WO2014021011A1 - 車載画像処理装置 - Google Patents
車載画像処理装置 Download PDFInfo
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- WO2014021011A1 WO2014021011A1 PCT/JP2013/066772 JP2013066772W WO2014021011A1 WO 2014021011 A1 WO2014021011 A1 WO 2014021011A1 JP 2013066772 W JP2013066772 W JP 2013066772W WO 2014021011 A1 WO2014021011 A1 WO 2014021011A1
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- Prior art keywords
- vehicle
- image processing
- imaging unit
- processing apparatus
- housing
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- 238000012545 processing Methods 0.000 title claims abstract description 50
- 238000003384 imaging method Methods 0.000 claims abstract description 79
- 238000009434 installation Methods 0.000 claims abstract description 33
- 238000004519 manufacturing process Methods 0.000 claims abstract description 18
- 150000001875 compounds Chemical class 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000012141 concentrate Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- 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
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
- G01C3/18—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with one observation point at each end of the base
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/02—Bodies
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/08—Stereoscopic photography by simultaneous recording
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
Definitions
- the present invention relates to an in-vehicle image processing apparatus provided with an image sensor.
- An in-vehicle camera (hereinafter referred to as a stereo) that is an in-vehicle image processing apparatus that calculates a distance to an object by triangulation using a pair of images imaged using two imaging units and thereby recognizes the object. Called a camera) is beginning to be applied to in-vehicle systems that support safe driving of vehicles.
- the pixel position of a feature point common to each image is specified from pixel information included in a pair of images, and the number of pixels whose feature points are shifted in the pair of images (hereinafter referred to as parallax).
- parallax the number of pixels whose feature points are shifted in the pair of images
- the in-vehicle camera has a camera stay and camera stay integrated structure that holds a pair of cameras in a predetermined position, and includes an attachment portion that is fixed to a vehicle casing. By using the three mounting holes provided in the mounting portion and firmly fixed to the mounting hole of the vehicle casing by three screws, the relative position between the cameras can be accurately maintained. It is like that.
- Patent Document 2 states that “two or more light beams are emitted from two or more light sources provided at a mounting position of a compound eye camera, a target is installed at an intersection of the two or more light beams, and the target is attached to the compound eye.
- the compound eye camera is adjusted by photographing with the camera, whereby the optical axis adjustment and the focus adjustment of the compound eye camera can be performed accurately.
- Patent Document 1 it is an idea to attach a stereo camera with high accuracy when it is attached to a vehicle and to make it difficult for the housing to be deformed due to a temperature change. The accuracy is not enough. Further, in Patent Document 2, the compound eye camera is attached to the reference plane of the jig with high accuracy, but a specific method for attaching with high accuracy is not described.
- an object of the present invention is to provide an in-vehicle image processing apparatus capable of realizing low cost while improving the accuracy of installation on a jig of a production facility in order to increase the accuracy of electrical adjustment in a production process. It is in. *
- the in-vehicle image processing apparatus of the present invention includes a first imaging unit, a second imaging unit, a first imaging unit at one end, and a second at the other end.
- a vehicle-mounted image processing apparatus that includes a housing unit provided with an imaging unit and generates a distance image from images captured by the first imaging unit and the second imaging unit, the first imaging unit and the second imaging unit between the image pickup units, there are two housing reference surfaces that are brought into contact with equipment jigs during production.
- an in-vehicle image processing apparatus capable of realizing low cost while improving the accuracy of installation on a jig of a production facility in order to increase the accuracy of electrical adjustment in the production process.
- FIG. 1 shows an example of a case structure of a stereo camera that is an in-vehicle image processing apparatus.
- the case structure includes a surface (hereinafter referred to as a case reference surface 13) that is brought into contact with a jig of equipment during production. is there.
- the configuration of a stereo camera that is an in-vehicle image processing apparatus includes two imaging units 12 (a first imaging unit and a second imaging unit), and a first imaging unit at one end. And a distance image (parallax image) is generated from the images captured by these two image capturing units 12.
- the imaging unit 12 includes an imaging device, a lens for imaging visual information of the outside world on the imaging device, and a left and right imaging device substrate including a process of taking image information imaged on the imaging device into an image processing LSI And a signal processing board for driving the image sensor.
- the housing unit 11 is configured with a circuit for extracting an object by an image processing LSI based on image information sent from the image sensor substrate and calculating a distance and a size to the object.
- the vehicle mounting surface 15 having a processing board, a hole for passing a screw for fixing by fastening at the time of mounting on the vehicle side, and a pedestal, and a stereo camera that is an in-vehicle image processing device with high accuracy in a desired direction when the vehicle is mounted
- a reference hole 14 for mounting on the vehicle to be fitted with a pin prepared on the vehicle side, and a housing reference surface 13 that is a surface to be brought into contact with the jig of the equipment during production of the stereo camera are configured.
- the shooting direction of the stereo camera (Hereinafter referred to as the optical axis) in order to fix the housing reference surface 13 in a desired direction, the housing reference surface 13 needs to be in the desired position when installed on the fixture of the equipment. .
- the direction of the optical axis in production equipment is most susceptible to deviations in the rotation direction of the vertical, left, and right and front and rear axes that occur when a stereo camera is installed on the equipment jig. There is a need to reduce it.
- the reference hole 14 when the vehicle is attached is generally located at the center of the housing 11. Since it concentrates, the space
- a feature of the present invention is that there are two housing reference planes 13 between the first imaging unit and the second imaging unit that are brought into contact with the jig of the equipment during production. Specifically, between the first imaging unit and the central part (or vehicle installation surface 15) between the first imaging unit and the second imaging unit, and between the second imaging unit and the central part (or the vehicle).
- the housing reference surface 13 is provided between the installation surface 15). That is, as shown in FIG. 1, two housing reference surfaces 13 are provided in the housing 11 or the imaging unit 12 separately from the reference hole 14 when the vehicle is attached. This takes the interval between the two housing reference surfaces 13 as long as possible. Specifically, the housing reference surface 13 is provided closer to the imaging unit (the first housing reference surface is the first housing reference surface).
- the housing reference surface 13 may be attached around the lens of the imaging unit 12.
- the housing reference surface 13 has a structure provided on the front side that is the imaging direction side of the imaging unit 12 of the housing unit 11.
- the optimum place for the installation position of the housing reference surface 13 for minimizing the attachment error is preferably attached to the outside of the lens of the image pickup unit 12, but the image pickup unit 12 is mechanically adjusted, for example, by adjusting the focus of the lens. In consideration of the occurrence of the adjustment process, it is optimal to dispose the housing unit 11 on the outer side as much as possible.
- the shape of the housing reference surface 13 is preferably rectangular as shown in FIG.
- the housing reference surface 13 can be used not only for contact with the jig for adjustment equipment but also for contact with the jig for processing.
- casing part 11 is generally made from aluminum die-casting, it may also serve as an extrusion pin position when taking out the housing from the die-cast mold.
- the shape of the housing reference surface 13 may be circular.
- the housing reference surface 13 to be processed may remain in a state of being removed from the mold, but it can be made more parallel by cutting or polishing. It can be a good surface.
- the housing reference surface 13 needs to be large enough for two or more fixtures on the equipment side to contact each other.
- the housing reference surface 13 may be one, but considering that the housing reference surface 13 has to be processed, it is desirable that the housing reference surface be as small as possible in order to reduce costs. .
- the housing reference surface 13 has two or more points and the housing reference surface 13 is made smaller.
- the housing reference surface 13 is two points, it is optimal that the two housing reference surfaces 13 are parallel and the same surface in order to install on the equipment side with high accuracy.
- it may be a parallel surface.
- the surface that comes into contact with the jig of the equipment at the time of production is on the upper side (the surface that is attached to the vehicle).
- FIG. 2A is an example in which an upper housing reference surface 21 is provided on the upper portion of the housing portion 11 (the surface to be attached to the vehicle), that is, on the vehicle installation surface 15 side, separately from the housing reference surface 13. .
- FIG. 2B is an example in which a front housing reference surface 22 is provided in which the housing reference surface 13 and the upper housing reference surface 21 are integrated.
- the surface that contacts the jig of the equipment during production is the upper side of the front casing reference plane 22 (the plane that is attached to the vehicle), that is, the imaging direction side of the imaging section 12 of the casing section 11. It is the example provided in the upper part of the front side.
- FIG. 3 shows an example in which a side case reference surface 31 is provided in the side of the reference hole 14 and the vehicle installation surface 15 in the center of the case 11 separately from the case reference surface 13. Specifically, in this central part, one side of the vehicle installation surface 15 of the vehicle installation surface 15 provided on the imaging direction side of the imaging unit 12 and one vehicle provided on the opposite side to the imaging direction.
- a side housing reference surface 31 is provided on the side surface of the installation surface 15.
- the upper case reference surface 21 can use a vehicle installation surface 15 that comes into contact with the vehicle when the vehicle is mounted.
- the upper housing is separated from the vehicle installation surface 15 in contact with the vehicle as shown in FIG. It is desirable to provide the reference surface 21.
- the two upper housing reference surfaces 21 are parallel and the same surface. Even when it is difficult to provide the same surface, the same effect can be obtained if the surfaces are parallel.
- the front housing reference surface 22 may be used as an integral reference surface. Thereby, the installation space of a housing
- one side housing reference surface 31 may be provided on the front side and the rear side.
- one of the two vehicle installation surfaces 15 provided on the front side is one on the side surface of one vehicle installation surface 15, and one on the side surface of one reference hole 14 of the two reference holes 14 provided on the rear side.
- a partial housing reference plane 31 is provided.
- only one side housing reference surface 31 may be provided on either side, for example, one side surface of one reference hole 14 of the two reference holes 14 provided at the rear.
- FIG. 4 is an example in which a housing reference hole 41 is provided on the vehicle installation surface 15 side of the imaging unit 12 as a housing reference surface instead of providing the housing reference surface 13 and the side housing reference surface 31.
- the shape of the housing reference hole 41 may be either a perfect circle or an ellipse. However, considering the provision of pins to be inserted as jigs on the equipment side, one is a perfect circle and the other is an elliptical shape. It can be said that it is desirable from the aspect of fitting.
- the housing reference hole 41 may be provided in the housing portion 11 instead of being provided in the imaging unit 12. In this case also, it is desirable to place the two holes as far apart as possible.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Measurement Of Optical Distance (AREA)
- Cameras In General (AREA)
- Accessories Of Cameras (AREA)
- Stereoscopic And Panoramic Photography (AREA)
Abstract
Description
12 撮像部
13 筐体基準面
14 基準穴
15 車両設置面
21 上部筐体基準面
22 前部筐体基準面
31 側部筐体基準面
41 筐体基準穴
Claims (13)
- 第1の撮像部と、第2の撮像部と、一方端部に前記第1の撮像部を設け、他方端部に前記第2の撮像部を設けた筐体部と、を有し、前記第1の撮像部及び前記第2の撮像部で撮像された画像から距離画像を生成する車載画像処理装置において、
前記第1の撮像部と前記第2の撮像部間に、生産時に設備の治具と接触させる筐体基準面を2箇所有する車載画像処理装置。 - 請求項1記載の車載画像処理装置において、
前記筐体基準面は、前記第1の撮像部と前記第1の撮像部及び前記第2の撮像部間の中央部と、の間に第1の筐体基準面を有し、前記第2の撮像部と前記中央部と、の間に第2の筐体基準面を有する車載画像処理装置。 - 請求項2記載の車載画像処理装置において、
前記筐体部の中央部には、車両と取り付ける車両設置面を有し、
前記第1の筐体基準面は、前記第1の撮像部と前記車両設置面との間に有し、
前記第2の筐体基準面は、前記第2の撮像部と前記車両設置面との間に有する車載画像処理装置。 - 請求項2又は3記載の車載画像処理装置において、
前記第1の筐体基準面と前記第2の筐体基準面は、互いに平行な面を有する車載画像処理装置。 - 請求項3記載の車載画像処理装置において、
前記第1の筐体基準面は、前記第1の撮像部と前記車両設置面との中央より前記第1の撮像部側に有し、
前記第2の筐体基準面は、前記第2の撮像部と前記車両設置面との中央より前記第2の撮像部側に有する車載画像処理装置。 - 請求項3記載の車載画像処理装置において、
前記第1の筐体基準面及びは前記第2の筐体基準面は、前記筐体部の前記第1の撮像部及び前記第2の撮像部の撮像方向側である前側に有する車載画像処理装置。 - 請求項3記載の車載画像処理装置において、
前記第1の筐体基準面及び前記第2の筐体基準面は、前記筐体部の前記車両設置面側に有する車載画像処理装置。 - 請求項3記載の車載画像処理装置において、
前記第1の筐体基準面及び前記第2の筐体基準面は、前記筐体部の前記第1の撮像部及び前記第2の撮像部の撮像方向側である前側の上部に有する車載画像処理装置。 - 請求項3記載の車載画像処理装置において、
前記筐体部の中央部は、前記第1の撮像部及び前記第2の撮像部の撮像方向側に2つ、前記撮像方向とは逆側に1つ前記車両設置面を有し、
前記2つの車両設置面の一方の車両設置面の側面に、前記第1の筐体基準面を有し、
前記1つの車両設置面の側面に、前記第2の筐体基準面を有する車載画像処理装置。 - 請求項1記載の車載画像処理装置において、
前記筐体基準面は、前記第1の撮像部の前記車両設置面側に1つ、前記第2の撮像部の前記車両設置面側に1つ、有する車載画像処理装置。 - 請求項10記載の車載画像処理装置において、
前記筐体基準面は、筐体基準穴であり、前記筐体基準穴の形状は、真円又は楕円である車載画像処理装置。 - 請求項11記載の車載画像処理装置において、
2つの前記筐体基準穴の一方を真円の形状とし、他方を楕円の形状とする車載画像処理装置。 - 請求項1記載の車載画像処理装置において、
前記筐体基準面は、矩形又は円形の形状である車載画像処理装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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DE201311003795 DE112013003795T5 (de) | 2012-07-31 | 2013-06-19 | In ein Fahrzeug eingebaute Bildverarbeitungsvorrichtung |
US14/418,145 US10214155B2 (en) | 2012-07-31 | 2013-06-19 | On-vehicle image processing device |
US16/234,182 US10589696B2 (en) | 2012-07-31 | 2018-12-27 | On-vehicle image processing device |
US16/752,947 US11225204B2 (en) | 2012-07-31 | 2020-01-27 | On-vehicle image processing device |
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JP2012-169073 | 2012-07-31 | ||
JP2012169073A JP5793122B2 (ja) | 2012-07-31 | 2012-07-31 | 車載画像処理装置 |
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US14/418,145 A-371-Of-International US10214155B2 (en) | 2012-07-31 | 2013-06-19 | On-vehicle image processing device |
US16/234,182 Continuation US10589696B2 (en) | 2012-07-31 | 2018-12-27 | On-vehicle image processing device |
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JP5793122B2 (ja) | 2012-07-31 | 2015-10-14 | 日立オートモティブシステムズ株式会社 | 車載画像処理装置 |
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JP2016126243A (ja) * | 2015-01-07 | 2016-07-11 | 株式会社リコー | カメラ装置 |
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JP6158258B2 (ja) * | 2015-08-07 | 2017-07-05 | 日立オートモティブシステムズ株式会社 | 車載画像処理装置 |
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JP1610726S (ja) * | 2018-03-21 | 2018-08-06 | ||
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- 2013-06-19 DE DE202013012670.1U patent/DE202013012670U1/de not_active Expired - Lifetime
- 2013-06-19 DE DE202013012775.9U patent/DE202013012775U1/de not_active Expired - Lifetime
- 2013-06-19 US US14/418,145 patent/US10214155B2/en active Active
- 2013-06-19 DE DE201311003795 patent/DE112013003795T5/de active Pending
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2018
- 2018-12-27 US US16/234,182 patent/US10589696B2/en active Active
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US10589696B2 (en) | 2020-03-17 |
DE202013012670U1 (de) | 2018-05-16 |
US10214155B2 (en) | 2019-02-26 |
JP5793122B2 (ja) | 2015-10-14 |
US20190202374A1 (en) | 2019-07-04 |
DE202013012775U1 (de) | 2019-05-29 |
DE112013003795T5 (de) | 2015-04-30 |
US20150158435A1 (en) | 2015-06-11 |
JP2014029266A (ja) | 2014-02-13 |
US11225204B2 (en) | 2022-01-18 |
US20200156560A1 (en) | 2020-05-21 |
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