coordinates in the world coordinate system and the position coordinates in the camera coordinate system are created in association with each other to create a position information table, thereby converting the position coordinates in the camera coordinate system into the coordinates in the world coordinate system, and shooting data The coordinates may be specified.

  Further, the roadside photographing apparatus of the present invention includes a heat source means that is a heat source for radiating far infrared rays, and a heat source shutter means that opens and closes in synchronization with a precisely synchronized time that can shield the far infrared rays emitted from the heat source means. The vehicle coordinate system is photographed by the camera photographing means, and the position coordinates of the world coordinate system and the position coordinates of the camera coordinate system are based on image data obtained by directly recording the far infrared rays emitted from the heat source in the photographed image. And the position information table may be created by converting the position coordinates of the camera coordinate system into the coordinates of the world coordinate system and specifying the coordinates of the shooting data.

  The on-vehicle device of the present invention may include light source means that is a light source that blinks in synchronization with a time that is accurately synchronized based on external time information.

  Further, the in-vehicle device of the present invention includes a heat source means that is a heat source for radiating far infrared rays to a vehicle, and a heat source shutter that is capable of shielding the far infrared rays emitted from the heat source means and that opens and closes in synchronization with precisely synchronized time. And means.

  In addition, the heat source shutter of the in-vehicle apparatus of the present invention moves to the heat source shielding position only when the far infrared ray radiated from the heat source is shielded, and immediately returns to the remote standby position where the heat source is not heated. May be.

  Further, the position coordinate conversion method of the present invention includes a shutter control step for adjusting photographing by controlling opening and closing of a shutter of a camera in synchronization with a time that is accurately synchronized based on external time information, and a time information recording step. A position information table creating step for creating a position information table by associating the position coordinates of the world coordinate system and the position coordinates of the camera coordinate system based on the time information recorded in the captured image; and the camera coordinate system And converting the position coordinates into the coordinates of the world coordinate system to specify the coordinates of the photographing data.

  The position coordinate conversion method of the present invention is an image in which a vehicle including a light source that blinks in synchronization with a time that is accurately time synchronized is photographed by the camera photographing process, and the blinking light source is directly recorded in a photographed image. Based on the data, a position information table creation step for creating a position information table by associating the position coordinates of the world coordinate system with the position coordinates of the camera coordinate system, and the position coordinates of the camera coordinate system to the coordinates of the world coordinate system And a step of identifying the coordinates of the photographing data by converting into the above.

  Further, the position coordinate conversion method of the present invention includes a heat source process that is a heat source for radiating far infrared rays, and a heat source shutter that opens and closes in synchronization with precisely synchronized time that can shield the far infrared rays emitted from the heat source process. And a position of the world coordinate system and a position of the camera coordinate system based on image data obtained by photographing a vehicle equipped with a process by a camera photographing process and directly recording far infrared rays emitted from a heat source in the photographed image. A position information table creating step of creating a position information table by associating coordinates, and a step of converting the position coordinates of the camera coordinate system into coordinates of the world coordinate system and specifying the coordinates of the shooting data. May be.

  Further, the heat source shutter of the position coordinate conversion method of the present invention moves to the heat source shielding position only when the far-infrared ray radiated from the heat source is shielded, and immediately after the shielding, returns to the remote standby position where there is no heating effect of the heat source. You may make it provide a process.

  In addition, a position coordinate conversion system according to the present invention includes a roadside image capturing device that is provided on the roadside and captures a vehicle, an in-vehicle device that is provided in the vehicle, and an information processing device that performs data processing. The roadside photographing apparatus records the position coordinates of the vehicle in the world coordinate system and the time and records the time information in the photographed image by the camera photographing means for photographing and recording the traveling vehicle with the camera. A time information recording means for transmitting, a time transmitting means for transmitting the time taken by the camera photographing means, a coordinate calculating means for obtaining a position coordinate of the camera coordinate system of the vehicle in photographing data photographed by the photographing means, and a coordinate calculating means Position coordinate transmission means for transmitting the calculated position coordinates of the camera coordinate system, and the in-vehicle device is based on external information such as GPS and vehicle speed pulses. A position time information recording unit that records a position coordinate and a time; and a position coordinate transmission unit that transmits a position coordinate of the world coordinate system at the time received from the time transmission unit. Time acquisition means for acquiring the time taken by the imaging means, acquisition means for acquiring position coordinates in the world coordinate system of the vehicle at the time transmitted from the vehicle, and position coordinates in the camera coordinate system transmitted from the roadside imaging apparatus. By creating a position information table by associating the position coordinate acquisition means to acquire, the position coordinates of the world coordinate system, and the position coordinates of the camera coordinate system, the position coordinates of the camera coordinate system are changed to the coordinates of the world coordinate system. And position information data creating means for converting and specifying the coordinates of the photographing data.

  The present invention can be applied to uses such as a vehicle imaging device, an image recognition device, a traffic video photographing device, a roadside photographing device, an in-vehicle device, and a driving support information system.

DESCRIPTION OF SYMBOLS 1 Lens part 2 Shutter part 3 Light receiving element part 4 Image | video data generation part 5 Time synchronization part 6 Shutter control part 7 Roadside data recording part 8 Position calculation / time synchronization part 9 In-vehicle data recording part 10 Light source control part 11 Light source part 12 Heat source part 13 Heat source shutter control unit 14 Heat source shutter unit

Claims (13)

Time information generating means that records and coordinates the position coordinates of the vehicle in the world coordinate system and time, and inserts time information that is accurately time-synchronized based on external time information into the photographing data in an identifiable manner Camera photographing means for photographing and recording a vehicle equipped with a camera ;
And time transmission means for transmitting the time taken by the previous Symbol camera imaging means,
Obtaining means for obtaining position coordinates of the world coordinate system of the vehicle at the time transmitted from the vehicle;
Coordinate calculating means for obtaining position coordinates of the camera coordinate system of the vehicle in the shooting data shot by the camera shooting means;
A position information table is created by associating the position coordinates of the world coordinate system and the position coordinates of the camera coordinate system based on the shooting data , thereby converting the position coordinates of the camera coordinate system to those of the world coordinate system. Position information data creating means for converting into coordinates and specifying the coordinates of the photographing data;
A roadside photographing apparatus comprising: The time information generating means, roadside imaging apparatus according to claim 1, characterized in that it comprises a light source which flashes in synchronization with the precise time synchronized time. The time information generating means is a heat source means that is a heat source for emitting far infrared rays, and
Heat source shutter means capable of shielding far infrared rays radiated from the heat source means, and opening and closing in synchronization with the accurately time synchronized time ;
The roadside imaging apparatus according to claim 1 , comprising: The position coordinates of the vehicle in the world coordinate system, the position and time information recording means for recording time and the,
Time information generating means for inserting the time information accurately synchronized with the time based on the external time information into the photographing data photographed on the road side photographing device side,
The position coordinates of the world coordinate system at the time received from the roadside imaging device, the position coordinate transmitting means for transmitting to the roadside imaging device,
A vehicle-mounted device comprising: The time information generating means, vehicle apparatus according to claim 4, characterized in that it comprises a light source which flashes in synchronization with the precise time synchronized time. The time information generating means is a heat source means that is a heat source for emitting far infrared rays, and
5. The in-vehicle device according to claim 4 , further comprising: heat source shutter means that can block far infrared rays radiated from the heat source means and that opens and closes in synchronization with the time that is precisely time synchronized. The heat source shutter means moves to the heat source shielding position only when the far-infrared ray radiated from the heat source means is shielded, and immediately after the heat source is shielded, the heat source shutter means returns to a remote standby position where there is no heating effect of the heat source. The in-vehicle device according to claim 6 . Time information generating means that records and coordinates the position coordinates of the vehicle in the world coordinate system and time, and inserts time information that is accurately time-synchronized based on external time information into the photographing data in an identifiable manner A camera photographing process for photographing and recording a vehicle equipped with a camera ;
And time transmission step of transmitting the time taken by the previous Symbol camera imaging process,
An acquisition step of acquiring position coordinates in the world coordinate system of the vehicle at the time transmitted from the vehicle;
A coordinate calculation step for obtaining a position coordinate of the camera coordinate system of the vehicle in the photographing data photographed by the camera photographing step;
A position information table creating step for creating a position information table by associating the position coordinates of the world coordinate system and the position coordinates of the camera coordinate system based on the photographing data ;
A position information data creating step of converting the position coordinates of the camera coordinate system into coordinates of the world coordinate system and specifying the coordinates of the shooting data;
A position coordinate conversion method characterized by comprising: 9. The position coordinate conversion method according to claim 8 , wherein, in the camera photographing step, the vehicle including a light source that blinks in synchronization with the time that is accurately time synchronized is photographed . In the camera photographing step, heat source means that is a heat source for radiating far infrared rays,
According to claim 8, characterized in that the vehicle and a heat source shutter means for opening and closing in synchronization with the precise time synchronized time which can shield the far infrared rays radiated from the heat source unit is photographed Position coordinate conversion method. Wherein the heat source shutter means, only moved to the heat source shielding position when shield the far infrared rays radiated from the heat source unit, after the heat source shielding and Turkey to return immediately to the standby position away without heating effect of the heat source The position coordinate conversion method according to claim 10 . A position coordinate conversion system having a roadside photographing device that is provided on the roadside and that photographs a vehicle, and an in-vehicle device that is provided in the vehicle,
The roadside photographing device is
Time information generating means that records and coordinates the position coordinates of the vehicle in the world coordinate system and time, and inserts time information that is accurately time-synchronized based on external time information into the photographing data in an identifiable manner Camera photographing means for photographing and recording a vehicle equipped with a camera ;
And time transmission means for transmitting the time taken by the previous Symbol camera imaging means,
Obtaining means for obtaining position coordinates of the world coordinate system of the vehicle at the time transmitted from the vehicle;
Coordinate calculating means for obtaining position coordinates of the camera coordinate system of the vehicle in the shooting data shot by the camera shooting means;
A position information table is created by associating the position coordinates of the world coordinate system and the position coordinates of the camera coordinate system based on the shooting data , thereby converting the position coordinates of the camera coordinate system to those of the world coordinate system. Position information data creating means for converting into coordinates and specifying the coordinates of the photographing data;
Have
The in-vehicle device is
The position coordinates of the vehicle in the world coordinate system, the position and time information recording means for recording time and the,
Time information generating means for inserting time information accurately time-synchronized into shooting data shot on the roadside shooting apparatus side; and
Position coordinate transmission means for transmitting the position coordinates of the world coordinate system at the time received from the time transmission means to the roadside photographing apparatus ;
A position coordinate conversion system characterized by comprising: A position coordinate conversion system having a roadside photographing device that is provided on the roadside and that photographs a vehicle, an in-vehicle device that is provided in the vehicle, and an information processing device that performs arithmetic processing on data,
The roadside photographing device is
Time information generating means that records and coordinates the position coordinates of the vehicle in the world coordinate system and time, and inserts time information that is accurately time-synchronized based on external time information into the photographing data in an identifiable manner Camera photographing means for photographing and recording a vehicle equipped with a camera ;
And time transmission means for transmitting the time taken by the previous Symbol camera imaging means,
Coordinate calculating means for obtaining position coordinates of the camera coordinate system of the vehicle in the shooting data shot by the camera shooting means;
Position coordinate transmission means for transmitting the position coordinates of the camera coordinate system calculated by the coordinate calculation means based on the photographing data ;
The in-vehicle device is
The position coordinates of the vehicle in the world coordinate system, the position and time information recording means for recording time and the,
Time information generating means for inserting time information accurately time-synchronized into shooting data shot on the roadside shooting apparatus side; and
Position coordinate transmission means for transmitting the position coordinate of the world coordinate system at the time received from the time transmission means to the roadside photographing apparatus ;
The information processing apparatus includes:
Time acquisition means for acquiring the time taken by the camera photographing means;
Obtaining means for obtaining position coordinates of the world coordinate system of the vehicle at the time transmitted from the vehicle;
Position coordinate acquisition means for acquiring the position coordinate of the camera coordinate system transmitted from the roadside imaging apparatus;
By creating a position information table by associating the position coordinates of the world coordinate system with the position coordinates of the camera coordinate system, the position coordinates of the camera coordinate system are converted into the coordinates of the world coordinate system and the imaging Position information data creating means for specifying data coordinates;
A position coordinate conversion system characterized by comprising:

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