JPH11261993A - Deviation detecting method for image pickup device and image processor using the same method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To speedily deal with against the state of continuing erroneous measuring processing by detecting the deviation of an image pickup device. SOLUTION: A reference image memory 9 stores and holds a reference image obtained in normal state of a camera 1. A deviation discriminating part 11 inputs an input image stored in an image memory 8 and the said reference image and compares both images, and when there is a difference exceeding a threshold between both images, it is discriminated that the camera 1 is deviated. A control part 12 fetches this discriminated result, turns on an alarm lamp 13 and outputs prescribed error information through a transmission part 14.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of image recognition processing in which an image from an imaging device positioned in a predetermined direction is processed and recognition processing is performed.
The present invention relates to a technique for detecting a shift of an imaging device using an image obtained by the imaging device.

[0002]

2. Description of the Related Art For example, when measuring the number and speed of vehicles passing on a road or measuring the number of people entering and exiting a store, a television camera is installed above the observation position. There is a system that captures an image generated by a camera (hereinafter simply referred to as a “camera”) into an image processing apparatus and performs the measurement processing.

[0003] In such a system, in order to maintain the measurement accuracy, the installation position of the camera and the imaging direction are strictly adjusted. At the time of measurement, the imaging state at the initial setting is maintained. Is performed based on the assumption.

[0004] Therefore, it is originally preferable that the camera is fixedly arranged so as not to be displaced.
After installation, it is necessary to perform adjustment for setting an appropriate imaging area, and therefore, the camera is installed in a state where the imaging position and the imaging direction can be finely adjusted.

FIG. 11 shows an example of installation of a camera.
In the drawing, reference numeral 3 denotes a support for supporting the camera 1,
A side plate of a U-shaped support member 5 is screwed via a mounting member 4 to a mounting position of the camera on the column 3. The camera 1 is screwed between the upper plate and the lower plate of the support member 5 so as to be fixed.
By loosening a and 6b and adjusting the inclination angle of the support member 5 with respect to the support column 3 and the inclination angle of the camera 1 with respect to the support member 5, the imaging position and the imaging direction of the camera can be adjusted.

[0006]

However, in such a configuration, if the camera 1 is used for a long period of time, the fixing screws 6a and 6b become loose, so that the support member is used for maintenance such as cleaning of the lens surface. 5 or camera 1
, Or the vibration due to the surrounding environment propagates to the support member or the camera 1, and the imaging position of the camera 1 may be moved or the imaging direction may be changed. If the measurement processing is continued without noticing such a displacement of the camera 1, the measurement result will be inaccurate, and depending on the measurement content, a serious problem may be caused.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems. By detecting a shift of an image pickup device using an image obtained by the image pickup device, it is possible to quickly set a state in which erroneous measurement processing is continued. It is a technical task to deal with

[0008]

According to the first and second aspects of the present invention, there is provided a method for detecting a displacement of an imaging device positioned in a predetermined direction.
It is determined whether or not the imaging device at the time of image generation has shifted by determining whether an image obtained by the imaging device at an arbitrary timing is the same as an image obtained in a state where the imaging device has not shifted. Like that. In the invention according to claim 2, after performing a predetermined recognition process on an image obtained at an arbitrary timing by the imaging device,
Whether or not the imaging device at the time of image generation has been shifted is determined based on whether or not the recognition result is the same as the recognition result obtained when the imaging device has not been shifted.

According to a third aspect of the present invention, there is provided an image processing apparatus using the above-described method of detecting a shift of an image pickup apparatus.
The image processing apparatus according to the invention includes an image input unit for inputting an image from an imaging device positioned in a predetermined direction, and a storage unit for storing a reference image representing a state where the imaging device is not shifted. Determining means for comparing the image input from the image input means with the reference image to determine whether or not the imaging device is displaced; and output means for outputting a determination result by the determining means to the outside. Is provided.

According to a fourth aspect of the present invention, the determining means averages a plurality of input images obtained within a predetermined period, and compares the averaged image with the reference image. I do.

According to a fifth aspect of the present invention, there is provided an image processing apparatus comprising the same image input means and storage means as in the third aspect, and a recognition processing means for performing a predetermined recognition process using an image input from the image input means. A determination unit that, when a recognition result obtained by the recognition processing unit satisfies a predetermined condition, compares an input image to be recognized with the reference image to determine whether the imaging device is shifted; Output means for outputting the result of the determination by the external device to the outside.

According to a sixth aspect of the present invention, there is provided an image processing apparatus comprising the same image input means as the above-mentioned claims, a recognition processing means for performing a predetermined recognition process using an image input from the image input means, A storage unit that stores, as reference data, a recognition result that should be obtained when an image is processed under a state where the imaging device is not shifted by the recognition processing unit,
Determining means for comparing the recognition result obtained by the recognition processing means with the reference data to determine whether or not the imaging device is shifted; and output means for outputting the determination result by the determining means to the outside. Is provided.

According to a seventh aspect of the present invention, there is provided an image processing apparatus, comprising: image input means for inputting images from a plurality of image pickup apparatuses positioned in a predetermined direction; Using the image, perform a three-dimensional measurement process in an overlapping region of the visual field of each imaging device 3
Storage means for storing, as reference data, a three-dimensional measurement result that should be obtained when an image is processed in a state where each imaging device is not shifted by the three-dimensional measurement means; A determination unit that compares a measurement result of the dimension measurement unit with the reference data to determine whether any of the imaging devices is shifted; and an output unit that outputs a determination result of the determination unit to the outside. I do.

[0014]

According to the first aspect of the present invention, if the installation position and the imaging direction of the imaging device deviate from the initially set state, an image in a state different from the image obtained when the imaging device is not displaced is obtained. Based on the principle described above, it is checked whether or not an image obtained at an arbitrary timing is the same as an image obtained in a state where the imaging device is not shifted, and it is determined whether or not the imaging device is shifted. In the invention of claim 2,
The result of the recognition processing performed in a state where the imaging device is shifted is as follows.
Based on the principle that the recognition processing result performed when the imaging device is not shifted is different from the recognition processing result performed when the imaging device is not shifted, the recognition processing result for the image obtained at an arbitrary timing is obtained. It is checked whether the result is the same as the recognition result to be obtained, and it is determined whether or not the imaging device has shifted. As described above, it is possible to easily and accurately detect the displacement of the imaging device using the image obtained at an arbitrary timing from the imaging device or the recognition processing result using the image.

In the image processing apparatus according to the third aspect of the present invention, a reference image indicating that the imaging apparatus is not shifted is stored in the apparatus in advance, and when an image is input from the imaging means, the input image is The image is compared with the reference image to determine whether or not the imaging device is displaced, and the result of the determination is output to the outside. As a result, it is possible to quickly grasp the displacement of the imaging device and take appropriate measures.

In the image processing apparatus according to the present invention, an image obtained by averaging a plurality of images obtained at different timings is used as an image to be compared with the reference image. It is possible to eliminate the influence of the image capture, such as the presence or absence of the image, and prevent erroneous detection.

According to the fifth aspect of the present invention, a predetermined recognition process is performed on an input image, and when the recognition process satisfies a predetermined condition, the input image is compared with a reference image.
For example, if the comparison processing is performed when the recognition target object does not exist on the image, even if a change occurs in the input image due to a factor other than the displacement of the imaging device, it is erroneously detected that the change is caused by the displacement of the imaging device. And the detection accuracy can be improved.

According to the present invention, the recognition processing result that should be obtained for an image in a state where the imaging device is not shifted is stored as reference data, and the recognition processing result for an actually input image is stored. Is compared with the reference data to determine the presence or absence of a displacement of the imaging device, and the result of the determination is output. it can.

According to a seventh aspect of the present invention, a three-dimensional measurement process is performed in an overlapping area of the field of view of each imaging device using images obtained from a plurality of imaging devices, and the three-dimensional measurement result is obtained by each imaging device. Since the result is compared with the measurement result that should be obtained under the condition that the image is not shifted, the device that performs the recognition process by the three-dimensional measurement process should also promptly respond to the erroneous measurement due to the shift of the imaging device. Can be.

[0020]

FIG. 1 shows an example of installation of a vehicle observation device according to an embodiment of the present invention. This vehicle observation device uses the road RD
Is used to measure the number of vehicles traveling on the road RD using an image obtained by imaging the camera 1. The camera 1 and the control device 2 are provided on a support 3 installed near the road RD. It is composed.

The camera 1 is supported at a position above the column 3 with the optical axis obliquely downward and directed in the length direction of the road RD. The camera 1 is supported by a mechanism similar to that shown in FIG. 11 so that the imaging position and the imaging direction can be finely adjusted.

The control unit 2 captures an image from the camera 1, recognizes a vehicle on the road RD by a predetermined recognition process, and uses the recognition result to measure the number of vehicles and the traveling speed of the vehicle. I do. The measurement result is transmitted to a management center (not shown) distant from the transmission unit 14 described later, and is used for a process of determining the degree of congestion on the road.

The control device 2 uses the image input from the camera 1 to determine whether or not the camera 1 has deviated from the initial installation state.
When it is recognized that the camera 1 is out of position by this determination processing, an alarm lamp 13 provided at an appropriate position in the apparatus main body is turned on, and an error signal is transmitted to the management center to notify an abnormality of the camera 1. Is done.

FIGS. 2 to 5 show examples of the configuration of the vehicle observation device. The configuration and method for detecting the displacement of the camera 1 will be described below with reference to the drawings. First, the control device 2 shown in FIG. 2 includes an A / D conversion circuit 7, an image memory 8, a reference image memory 9, a recognition processing unit 10, and a shift determination unit 1.
1, a control unit 12, an alarm lamp 13, a transmission unit 14, and the like.

An analog image signal from the camera 1 is
After being input to the A / D conversion circuit 7 and subjected to digital conversion, it is stored in the image memory 8. The recognition processing unit 10
Equipped with an edge extraction circuit and a correlation operation circuit, etc.
These circuits extract the characteristics of the vehicle on the input image, and output the position of each vehicle as a recognition result.

The camera 1 is stored in the reference image memory 9.
Image taken at the time of installation (hereinafter referred to as “reference image”)
Is stored. The shift determination unit 11 is for detecting a shift in the installation position or the imaging direction of the camera 1 using the input image stored in the image memory 8 and the reference image. After performing the difference processing of the pixel to be performed, the sum of the absolute values of the differences (or the sum of squares of the difference values) is compared with a predetermined threshold value to determine whether the camera 1 has shifted.

The difference processing may be performed on all pixels, but the present invention is not limited to this. The difference processing may be performed every predetermined pixel or only a part of the image area may be processed.
Instead of the difference processing, a normalized correlation operation between the input image and the reference image may be performed to determine the difference between the images.

The control section 12 is constituted by a microcomputer, and usually takes in the recognition position of the vehicle by the recognition processing section 10 and executes the measurement processing of the number of vehicles and the traveling speed. This measurement result is transmitted to the management center via the transmission unit 14.

The control unit 12 turns on the alarm lamp 13 when the shift determining unit 11 determines that there is a shift in the installation position of the camera 1 or the imaging direction, and transmits predetermined error information. , From the transmission unit 14 to the management center. Thereby, the staff of the management center can promptly recognize the abnormality of the camera 1 and arrange for the repair work, thereby preventing the erroneous measurement processing from being continued.

The control device 2 shown in FIG. 3 includes a reference image creation unit 15 and a comparison image creation unit 16 in addition to the same configuration as that of FIG. The control device 2 of this embodiment is configured to take in a plurality of images when the camera 1 is initially installed, and the reference image creation unit 15 performs an averaging process on these images to obtain an averaged image. Is stored in the reference image memory 9 as a reference image.

On the other hand, the comparison image creation section 16 takes in a plurality of input images obtained during a predetermined period from the image memory 8 and performs averaging processing. The shift determining unit 11 captures the averaged image of the input image and the reference image, and determines whether or not the camera 1 has shifted by the same method as in the first embodiment.

For example, if an image is taken every 10 seconds within a period of 10 minutes, 60 images can be obtained. Therefore, by using an averaged image of these images as an image for comparison processing, even if the image changes due to a factor other than the displacement of the camera 1 such as the presence of a vehicle, the image is not affected by the change. 1 can be accurately determined. For the reference image, by using the same averaged image, it is possible to set an accurate reference image by removing the influence of the environment at the time of imaging.

Next, the embodiment shown in FIG. 4 has the same configuration as that of the embodiment shown in FIG.
The feature is that the shift determination unit 11 is operated in accordance with the recognition result by.

The recognition processing unit 10 sequentially performs the same vehicle recognition processing as described above on the input image, and outputs the result to the control unit 12. In this recognition processing, no vehicle exists on the image. When it is recognized, the shift determination unit 11
To output a judgment start instruction. Receiving this command, the shift determination unit 11 performs a determination process using the input image at that time and the reference image, and outputs the result to the control unit 12.

According to the above configuration, it is possible to perform the determination process using the input image in which the image of the vehicle does not exist. Therefore, it is possible to eliminate the cause of the erroneous detection that the camera 1 is out of position and perform the accurate determination process. Can be.

Here, the shift judging section 11 is operated when no vehicle exists on the input image. However, the present invention is not limited to this. The number of vehicles on the input image or a characteristic point indicating the vehicle is used. Even if the number is less than or equal to a predetermined threshold value, the shift determination may be performed.

In the control device 2 shown in FIG.
0 has a function of recognizing the license plate of the vehicle, and a reference data storage unit 17 is provided instead of the reference image memory 9.

The reference data storage unit 17 stores a recognition result that should be obtained when the camera 1 recognizes an image in a state where the camera 1 is not shifted (hereinafter, this is referred to as “reference data”). FIG. 6 shows an example of the reference data, in which the height data h ₁ and h ₂ (that is, the vertical size on the image) of the license plate and the display characters are
Used as reference data.

In the license plate for a general vehicle, the size of the plate and the display characters are unified, and the height of the installation position of the plate is almost unified, so that the camera 1 does not shift. The size of the plate or character observed on the image under the condition should substantially match the reference data.

The displacement judging section 11 of this embodiment calculates the size of the license plate or the display character recognized by the recognition processing section 10 based on the above-mentioned principle and the reference data h ₁ , h.
_If there is a significant difference between the _two as compared to ₂ , it is determined that the camera 1 has shifted. This determination result is output to the control unit 12 as in the above embodiments,
The alarm lamp 13 and the transmission unit 14 promptly notify the abnormality of the camera 1.

Note that the mounting angle of the license plate of the vehicle varies, and the plate surface of the license plate may be curved depending on the vehicle. It is necessary to use frequent recognition results. It is also desirable that the threshold value used as a criterion for the determination process of the shift determination unit 11 includes a certain allowable value.

Each of the above embodiments processes an image from one camera, but the present invention is also applicable to an apparatus that performs recognition processing using two or more cameras. Can be.

FIG. 7 shows an example of installation of a vehicle observation device having two cameras 1a and 1b. In this vehicle observation device, the cameras 1a and 1b are arranged vertically with the optical axis parallel, and the control device 2 takes in images from the cameras 1a and 1b and performs three-dimensional measurement processing. Road R
It is configured to recognize the spatial position of the vehicle on D. Note that the cameras 1a and 1b of this embodiment are also the same as those shown in FIG.
Are supported by a mechanism similar to that shown in FIG.

FIG. 8 shows an example of the configuration of the vehicle observation device, in which an A / D conversion circuit 7 corresponding to each of the cameras 1a and 1b.
a, 7b, image memories 8a, 8b, a control unit 12, an alarm lamp 13, a transmission unit 14, and
A dimension measuring unit 18, a recognition processing unit 19, a reference coordinate data storage unit 20, a deviation determination unit 21, and the like are provided as components.

The three-dimensional measuring unit 18 extracts feature points such as edges from the input images stored in the respective image memories, and associates feature points representing the same object point in space between the images. And for each pair of associated feature points,
The three-dimensional coordinates of the object point represented by each feature point are calculated using the principle of triangulation. The recognition processing unit 19 separates and extracts a group of object points for each vehicle by performing a clustering process on the calculation result of the three-dimensional coordinates, and recognizes a spatial position of the vehicle.

The reference coordinate data storage unit 20 stores, in a predetermined object point in space, three-dimensional coordinates (hereinafter referred to as three-dimensional coordinates) which should be obtained by three-dimensional measurement processing in a state where the cameras 1a and 1b are not shifted. Are referred to as “reference coordinates”), and the displacement determination unit 21 compares the three-dimensional coordinates measured by the three-dimensional measurement unit 18 with the reference coordinates, so that each of the cameras 1a and 1b has a displacement. Determine if it has occurred.

The control unit 12 fetches the recognition result from the recognition processing unit 19 and executes the measurement processing of the number of vehicles and the passing speed, and manages the measurement result from the transmission unit 14 in the normal state, as in the above embodiments. Send to the center. When any one of the cameras 1a and 1b is determined to be shifted by the shift determining unit 21, the alarm lamp 13 is turned on and predetermined error information is transmitted from the transmission unit 14.

In the control device 2 described above, for example, at the time of device setting, a predetermined position (x,
A three-dimensional measurement process is performed on the feature point in y), and the calculated three-dimensional coordinates (X ₀ , Y ₀ , Z ₀ ) are stored as reference coordinates. Also at the time of the shift determination, the same coordinate position (x,
y), a three-dimensional measurement process is performed on the pixel located at y), and the obtained three-dimensional coordinates (X, Y, Z) and the reference coordinates (X ₀ ,
Y ₀ , Z ₀ ). In this case, if there is no deviation between the cameras 1a and 1b, the same feature point as described above should appear at the position of the coordinates (x, y). Therefore, the three-dimensional coordinates (X, Y, Z) are The coordinates coincide with the reference coordinates, and the distance between the two coordinates is zero.

On the other hand, if the camera 1a shifts, the position of the feature point on the image from the camera 1a also shifts.
The pixel at the position of the coordinates (x, y) indicates an object point different from that at the time of generation of the reference data. Therefore, in the associating process prior to the process of calculating the three-dimensional coordinates, a different association from that at the time of calculating the reference coordinates is performed. As a result, the calculated three-dimensional coordinates (X, Y, Z) are converted into the reference coordinates (X X ₀ , Y ₀ , Z ₀ ). When the camera 1b is displaced, the position of the corresponding point is shifted from the feature point, so that the correspondence is different from that at the time of calculating the reference coordinates, and the calculated three-dimensional coordinates (X, Y, Z) is the reference coordinates (X ₀ , Y ₀ , Z ₀ )
Represents a position distant from.

The feature points used for calculating the reference coordinates are image points of object points that always appear on an image, such as an image of an object near a lane or a road RD. It is necessary to select the feature points of the points. Here, as the reference coordinates, the three-dimensional measurement results obtained when the cameras 1a and 1b are not shifted are stored. However, the present invention is not limited to this, and the three-dimensional coordinates actually measured in the space may be used. You may make it memorize | store.

Also, since many points on the ground, such as the characteristic points of the lane, exist on the image in a state where no vehicle exists,
From the three-dimensional measurement results when the vehicle is not recognized by the recognition processing unit 19, three-dimensional coordinates whose height is equal to or less than a predetermined threshold are extracted as indicating object points on the ground, and these are extracted. By checking the inclination of the plane represented by the three-dimensional coordinates, it is also possible to determine whether or not the cameras 1a and 1b are displaced.

FIG. 9 shows the principle of the above determination method. FIG.
(1) shows each camera 1a, 1b for an object point on the ground.
FIG. 9 (2) shows the three-dimensional measurement results obtained when there is no displacement in any of the cameras 1a and 1b, and FIG. It shows the state that it was.

When there is no deviation between the cameras 1a and 1b, the calculated value of the height of each object point takes a value close to 0, so that the table is expressed by these object points (indicated by ● in the figure). The plane 30 to be set will be located in a substantially horizontal state. On the other hand, if any one of the cameras 1a and 1b is displaced, erroneous three-dimensional measurement processing is performed and the height of each object point varies.
1 is inclined more greatly than the horizontal direction.

FIG. 10 shows a device configuration to which the above principle is applied. The control device 2 is different from the reference coordinate data storage unit shown in FIG. 8 in that a normal plane shown in FIG. Is provided with a reference data storage unit 22 for storing the inclination angle of the reference data. The other configuration is the same as that of FIG.
Is configured to output a determination start command similar to that in the embodiment of FIG. 4 to the shift determination unit 21 when the vehicle is not recognized. Receiving this determination start command, the deviation determination unit 21 fetches the measurement processing result of the three-dimensional measurement unit 18 and coordinates whose height is within a predetermined range (for example, coordinates whose absolute value of the height is 20 cm or less). Is extracted, and the inclination of the plane represented by these coordinates is compared with the reference data. As a result, if a significant difference is found between the two, it is determined that any one of the cameras 1a and 1b has shifted.

When a vehicle recognition process is performed by processing an image from a camera, a fatal erroneous measurement may occur if the installation position of the camera or the imaging direction is shifted. If it is configured to always detect the deviation by using, the erroneous measurement can be promptly dealt with. If no camera displacement is detected, a highly reliable recognition result can be obtained. Therefore, the management center must accurately measure traffic flow such as the degree of congestion using transmission data from the control device 2. Can be.

In each of the embodiments described above, a vehicle traveling on a road is recognized. However, the present invention is not limited to this. It goes without saying that the present invention can be applied to various image recognition processing devices such as a counting process.

[0057]

According to the present invention, there is provided a method for detecting a displacement of an image pickup apparatus.
By using the image from the imaging device to detect whether the installation position or the imaging direction of the imaging device is not shifted, the shift of the imaging device can be easily and accurately detected.

In an image processing apparatus using this method,
Since the image data from the imaging device is taken in, it is determined whether or not the imaging device has shifted, and the determination result is output to the outside, so that the shift of the imaging device can be quickly grasped. When the device is configured to perform a recognition process using an image from the imaging device,
It is possible to prevent erroneous recognition processing from being continued, and to obtain a highly reliable recognition processing result.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an installation example of a vehicle observation device to which the present invention is applied.

FIG. 2 is a block diagram showing a first configuration of the vehicle observation device.

FIG. 3 is a block diagram showing a second configuration of the vehicle observation device.

FIG. 4 is a block diagram showing a third configuration of the vehicle observation device.

FIG. 5 is a block diagram showing a fourth configuration of the vehicle observation device.

FIG. 6 is an explanatory diagram showing a setting example of reference data.

FIG. 7 is a perspective view showing an installation example of a vehicle observation device using two cameras.

FIG. 8 is a block diagram illustrating a configuration of the vehicle observation device of FIG. 7;

FIG. 9 is an explanatory diagram showing the principle of camera displacement determination.

FIG. 10 is a block diagram showing a configuration of a vehicle observation device to which the principle of FIG. 9 is applied.

FIG. 11 is a perspective view showing an installation example of a camera.

[Explanation of symbols]

 Reference Signs List 1, 1a, 1b Camera 2 Control device 9 Reference image memory 10, 19 Recognition processing unit 11, 21 Offset determination unit 12 Control unit 13 Alarm lamp 14 Transmission unit 18 Three-dimensional measurement unit 20 Reference coordinate data storage unit

Claims (7)

[Claims] 1. A method for detecting a shift of an imaging device positioned in a predetermined direction, wherein an image obtained at an arbitrary timing by the imaging device is not shifted by the imaging device. A displacement detection method for an imaging device, comprising: determining whether or not the imaging device at the time of image generation has been displaced based on whether the image is the same as an image obtained below. 2. A method for detecting a shift of an imaging device positioned in a predetermined direction, wherein a predetermined recognition process is performed on an image obtained at an arbitrary timing by the imaging device. And determining whether or not the imaging device at the time of image generation is shifted, based on whether or not the recognition result is the same as the recognition result obtained when the imaging device is not shifted. Deviation detection method. 3. An image input unit for inputting an image from an imaging device positioned in a predetermined direction, a storage unit for storing a reference image indicating a state where the imaging device is not shifted, and the image Determining means for comparing the image input from the input means with the reference image to determine whether or not the imaging device is displaced; and output means for outputting a result of the determination by the determining means to the outside. Image processing device. 4. The image according to claim 3, wherein the determination unit averages a plurality of input images obtained within a predetermined period, and compares the averaged image with the reference image. Processing equipment. 5. An image input unit for inputting an image from an imaging device positioned in a predetermined direction, a storage unit for storing a reference image representing a state where the imaging device is not shifted, and the image A recognition processing unit that performs a predetermined recognition process using the image input from the input unit, and when a recognition result by the recognition processing unit satisfies a predetermined condition, compares the input image to be recognized with the reference image. An image processing apparatus comprising: a determination unit configured to determine whether the imaging device is displaced; and an output unit configured to output a determination result by the determination unit to outside. 6. An image input unit for inputting an image from an imaging device positioned in a predetermined direction, and a recognition process for performing a predetermined recognition process using the image input from the image input unit. Means, storage means for storing, as reference data, a recognition result which should be obtained when an image under the state where the imaging device is not shifted by the recognition processing means is obtained as the reference processing means. An image processing apparatus comprising: a determination unit that compares a recognition result with the reference data to determine whether or not the imaging device is shifted; and an output unit that outputs a determination result by the determination unit to outside. . 7. An image input unit for inputting images from a plurality of imaging devices each positioned in a predetermined direction, and using each of the imaging devices by using the images input by the image input unit. Three-dimensional measurement means for performing a three-dimensional measurement process in an overlapping region of the field of view, and a three-dimensional measurement result that should be obtained when the three-dimensional measurement means processes an image in a state where each imaging device is not displaced. A storage unit that stores the reference data as reference data; a determination unit that compares a measurement result obtained by the three-dimensional measurement unit with the reference data to determine whether any one of the imaging devices is displaced; An image processing apparatus comprising: an output unit that outputs a determination result to outside.