WO2004068073A1 - 測距光学装置、測距方法および測距情報表示装置 - Google Patents
測距光学装置、測距方法および測距情報表示装置 Download PDFInfo
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- WO2004068073A1 WO2004068073A1 PCT/JP2004/000977 JP2004000977W WO2004068073A1 WO 2004068073 A1 WO2004068073 A1 WO 2004068073A1 JP 2004000977 W JP2004000977 W JP 2004000977W WO 2004068073 A1 WO2004068073 A1 WO 2004068073A1
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- Prior art keywords
- imaging
- distance
- image
- optical system
- imaging optical
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- 230000003287 optical effect Effects 0.000 title claims abstract description 272
- 238000000034 method Methods 0.000 title claims description 17
- 238000003384 imaging method Methods 0.000 claims abstract description 261
- 238000005259 measurement Methods 0.000 claims description 50
- 230000008859 change Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 12
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000001747 pupil Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
Definitions
- the present invention relates to a ranging optical device for measuring a distance of an imaging object using an imaging optical system and an imaging element, a ranging method using the ranging optical device, and an image from the ranging optical device.
- the present invention relates to a ranging information display device that processes a signal and displays ranging information.
- a distance measuring optical device for measuring the distance of an imaged object
- an optical device based on a so-called triangulation method for example, see Japanese Patent Application Laid-Open No. 8-233571.
- the conventional triangulation method for example, light from a light-emitting diode is spot-projected to a distance-measuring object via a light-emitting lens, and the reflected light is received by a position detecting element via a light-receiving lens.
- the distance to the object to be measured can be known based on the light receiving position detected by the position detecting element.
- the conventional triangulation method requires various elements for distance measurement, such as a light source and an optical system for projecting light, an optical system for receiving light, and a position detecting element.
- An object of the present invention is to provide a ranging optical device having a simple configuration using an imaging optical system, which can also be used as an imaging device. It is another object of the present invention to provide a compact and low-cost ranging information display device which is configured using the ranging optical device and has both an imaging function and a ranging function.
- a distance measuring optical device includes an image pickup device, an image pickup optical system for forming an image of an object on the image pickup device, and at least the image pickup optical system with respect to an optical axis. And a drive unit that moves a predetermined distance in a substantially vertical direction.
- an image pickup optical system for forming an image of an object on the image pickup device is moved by a distance (5) in a direction substantially perpendicular to the optical axis, and is obtained from the image pickup device.
- the amount of change ⁇ h in the height of the image of the same object is determined by image calculation, and the distance SO between the imaging optical system and the imaging device is obtained.
- the distance of the object from the imaging optical system is determined based on the distance ⁇ 5 and the change amount Ah.
- FIG. 1 is a cross-sectional view illustrating a schematic configuration of a distance measuring optical device according to the first embodiment.
- FIG. 2 is an explanatory diagram showing the principle of ranging by the ranging optical device.
- FIG. 3 is a flowchart showing a ranging method using the ranging optical device.
- FIG. 4 is an explanatory diagram showing conditions for distance measurement by the distance measuring optical device according to the first embodiment.
- FIG. 5A shows conditions for distance measurement by the distance measuring optical device according to the second embodiment.
- FIG. 5B is an explanatory diagram showing the conditions for the same distance measurement.
- FIG. 6 is a cross-sectional view illustrating a schematic configuration of a distance measuring optical device according to the third embodiment.
- FIG. 7 is a block diagram showing a configuration of a distance measurement information display device according to the fourth embodiment.
- FIG. 8 is an explanatory diagram showing a display state of the distance measurement information display device according to the fifth embodiment.
- FIG. 9 is a block diagram showing a configuration of a distance measurement information display device according to the fifth embodiment.
- FIG. 10 is an explanatory diagram showing a modification of the display state of the distance measurement information display device according to the fifth embodiment.
- FIG. 11 is an explanatory diagram showing another modification of the display state of the distance measurement information display device according to the fifth embodiment.
- FIG. 12 is a diagram showing an in-vehicle imaging device according to the sixth embodiment. BEST MODE FOR CARRYING OUT THE INVENTION
- the distance measuring optical device of the present invention includes a drive unit that moves the imaging optical system by a predetermined distance in a direction substantially perpendicular to the optical axis, so that the distance measurement optical device can be obtained from the imaging device before and after the movement of the imaging optical system. It is possible to easily measure the distance using each video signal. Further, according to this configuration, since the distance measurement time is short, it is advantageous to measure the distance of a moving subject. In particular, it is useful for constructing a compact and low-cost distance measurement information display device having both an imaging function and a distance measurement function.
- the drive unit may be configured to move the imaging optical system to only one side with respect to an optical axis.
- the driving unit includes the imaging optics
- the system may be moved to both sides with respect to the optical axis.
- the shortest imaging distance of the imaging optical device constituted by the imaging optical system and the imaging element is defined as a distance at which imaging is possible closest to the imaging optical device, and a ranging resolution of the imaging optical device is defined.
- the distance is defined as the minimum distance that can be identified when the distance is measured by the imaging optical device, and the imaging magnification of an object located at the shortest imaging position separated from the imaging optical device by the shortest imaging distance is m.
- the imaging magnification of an object located at a position separated from the shortest imaging position by the distance measurement resolution distance is m ′, the pixel pitch of the imaging device is P, and the imaging optical system is substantially positioned with respect to the optical axis. Assuming that the distance to move to one side in the vertical direction is ⁇ 1,
- the shortest imaging distance of the imaging optical device configured by the imaging optical system and the imaging element is defined as a closest imageable distance to the imaging optical device, and measurement of the imaging optical device is performed.
- the distance resolution distance is defined as the minimum distance that can be identified when the distance is measured by the imaging optical device, and the imaging magnification of an object located at the shortest imaging position separated from the imaging optical device by the shortest imaging distance is m.
- the imaging magnification of an object located at a position separated by the distance measurement resolution distance from the shortest imaging position is m ′
- the pixel pitch of the imaging element is P
- the imaging optical system is substantially perpendicular to the optical axis.
- the drive unit may be configured to move the imaging device together with the imaging optical system by a predetermined distance in a direction substantially perpendicular to the optical axis.
- a video signal output from the image sensor is input, and the image is captured by the driving unit.
- the amount of change ⁇ h in the height of the same object image is obtained by image calculation, and based on the amount of change ⁇ h, the height of the object from the imaging optical system is calculated. It is possible to adopt a configuration further including an image processing operation unit for obtaining a distance.
- a distance measuring optical device having the above-described configuration, and further comprising, for a video signal obtained from the imaging element, a video signal during a period in which the imaging optical system moves in a direction substantially perpendicular to the optical axis.
- a ranging information display device including an image processing device that performs a process of replacing the image signal with a video signal before the imaging optical system moves can be configured.
- a distance measuring optical device having the above-described configuration, and a video signal obtained during a period in which the imaging optical system moves in a direction substantially perpendicular to the optical axis with respect to the video signal obtained from the imaging device.
- a distance measurement information display device including an image processing device that performs a process of replacing the image signal with a video signal for which motion estimation has been performed from a video signal before the imaging optical system moves can be configured.
- the image processing device may be configured to display a display image of an object whose imaging distance is smaller than the reference distance by enclosing the display image with a highly visible color line frame.
- the image processing apparatus may be configured to display a display image of an object whose imaging distance is smaller than the reference distance by performing color conversion with a highly visible color.
- an alarm sound may be emitted.
- an in-vehicle imaging device capable of capturing an image of the outside of a vehicle by using the ranging optical device can be configured (also, the ranging information display device having any of the above configurations).
- the distance measuring optical device allows the outside of the vehicle to be imaged, and includes an element for displaying a video signal from the distance measuring optical device.
- An in-vehicle driving support device that can be placed beside can be configured.
- FIG. 1 is a cross-sectional view illustrating a schematic configuration of a distance measuring optical device according to the first embodiment.
- An imaging optical system 2 and an imaging element 3 are integrated by a housing 4 on the optical axis 1 to form an imaging optical device 5.
- Permanent magnets 6 and 7 are arranged on the side of the housing 4, and coils 8 and 9 are arranged to face the respective permanent magnets 6 and 7 to form a driving unit.
- the imaging optical device 5 interacts with the magnetic fields of the permanent magnets 6 and 7 to cause the optical axis 1 to move. It moves in a direction substantially perpendicular to.
- Each image signal obtained from the imaging element 3 at the position before and after the imaging optical device 5 moves is image-calculated by the image processing operation unit 18 so that the object distance can be measured, and the distance measurement signal output can be obtained. can get.
- the specific contents of the image calculation will be described below.
- FIG. 2 is a diagram showing the principle of distance measurement by the distance measuring optical device of FIG.
- an imaging optical system 2 and an imaging element 3 constituting an imaging optical device are arranged on an optical axis 1.
- an object 10 having a height h is located at a position at an imaging distance S from the imaging optical system 2.
- the imaging device 3 is arranged at a position separated from the imaging optical system 2 by a focal distance S O.
- the image 11 of the object 10 formed on the image sensor 3 by the imaging optical system 2 has a distance from the imaging optical system 2, that is, an imaging position approximately equal to S 0 and a height I m h.
- the imaging position is substantially equal to the focal length S O of the imaging optical system 2 under normal imaging conditions.
- m is the imaging magnification, which is S0ZS.
- the state in which the imaging optical device including the imaging optical system 2 and the imaging element 3 is moved by the distance ⁇ in the vertical direction while being sealed in the optical axis 1 is shown by the optical axis a, and the imaging optical system 2a. It should be noted that the image pickup device 3 is not shown in a moved state in order to avoid complicating the drawing.
- the height of the image 11 a at this time (the distance from the optical axis 1 a at the top of the image 11 a) is
- the image height before and after the movement of the imaging optical device The difference ⁇ ⁇ is ⁇ h I m (+ ⁇ ";
- S O is a known value that is substantially equal to the focal length of the imaging optical system 2 as described above.
- ⁇ 5 is also a predetermined known value. Accordingly, if the image height difference ⁇ h on the image sensor 3 is obtained, the distance from the image pickup optical system 2 to the object 10 can be obtained, and distance measurement can be performed. Any well-known image processing technique may be used for image calculation on the video signal obtained from the imaging device 3 before and after the movement of the imaging optical device to obtain Ah. In the above configuration, when the imaging optical device 5 is moved in a direction substantially perpendicular to the optical axis 1, the imaging optical device 5 is moved to only one side of the optical axis 1 so that the imaging optical device 5 is on the optical axis 1.
- an object distance is measured from each video signal obtained from the image sensor 3 in a state where the object distance is away from the optical axis 1.
- the space required for moving the imaging optical device 5 is small, and the distance measuring optical device is small.
- FIG. 3 shows a distance measuring method for finding the distance to the object 10 using the distance measuring optical device having the above configuration. It is assumed that a video signal is always obtained from the image sensor 3.
- the imaging optical device 5 including the imaging optical system 2 is sealed in the optical axis 1 and moved by a distance ⁇ 5 in a direction substantially perpendicular to the optical axis 1 (step S 1).
- each video signal before and after the movement of the imaging optical system 2 is transferred to the image sensor 3 (Step S 2).
- a change amount ⁇ ⁇ of the height of the image of the object 10 is obtained by image calculation (step S 3).
- the distance of the object 10 from the imaging optical system 2 is obtained based on the distance SO between the imaging optical system 2 and the imaging device 3 and the distance (5 and the variation Ah) (step S 4).
- the calculation method for obtaining the distance is as described above.
- FIG. 4 is a diagram for explaining conditions for performing distance measurement by the distance measuring optical device of the present embodiment with practically sufficient accuracy.
- an imaging optical system 2 and an imaging element 3 constituting an imaging optical device are arranged on the optical axis 1.
- the short-range object 12 is located at the shortest imaging position separated by the shortest imaging distance from the imaging optical device.
- the shortest imaging distance is defined as a distance at which imaging can be performed closest to the imaging optical device, and is determined by setting conditions of each element of the imaging optical device.
- the distant object 13 is located at a position separated by the distance measurement resolution distance from the shortest imaging position.
- the distance measurement resolution distance is defined as the minimum distance that can be identified when the distance is measured by the imaging optical device.
- the image sensor 3 is arranged at an imaging position of the short-range object 12. Therefore, since the imaging position of the distant object 13 is closer to the object side than the image sensor 3, a blurred image is formed on the image sensor 3, but the blur amount is set to be within the allowable range. Shall be.
- the imaging magnification when the object is at the shortest imaging position of the imaging optical device, that is, the imaging magnification of the short-range object 12 on the imaging element 3 is m.
- the imaging magnification when the object is at a position separated by the distance measurement resolution distance from the shortest imaging position, that is, the imaging magnification of the distant object 13 is m ′.
- the object heights of the short-distance objects 1 and 2 are set so that the chief rays from the maximum object heights of the short-distance objects 1 and 2 and the long-distance objects 1 and 3 overlap and enter the entrance pupil of the imaging optical system 2.
- each object formed on the imaging device 3 The height of the image 14 with respect to the bodies 12 and 13 is I ma1 and I m 'b I, and
- the imaging optical system on the optical axis 1a when the imaging optical device is moved by 51 in a direction substantially perpendicular to only one side with respect to the optical axis 1 is shown as 2a.
- the heights of the images 12a and 13a with respect to the near-field object 12 and the far-field object 13 formed on the image sensor 3 after the movement are I m (a + ⁇ 1) I And I m, (b + ⁇ 1) I. If the image height difference ⁇ is larger than the pixel pitch P of the imaging device 3, the distance between the objects can be identified. This relationship is shown in equation (1).
- measurement can be performed using equation (2).
- the amount of movement ⁇ 1 by which the distance optical device should be moved in a direction substantially perpendicular to the optical axis 1 can be determined.
- the schematic configuration of the distance measuring optical device according to the second embodiment is the same as that shown in FIG. However, it is different from the first embodiment in that when the imaging optical device 5 is moved in a direction substantially perpendicular to the optical axis 1, it is moved to both sides of the optical axis 1.
- the imaging optical device 5 By moving the imaging optical device 5 to both sides of the optical axis 1, the object distance can be measured from each video signal obtained from the imaging device 3 when the imaging optical device 5 moves upward and downward. Since the imaging optical device 5 is moved to both sides, the imaging optical device 5 is supported by, for example, a structure having a spring property (not shown), so that a simple configuration can be achieved, and cost reduction can be realized.
- FIGS. 5A and 5B show the distance measurement by the distance measuring optical device in the present embodiment. It is a figure for explaining conditions for performing with sufficient accuracy practically.
- FIG. 5A is substantially the same as FIG.
- the imaging magnification of the short-distance object 12 on the image sensor 3 at the shortest imaging distance of the imaging optical device is m
- the distance measurement resolution distance from the short-distance object 12 is m
- the imaging magnification of the distant object 13 is m ′.
- the object height a of the short-distance object 12 and the long-distance object 13 such that the chief rays from the maximum object heights of the short-distance object 12 and the long-distance object 13 overlap and enter the entrance pupil of the imaging optical system 2.
- the heights of the images 12 a and 13 a formed on the image sensor 3 after moving down to the near object 12 and the far object 13 are Im (a + 52) I and
- the heights of the images 12b and 13b (distance from the optical axis 1b at the top of the image) to the respective objects after moving upward shown in FIG. 5B are
- Equation (3) shows the result of calculating this relationship in the same manner as in the first embodiment. ⁇ 2 ⁇ P / (2 I m— m 'I) ⁇ ⁇ ⁇ (3)
- the measurement can be performed using the formula (3).
- the amount of movement ⁇ 2 to move the distance optical device in a direction substantially perpendicular to the optical axis can be obtained.
- FIG. 6 is a configuration diagram showing a schematic configuration of a distance measuring optical device according to the third embodiment.
- An imaging optical system 2 and an imaging device 3 are arranged on the optical axis 1.
- This embodiment is different from the first embodiment shown in FIG. 1 in that the imaging optical system 2 and the imaging device 3 are incorporated separately. Therefore, the housing 4 as shown in FIG. 1 is not provided.
- Permanent magnets 6 and 7 are provided on the side of the imaging optical system 2, and coils 8 and 9 are arranged so as to face the respective permanent magnets 6 and 7.
- the drive control section 17 causes a drive current to flow through the coils 8 and 9 to generate a magnetic field, and the interaction with the magnetic fields of the permanent magnets 6 and 7 causes the imaging optical system 2 to be substantially perpendicular to the optical axis 1.
- the movement in the different directions is also the same as in the first embodiment.
- the object distance can be determined by performing an image operation on each of the video signals obtained from the image sensor 3 before and after the imaging optical system 2 moves by the image processing
- the driven part is only the imaging optical system 2
- the interaction due to the magnetic field is small, the driving power is small, and the magnetic fields of the permanent magnets 6, 7 and the coils 8, 9 are small.
- the amount of movement of the imaging optical system 2 is superimposed on the change in the height of the image formed on the image sensor 3, and the amount of movement of the imaging optical system 2 is estimated in advance, and the respective video signals are subjected to appropriate image processing. By performing image calculations with the device, the accuracy of object distance measurement can be ensured.
- the imaging optical device is substantially perpendicular to the optical axis 1.
- the imaging optical device When moving in the direction, only one side of the optical axis 1 is moved, and each image obtained from the imaging element 3 in the state where the imaging optical device is located on the optical axis 1 and in the state after the movement. It can be configured to measure the object distance from the signal.
- the space required for moving the imaging optical device can be reduced, and the size of the ranging optical device can be reduced.
- the imaging optical device when the imaging optical device is moved in a direction substantially perpendicular to the optical axis 1, the imaging optical device is moved to both sides of the optical axis 1 so that the imaging optical device is moved to the upper side and the lower side, respectively.
- the object distance can be measured from each video signal obtained from the image sensor 3 in the moving state. Since the imaging optical device is moved to both sides, the imaging optical device is supported by a structure having a spring property, so that a simple configuration can be achieved, and cost reduction can be realized.
- FIG. 7 shows a distance measurement information display device according to the fourth embodiment.
- This device is configured using the distance measuring optical device 15 having the configuration shown in any of the above embodiments, and further includes an image processing device 16.
- the distance measuring optical device 15 includes an image processing operation unit 18 in addition to the imaging optical system 2, the image sensor 3, the drive unit 17a, and the drive control unit 17.
- the image processing device 16 has a video signal storage unit 19 and a video signal switching unit 20.
- a video signal is input from the image sensor 3 to the video signal storage unit 19 and the video signal switching unit 20.
- the video signal storage unit 19 stores a video signal before the imaging optical system 2 moves, and is supplied to the video signal switching unit 20. Further, a signal indicating a period during which the drive control unit 17 is moving the imaging optical system 2 is input to the video signal switching unit 20.
- the video signal switching unit 20 outputs the video signal supplied from the video signal storage unit 19 in place of the video signal obtained from the image sensor 3 during the period of receiving the signal from the drive control unit 17 .
- the imaging optical system 2 moves in the direction perpendicular to the optical axis.
- the imaging optical system 2 uses the video signal from the video signal storage unit 19 during the distance measurement while the imaging optical system 2 is moving in the vertical direction with respect to the optical axis. An image equivalent to that in which the system 2 is stationary on the optical axis can be obtained.
- the image processing device 16 performs video prediction based on the video signal before the imaging optical system moves. It is also possible to replace with. As a result, it is possible to obtain an image equivalent to the case where the imaging optical system is stationary on the optical axis. Further, even when the object is moving, it is possible to obtain a video signal equivalent to that obtained by continuous imaging by the imaging optical system.
- the distance measurement information display device will be described with reference to FIG. 8 and FIG.
- FIG. 8 shows a display window 21 of the ranging information display device, in which images 22 and 23 of two objects captured by the ranging optical device are displayed.
- the imaging distance of the image 22 is smaller than the reference distance
- the imaging distance of the image 23 is larger than the reference distance.
- a highly visible red or yellow colored frame 24 surrounding the image 22 with a small imaging distance is displayed based on the distance information measured at the time of imaging. Is done. Thereby, attention to the image 22 can be urged.
- the ranging information display device of the present embodiment is configured by using the ranging optical device 15 having the configuration shown in any one of the above-described embodiments.
- a processing device 25 is provided.
- the image processing device 25 includes a distance determination unit 26, a line frame video signal generation unit 27, and a video signal superimposition unit 28.
- a video signal is input from the image sensor 3 to the video signal superimposing unit 28.
- the distance judgment unit 26 has an image processing operation unit 18 The distance measurement result obtained by W is input.
- the distance determination unit 26 determines whether or not the magnitude of the imaging distance is smaller than a predetermined value based on the data of the result of the distance measurement, and supplies the result to the line frame video signal generation unit 27.
- the line frame video signal generation unit 27 When the magnitude of the imaging distance is smaller than a predetermined value, the line frame video signal generation unit 27 generates a line frame video signal surrounding the image of the object and supplies the signal to the video signal superimposition unit 28. .
- the video signal superimposing unit 28 superimposes the line frame video signal on the video signal from the image sensor 3 and outputs a video signal having a line frame 24 as shown in FIG.
- a fill signal generation unit that converts an image with a small imaging distance into red or yellow with high visibility and outputs the converted color may be provided.
- the image 22a with a small imaging distance is converted into a highly visible red or yellow color and displayed, as shown in Fig. 10, to call attention. be able to.
- the images 22 and 23 of the two objects captured by the distance measurement optical device are displayed as they are.
- the image processing arithmetic unit detects that the imaging distance of the image 22 is smaller than a predetermined value based on the distance information measured at the time of imaging, the sounding body 29 generates an alarm sound. Can be encouraged.
- FIG. 12 shows a configuration in which an in-vehicle imaging device 30 is configured using the distance measuring optical device of any of the above embodiments, and is mounted on an automobile 31. Since the distance measuring optical device of the present invention is capable of imaging along with the distance measurement, it is mounted behind the automobile 31 so as to monitor the rear when the vehicle retreats and secure a rear view, and at the same time, to an obstacle behind. Can be measured.
- a vehicle-mounted driving support device can be configured using the ranging information display device of any of the above embodiments.
- In-vehicle driving assistance devices are automatic A ranging optical device is provided in front of or behind the vehicle, and another portion of the ranging information display device that displays a video signal from the ranging optical device is arranged near the driver's seat.
- the in-vehicle driving assistance device can display the situation in front or behind and, based on the distance measurement information, provide an appropriate warning when the distance to the obstacle is small. As a result, it is possible to appropriately provide the driver with information for avoiding a collision accident between the obstacle and the vehicle.
- Industrial potential is possible to appropriately provide the driver with information for avoiding a collision accident between the obstacle and the vehicle.
- the small-sized and low-cost ranging optical device which enables simple ranging using an imaging device is obtained. Further, if a ranging information display device is configured to process and display a video signal from the ranging optical device, a normal video can be displayed by the video signal obtained from the imaging device. Further, by mounting the ranging information display device on a vehicle, it is possible to provide a vehicle-mounted driving support device that supports the driver's vision.
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Abstract
Description
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60216206A (ja) * | 1984-04-12 | 1985-10-29 | Toshiba Corp | 三次元画像生成装置 |
JPH0787829A (ja) * | 1993-09-24 | 1995-04-04 | Iseki & Co Ltd | 収穫ロボットの撮像方法 |
JPH11271053A (ja) * | 1998-03-25 | 1999-10-05 | Asahi Optical Co Ltd | 地上写真測量用カメラおよび画像処理装置およびこの地上写真測量用カメラと画像処理装置とを用いた写真測量方法 |
JP2001004370A (ja) * | 1999-06-23 | 2001-01-12 | Fuji Photo Film Co Ltd | 視差画像撮像装置、視差画像処理装置、視差画像撮像方法、及び視差画像処理方法 |
-
2004
- 2004-01-30 WO PCT/JP2004/000977 patent/WO2004068073A1/ja not_active Application Discontinuation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60216206A (ja) * | 1984-04-12 | 1985-10-29 | Toshiba Corp | 三次元画像生成装置 |
JPH0787829A (ja) * | 1993-09-24 | 1995-04-04 | Iseki & Co Ltd | 収穫ロボットの撮像方法 |
JPH11271053A (ja) * | 1998-03-25 | 1999-10-05 | Asahi Optical Co Ltd | 地上写真測量用カメラおよび画像処理装置およびこの地上写真測量用カメラと画像処理装置とを用いた写真測量方法 |
JP2001004370A (ja) * | 1999-06-23 | 2001-01-12 | Fuji Photo Film Co Ltd | 視差画像撮像装置、視差画像処理装置、視差画像撮像方法、及び視差画像処理方法 |
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