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A calibration apparatus, a distance measurement system, a calibration method and a calibration program

一种校准装置、距离测量的技术，应用在校准程序领域，能够解决影响校准精确性等问题

Active Publication Date: 2012-07-25
RICOH KK
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  • Abstract
  • Description
  • Claims
  • Application Information

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Therefore, this may affect the accuracy of the calibration

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  • A calibration apparatus, a distance measurement system, a calibration method and a calibration program
  • A calibration apparatus, a distance measurement system, a calibration method and a calibration program
  • A calibration apparatus, a distance measurement system, a calibration method and a calibration program

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Embodiment Construction

[0068] Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the accompanying drawings.

[0069] figure 2 The hardware configuration of the distance measuring system according to the present invention is shown. The distance measurement system 10 is, for example, a stereo camera, and includes: two imaging devices 20, 21 for imaging a subject; The data is input and based on this image the distance from the system to the subject is calculated.

[0070] The imaging devices 20, 21 are cameras with the same focal length. The imaging devices 20, 21 are spaced apart by a certain distance and positioned so that the respective imaging planes are positioned on the same line. Therefore, the optical axes perpendicular to the imaging planes with the same focal length are parallel to each other. A camera that can be used as an imaging device 20, 21 includes: a body; a lens for collecting light; an aperture for adjusting the amoun...

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Abstract

A disclosed calibration apparatus is configured to receive inputs of two reference images and plural items of parallax data, these two reference images being captured by one of the imaging devices at two locations, and the parallax data being calculated using these two reference images and two corresponding images based on positions of plural feature points common to the reference image and the corresponding image for each pair thereof on a location basis, two corresponding images being captured by another of the imaging devices at these two locations; search for plural feature points common to these two reference images; calculate parallaxes and parallax changing amounts, based on the parallax data related to the respective feature points in these two reference images, for each of the searched feature points; and calculate a correction value for the parameter based on the calculated parallaxes and parallax changing amounts.

Description

technical field [0001] The present invention relates to a calibration device for calibrating parameters related to the position of an imaging device, a distance measuring system including the calibration device, a calibration method, and a calibration program for performing the method, wherein the device is mounted on a moving object such as a car This parameter is set in the stereo camera-type distance measurement system in . Background technique [0002] Recently, anti-collision devices, following distance control devices, etc. have been installed in cars due to increased awareness of car safety and improvements in computer performance. If the following distance falls within a specific range, the device outputs a warning to the driver, and performs control of braking equipment, steering equipment, etc., so as to perform automatic collision prevention operations when the following distance becomes shorter . [0003] In order to perform such control, the following distance...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/00G01B11/00G01C3/06G06T1/00H04N17/00G08G1/09G08G1/16
CPCG01S17/08G06T2207/30252G06T7/0075G06T7/002H04N13/00G01B11/026G08G1/16G06T2207/10021G01C3/085G01C3/14G06T7/85G06T7/593G01C3/00G01C25/00G01B11/00G06T1/00H04N17/002
Inventor 青木伸
Owner RICOH KK
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