Title:
STEREO CAMERA
Document Type and Number:
WIPO Patent Application WO/2014/002692
Kind Code:
A1
Abstract:
In order to provide a stereo camera of small size and wherein errors of distance measurement are stable, there are provided: an image acquisition section; a first region processing section; a target object extraction section; a cause-of-error identifying section; and a second region processing section. The image acquisition section acquires a plurality of images that are picked up by a plurality of image pickup units. The first region processing section generates a first distance image by dividing the plurality of respective images acquired by the image acquisition section into each of first regions comprising a predetermined plurality of pixels, and measures the distance in each of the divided first regions. The target object extraction section extracts a target object from the distance image or from the image and extracts second regions comprising a plurality of first regions including the extracted target object. The cause-of-error identifying section extracts prescribed representative values from the second region, and compares the brightness value of arbitrary pixels in the second region with the brightness value of pixels in a corresponding region, from an arbitrary pixel to a position shifted by an amount corresponding to the parallax indicating a representative value, and identifies the cause-of-error on the basis of the results of this comparison. The second region processing section determines a weight value based on the cause-of-error and, using this weight value, measures the distance in each second region, and generates a second distance image.
Inventors:
OSHIMA AKIRA (JP)
MATONO HARUKI (JP)
MITOMA HIROTO (JP)
OTA RYO (JP)
OHTSUJI SHINYA (JP)
MATONO HARUKI (JP)
MITOMA HIROTO (JP)
OTA RYO (JP)
OHTSUJI SHINYA (JP)
Application Number:
PCT/JP2013/065309
Publication Date:
January 03, 2014
Filing Date:
June 03, 2013
Export Citation:
Assignee:
HITACHI AUTOMOTIVE SYSTEMS LTD (JP)
International Classes:
G01C3/06; G01B11/00; G06T1/00; H04N13/243
Foreign References:
| JP2001273494A | 2001-10-05 | |||
| JPH11177964A | 1999-07-02 | |||
| JPH04301513A | 1992-10-26 | |||
| JPH06250078A | 1994-09-09 |
Attorney, Agent or Firm:
INOUE Manabu et al. (JP)
Manabu Inoue (JP)
Manabu Inoue (JP)
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