ON-VEHICLE ENVIRONMENT RECOGNITION DEVICE

• Main Authors: TAKEMURA MASAYUKI, MURAMATSU SHOJI
• Format: Patent
• Language: English; Japanese
• Published: 23.01.2020
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

To provide an on-vehicle environment recognition device which can easily correct the geometry of cameras even when one object is shown differently in images taken by a plurality of cameras.SOLUTION: The on-vehicle environment recognition device includes: a first camera 100 and a second camera 110; and a controller 10 for deforming at least one of a first image taken by the first camera and a second image taken by the second camera to perform a viewpoint conversion of converting the first image and the second image into images with the same viewpoint, and thereafter extracting a plurality of corresponding points and correcting the geometry of the first camera and the second camera, using the coordinates of the corresponding points in the first image and the second image before the conversion of the viewpoint.SELECTED DRAWING: Figure 1 【課題】複数のカメラで撮影した画像に見え方の大きく異なる同一物体が写っている場合でも容易にカメラの幾何校正ができる車載環境認識装置を提供すること。【解決手段】第１カメラ１００及び第２カメラ１１０と、第１カメラによって撮像された第１画像と第２カメラによって撮像された第２画像の少なくとも一方を変形することで第１画像及び前記第２画像を共通の視点からの画像に変換する視点変換を行った後に複数の対応点を抽出し、視点変換前の第１画像及び第２画像における複数の対応点の座標を利用して第１カメラ及び第２カメラの幾何校正を行う制御装置１０とを備える。【選択図】 図１