Title:
In-vehicle camera automatic calibration device
Document Type and Number:
Japanese Patent JP6141601
Kind Code:
B2
Abstract:
According to one embodiment, an onboard camera automatic calibration apparatus includes at least a road surface point selection unit, an amount-of-rotation-around-Z-axis calculation unit and a coordinate rotation correction unit. The road surface point selection unit selects multiple points not less than three on a road surface in a predetermined image among the multiple images obtained by an onboard camera and selects multiple combinations of two points from among the multiple points. The amount-of-rotation-around-Z-axis calculation unit determines, in a camera coordinate system with an optical axis as a Z axis, an amount of rotation around the Z axis such that the road surface is parallel to an X axis, based on the multiple combinations and motion vectors. The coordinate rotation correction unit performs rotation correction around the Z axis for the images obtained by the onboard camera based on the determined amount of rotation around the Z axis.
Inventors:
Kiyoyuki Kawai
Application Number:
JP2012111897A
Publication Date:
June 07, 2017
Filing Date:
May 15, 2012
Export Citation:
Assignee:
Toshiba Alpine Automotive Technology Co., Ltd.
International Classes:
G01B11/00; H04N5/225; H04N5/232
Domestic Patent References:
| JP2010193428A | ||||
| JP7077431A | ||||
| JP2004198159A | ||||
| JP2012003604A | ||||
| JP2008011174A |
Foreign References:
| US20100245592 |
Other References:
Zhencheng Hu et al.,Moving Objects Detection from Time-varied Background: An Apprication of Camera 3D Motion Analysis,Proceedings of Second International Conference on 3-D Digital Imaging and Modeling 1999,IEEE,1999年10月 4日,pp. 59-67
Attorney, Agent or Firm:
Patent business corporation Tokyo International Patent Office
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