Title:
ステレオカメラ
Document Type and Number:
Japanese Patent JP7083014
Kind Code:
B2
Abstract:
To provide a stereo camera that can reduce distance errors happening due to a movement of an incidence pupil center for each incidence angle of a principal ray.SOLUTION: A stereo camera comprises: a first imaging unit that images a first image of an object; a second imaging unit that images a second image of the object; a geometric correction unit that corrects the first image and the second image geometrically; a parallax calculation unit that calculates a parallax from the geometrically corrected first image and second image. The stereo camera is configured to: calculate a first position of an area of the object in the first image when an incidence pupil center does not move on the basis of a three-dimensional position of an area on the object with respect to the first imaging unit, and an amount of movement of an incidence pupil center of the first imaging unit in accordance with an incidence angle of a principal ray; and calculate a second position of an area on the object in the second image in a case of assuming the incidence pupil center does not move on the basis of a three-dimensional position of an area on the object with respect to the second imaging unit, and an amount of movement of the incidence pupil center of the second imaging unit in accordance with an incidence angle of the principal ray.SELECTED DRAWING: Figure 1
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Inventors:
Toshiyuki Aoki
Keiichi Betsui
Izumiro Kusumi
Keiichi Betsui
Izumiro Kusumi
Application Number:
JP2020203452A
Publication Date:
June 09, 2022
Filing Date:
December 08, 2020
Export Citation:
Assignee:
Hitachi Astemo, Ltd.
International Classes:
G01C3/00; G01C3/06; G03B35/08; G06T7/593; H04N5/225; H04N5/232
Domestic Patent References:
| JP2008298589A | ||||
| JP2015197421A | ||||
| JP2017020971A |
Attorney, Agent or Firm:
Kaichi International Patent Office
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