Title:
IMAGING APPARATUS, VEHICLE, AND PROGRAM
Document Type and Number:
Japanese Patent JP2020201587
Kind Code:
A
Abstract:
To provide an improved imaging apparatus, vehicle, and program.SOLUTION: An imaging apparatus comprises: a left camera and a right camera for which the relative positions and attitudes are determined; and a control unit. The control unit performs first estimation processing of estimating positions and attitudes corresponding to two images in a plurality of images and restoring feature points included in the two images. The control unit performs additional estimation processing of estimating, based on an image for which the position and attitude are not estimated, position and attitude corresponding to the image for which the position and attitude are not estimated. In the additional estimation processing, the control unit applies at least once a constraint to the positions and attitudes corresponding to the two images created at the same time to optimize the estimated position and attitude through bundle adjustment. The control unit repeatedly executes the additional estimation processing, and subsequently performs estimation processing on the relative positions and attitudes between the left camera and the right camera based on estimated positions and attitudes corresponding to at least some images of the plurality of images.SELECTED DRAWING: Figure 6
Inventors:
SHINOZAKI NORIYUKI
OKUTOMI MASATOSHI
OKUTOMI MASATOSHI
Application Number:
JP2019106321A
Publication Date:
December 17, 2020
Filing Date:
June 06, 2019
Export Citation:
Assignee:
KYOCERA CORP
International Classes:
G06T7/80; G06T7/593; G06T7/70; H04N5/232; H04N5/247; H04N17/00
Attorney, Agent or Firm:
Kenji Sugimura
Mitsutsugu Sugimura
Ryukei Kawai
Shiokawa Miku
Mitsutsugu Sugimura
Ryukei Kawai
Shiokawa Miku