JP5991952B2 - 周囲状況に対するカメラの姿勢を求めるための方法 - Google Patents

周囲状況に対するカメラの姿勢を求めるための方法 Download PDF

Info

Publication number
JP5991952B2
JP5991952B2 JP2013151282A JP2013151282A JP5991952B2 JP 5991952 B2 JP5991952 B2 JP 5991952B2 JP 2013151282 A JP2013151282 A JP 2013151282A JP 2013151282 A JP2013151282 A JP 2013151282A JP 5991952 B2 JP5991952 B2 JP 5991952B2
Authority
JP
Japan
Prior art keywords
camera
point
coordinate system
motion
posture
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2013151282A
Other languages
English (en)
Japanese (ja)
Other versions
JP2014032666A5 (enExample
JP2014032666A (ja
Inventor
スリクマール・ラマリンガム
田口　裕一
裕一 田口
メンロン・ズ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of JP2014032666A publication Critical patent/JP2014032666A/ja
Publication of JP2014032666A5 publication Critical patent/JP2014032666A5/ja
Application granted granted Critical
Publication of JP5991952B2 publication Critical patent/JP5991952B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20076—Probabilistic image processing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Traffic Control Systems (AREA)
JP2013151282A 2012-08-01 2013-07-22 周囲状況に対するカメラの姿勢を求めるための方法 Active JP5991952B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/563,925 2012-08-01
US13/563,925 US8831290B2 (en) 2012-08-01 2012-08-01 Method and system for determining poses of vehicle-mounted cameras for in-road obstacle detection

Publications (3)

Publication Number Publication Date
JP2014032666A JP2014032666A (ja) 2014-02-20
JP2014032666A5 JP2014032666A5 (enExample) 2016-06-23
JP5991952B2 true JP5991952B2 (ja) 2016-09-14

Family

ID=50025509

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2013151282A Active JP5991952B2 (ja) 2012-08-01 2013-07-22 周囲状況に対するカメラの姿勢を求めるための方法

Country Status (3)

Country Link
US (1) US8831290B2 (enExample)
JP (1) JP5991952B2 (enExample)
CN (1) CN103578117B (enExample)

Families Citing this family (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104662435A (zh) 2012-09-27 2015-05-27 Metaio有限公司 确定与用于捕获至少一个图像的捕获装置关联的装置的位置和方向的方法
US9576183B2 (en) * 2012-11-02 2017-02-21 Qualcomm Incorporated Fast initialization for monocular visual SLAM
KR102001659B1 (ko) * 2012-11-19 2019-07-19 한국전자통신연구원 차량용 카메라 캘리브레이션 장치 및 방법
KR101431373B1 (ko) * 2013-02-26 2014-08-18 경북대학교 산학협력단 스테레오 정합을 이용한 차량의 움직임 측정 장치
EP2884364B1 (en) * 2013-12-12 2018-09-26 Hexagon Technology Center GmbH Autonomous gardening vehicle with camera
US10339389B2 (en) * 2014-09-03 2019-07-02 Sharp Laboratories Of America, Inc. Methods and systems for vision-based motion estimation
US9607388B2 (en) * 2014-09-19 2017-03-28 Qualcomm Incorporated System and method of pose estimation
CN104299244B (zh) * 2014-09-26 2017-07-25 东软集团股份有限公司 基于单目相机的障碍物检测方法及装置
CN104268551B (zh) * 2014-09-29 2017-08-08 浙江理工大学 基于视觉特征点的转向角度控制方法
US10284794B1 (en) 2015-01-07 2019-05-07 Car360 Inc. Three-dimensional stabilized 360-degree composite image capture
US10393513B2 (en) * 2015-02-13 2019-08-27 Zoller + Fröhlich GmbH Laser scanner and method for surveying an object
US9558424B2 (en) * 2015-06-30 2017-01-31 Mitsubishi Electric Research Laboratories, Inc. On-road stereo visual odometry without explicit pose determinations
US10088318B2 (en) 2015-08-27 2018-10-02 Qualcomm Incorporated Cradle rotation insensitive inertial navigation
GB2541884A (en) 2015-08-28 2017-03-08 Imp College Of Science Tech And Medicine Mapping a space using a multi-directional camera
JP6944441B2 (ja) * 2015-09-25 2021-10-06 マジック リープ， インコーポレイテッドＭａｇｉｃ Ｌｅａｐ，Ｉｎｃ． ３次元再構成において構造特徴を検出し、組み合わせるための方法およびシステム
US9945828B1 (en) 2015-10-23 2018-04-17 Sentek Systems Llc Airborne multispectral imaging system with integrated navigation sensors and automatic image stitching
US9807365B2 (en) * 2015-12-08 2017-10-31 Mitsubishi Electric Research Laboratories, Inc. System and method for hybrid simultaneous localization and mapping of 2D and 3D data acquired by sensors from a 3D scene
US10156441B2 (en) * 2016-01-05 2018-12-18 Texas Instruments Incorporated Ground plane estimation in a computer vision system
CN108603933B (zh) * 2016-01-12 2022-07-08 三菱电机株式会社 用于融合具有不同分辨率的传感器输出的系统和方法
FR3052581B1 (fr) * 2016-06-14 2019-07-12 Continental Automotive France Procede de realisation d'une carte de profondeurs a partir d'images successives d'une camera unique (mono) embarquee dans un vehicule automobile
JP7011608B2 (ja) * 2016-06-30 2022-01-26 マジック リープ， インコーポレイテッド ３次元空間内の姿勢推定
GB2552648B (en) 2016-07-22 2020-09-16 Imperial College Sci Tech & Medicine Estimating dimensions for an enclosed space using a multi-directional camera
WO2018021065A1 (ja) * 2016-07-29 2018-02-01 ソニー株式会社 画像処理装置および画像処理方法
US20180068459A1 (en) * 2016-09-08 2018-03-08 Ford Global Technologies, Llc Object Distance Estimation Using Data From A Single Camera
KR102714691B1 (ko) * 2016-12-06 2024-10-10 (주)엠아이웨어 카메라 영상의 뎁쓰-맵을 이용한 이동 차량의 장애물 검출 장치
WO2018112795A1 (en) * 2016-12-21 2018-06-28 Intel Corporation Large scale cnn regression based localization via two-dimensional map
DE102017100062A1 (de) * 2017-01-03 2018-07-05 Connaught Electronics Ltd. Visuelle Odometrie
CN107179768B (zh) * 2017-05-15 2020-01-17 上海木木机器人技术有限公司 一种障碍物识别方法及装置
CN109147374A (zh) * 2017-06-15 2019-01-04 深圳市金溢科技股份有限公司 停车场管理方法、系统、车载单元及后台服务器
US10460471B2 (en) 2017-07-18 2019-10-29 Kabushiki Kaisha Toshiba Camera pose estimating method and system
DE112017007967T5 (de) * 2017-08-28 2020-06-10 Intel Corporation Posenschätzung für mobile autonome vorrichtung in teilzeiträumen einer vollständigen sensorabtastung
CN108107462B (zh) * 2017-12-12 2022-02-25 中国矿业大学 Rtk与高速相机组合的交通标志杆姿态监测装置及方法
WO2019133342A1 (en) * 2017-12-29 2019-07-04 PlusAI Corp Method and system for stereo based vehicle pose estimation
CN108876825A (zh) * 2018-05-15 2018-11-23 北京空间飞行器总体设计部 一种空间非合作目标相对导航三维匹配估计方法
US10565728B2 (en) * 2018-06-01 2020-02-18 Tusimple, Inc. Smoothness constraint for camera pose estimation
DE102018113325A1 (de) * 2018-06-05 2019-12-05 Connaught Electronics Ltd. Verfahren und computergestütztes Ortsbestimmungssystem zum Bestimmen des Ortes mindestens einer Struktur mittels eines bildgebenden Sensors
US10726563B2 (en) * 2018-06-29 2020-07-28 Intel Corporation Visual odometry device for 3D vehicle motion estimation and visual odometry method for 3D vehicle motion estimation
CN109141364B (zh) * 2018-08-01 2020-11-03 北京进化者机器人科技有限公司 障碍物检测方法、系统及机器人
KR102831462B1 (ko) * 2019-02-21 2025-07-09 현대모비스 주식회사 차량의 객체 검출 장치 및 방법
CN110458895B (zh) * 2019-07-31 2020-12-25 腾讯科技（深圳）有限公司 图像坐标系的转换方法、装置、设备及存储介质
KR102871418B1 (ko) * 2019-09-26 2025-10-15 삼성전자주식회사 자세 추정 방법 및 장치
CN110796705B (zh) * 2019-10-23 2022-10-11 北京百度网讯科技有限公司 模型误差消除方法、装置、设备及计算机可读存储介质
US12450763B2 (en) * 2019-12-13 2025-10-21 Nvidia Corporation Depth estimation using a neural network
US11748844B2 (en) 2020-01-08 2023-09-05 Carvana, LLC Systems and methods for generating a virtual display of an item
CN111631637B (zh) * 2020-04-27 2021-08-24 珠海市一微半导体有限公司 视觉机器人确定最佳运动方向和最佳清扫方向的方法
CN112017236B (zh) * 2020-07-13 2023-10-31 魔门塔(苏州)科技有限公司 一种基于单目相机计算目标物位置的方法及装置
US12243324B2 (en) 2020-08-28 2025-03-04 Correct-AI Inc. Visual guidance system and method
US11987236B2 (en) * 2020-08-31 2024-05-21 Nec Corporation Monocular 3D object localization from temporal aggregation
WO2022126380A1 (zh) * 2020-12-15 2022-06-23 深圳市大疆创新科技有限公司 三维点云分割方法和装置、可移动平台
CN112837383B (zh) * 2021-03-01 2022-02-22 东南大学 相机与激光雷达重标定方法、装置及计算机可读存储介质
CN116363202A (zh) * 2023-03-14 2023-06-30 杭州萤石软件有限公司 基于多类图像处理的摄像机位姿计算方法、系统及设备
CN117523010B (zh) * 2024-01-05 2024-04-09 深圳市欧冶半导体有限公司 车辆的相机位姿确定方法、装置、计算机设备和存储介质

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2940366B2 (ja) * 1993-12-07 1999-08-25 住友電気工業株式会社 対象物の追従認識装置
US6535114B1 (en) * 2000-03-22 2003-03-18 Toyota Jidosha Kabushiki Kaisha Method and apparatus for environment recognition
JP2009017462A (ja) * 2007-07-09 2009-01-22 Sanyo Electric Co Ltd 運転支援システム及び車両
JP2011008687A (ja) * 2009-06-29 2011-01-13 Sharp Corp 画像処理装置
CN102141398B (zh) * 2010-12-28 2013-01-30 北京航空航天大学 基于单目视觉的多机器人位置与姿态测量方法

Also Published As

Publication number Publication date
CN103578117B (zh) 2016-09-14
US8831290B2 (en) 2014-09-09
CN103578117A (zh) 2014-02-12
JP2014032666A (ja) 2014-02-20
US20140037136A1 (en) 2014-02-06

Similar Documents

Publication Publication Date Title
JP5991952B2 (ja) 周囲状況に対するカメラの姿勢を求めるための方法
Zhang et al. Visual-lidar odometry and mapping: Low-drift, robust, and fast
US8744169B2 (en) Voting strategy for visual ego-motion from stereo
Lagisetty et al. Object detection and obstacle avoidance for mobile robot using stereo camera
JP2021508814A (ja) ＬｉＤＡＲを用いた車両測位システム
CN107945220A (zh) 一种基于双目视觉的重建方法
CN106441151A (zh) 一种基于视觉和主动光学融合的三维目标欧式空间重建的测量系统
CN104933718A (zh) 一种基于双目视觉的物理坐标定位方法
JP2008059569A (ja) 接触時間算出装置及び接触時間算出方法
CN104281148A (zh) 基于双目立体视觉的移动机器人自主导航方法
Fang et al. Real-time onboard 6dof localization of an indoor mav in degraded visual environments using a rgb-d camera
Barczyk et al. Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case
Leng et al. Cross-modal LiDAR-visual-inertial localization in prebuilt LiDAR point cloud map through direct projection
Florez et al. An experiment of a 3d real-time robust visual odometry for intelligent vehicles
Jiang et al. Icp stereo visual odometry for wheeled vehicles based on a 1dof motion prior
Zhu et al. Monocular visual odometry and dense 3d reconstruction for on-road vehicles
Grinstead et al. Vehicle-borne scanning for detailed 3D terrain model generation
Yoo et al. Improved LiDAR-camera calibration using marker detection based on 3D plane extraction
CN119104050A (zh) 载体位置的确定方法、装置、计算机设备及存储介质
Iida et al. High-accuracy range image generation by fusing binocular and motion stereo using fisheye stereo camera
Zhang et al. PLK-Calib: Single-shot and Target-less LiDAR-Camera Extrinsic Calibration using Pl\" ucker Lines
Tong et al. An Omni-directional vSLAM based on spherical camera model and 3D modeling
Mihalyi et al. Uncertainty estimation of ar-marker poses for graph-slam optimization in 3d object model generation with rgbd data
Ren An improved binocular LSD_SLAM method for object localization
CN115170624A (zh) 基于多传感器点云的鲁棒配准方法及系统

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160421

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20160421

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20160421

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20160713

TRDD Decision of grant or rejection written
A975 Report on accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A971005

Effective date: 20160714

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20160719

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20160816

R150 Certificate of patent or registration of utility model

Ref document number: 5991952

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250