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Vehicle Peripheral Image Display Device and Camera Adjustment Method

An image display device and camera technology, applied in image enhancement, image analysis, image communication, etc., can solve problems such as inability to adjust with high precision, difficult to adjust transformation rules, poor image accuracy, etc.

Active Publication Date: 2018-09-04
DENSO CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] However, when a calibration pattern is placed at an arbitrary location at a car dealership to adjust the camera conversion rule, if the imaging range of the camera to be adjusted overlaps with the imaging range of the camera that can be used as the reference camera, and the calibration pattern is not If the pattern is placed in the repeated range, it is difficult to adjust the transformation rule determined for the adjustment target camera
[0010] In addition, the accuracy of the image obtained by capturing the calibration pattern is poor depending on the position where the calibration pattern is arranged, and there are cases where the adjustment cannot be performed with high precision.

Method used

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  • Vehicle Peripheral Image Display Device and Camera Adjustment Method
  • Vehicle Peripheral Image Display Device and Camera Adjustment Method
  • Vehicle Peripheral Image Display Device and Camera Adjustment Method

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0052] The vehicle peripheral image display device 1 of the present embodiment performs camera calibration (correction: adjustment) by adjusting the transformation rule of the projective transformation of the image captured by the camera mounted on the automobile (vehicle camera).

[0053] a) First, based on figure 1 The basic configuration of the vehicle peripheral image display device 1 of this embodiment will be described.

[0054] Such as figure 1 As shown, the vehicle peripheral image display device 1 of this embodiment is a device that is mounted on a vehicle (automobile) to display an image obtained by capturing the surroundings of the vehicle, and includes an electronic control unit (ECU) 3 having a well-known microcomputer or the like. , a front camera 5 arranged at the front of the vehicle, a left camera 7 arranged at the left side of the vehicle, a right camera 9 arranged at the right side of the vehicle, a rear camera 11 arranged at the rear of the vehicle, and im...

Embodiment 2

[0140] Next, Embodiment 2 will be described, but the description of the same contents as in Embodiment 1 above will be omitted or simplified. Here, the same numbers as those in Example 1 are used for the numbers of the respective configurations (hereinafter, the same applies to other Examples).

[0141] In the above-mentioned embodiment 1, the coordinates of the pattern B are calculated according to the pattern A, but in the present embodiment 2, as Figure 8 As shown, the coordinates of pattern A are calculated according to pattern B.

[0142] Among them, the shape and arrangement of the reference camera (left camera 7 ), the adjustment target camera (front camera 5 ), and the calibration sheet 31 are the same as those in the first embodiment described above.

[0143] Such as Figure 9 As shown, in the second embodiment, in step 300 , based on the signal from the diagnosis tool 27 , the information of the reference camera and the camera to be adjusted is acquired.

[0144]...

Embodiment 3

[0154] Next, Embodiment 3 will be described, but the description of the same contents as in Embodiment 1 above will be omitted or simplified.

[0155] In this embodiment 3, for such as Figure 10 As shown, the imaging range of the adjustment target camera of the conversion rule is not adjacent to but distant from the imaging range of the reference camera that does not need to be adjusted, and the case where the calibration sheet 31 is arranged so that the non-overlapping imaging ranges are connected will be described. Here, the camera to be adjusted is the front camera 5 , and the reference camera is the rear camera 11 .

[0156] Hereinafter, the calibration method of the third embodiment will be described sequentially.

[0157] First, if Figure 10 As shown, the calibration sheet 31 is arranged on the ground. Specifically, the pattern A of the calibration sheet 31 is arranged in the imaging range SF of the front camera 5 , and the pattern B is arranged in the imaging range...

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PUM

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Abstract

Provided is a technique capable of easily adjusting the conversion rule of an adjustment target camera. In one embodiment, using a calibration sheet (31) including pattern A and pattern B, pattern A is placed in the shooting range SF of the front camera (5) as the camera to be adjusted, and pattern B is placed in the shooting range SF of the reference camera. The shooting range SL of the left camera (7). The two patterns A, B are not arranged in the overlapping range SFL of the two cameras (5, 7). At this time, the pattern A can be photographed by the front camera (5), and the pattern B' can be calculated from the pattern A. Therefore, the conversion rule of the front camera (5) can be changed so that the coordinates of the pattern B' coincide with the coordinates of the pattern B.

Description

technical field [0001] This application claims priority on the basis of Japanese Patent Application No. 2013-204474 filed on September 30, 2013, and the content of the description is incorporated herein by reference. [0002] The present disclosure relates to a vehicle surrounding image display device that displays images around a vehicle, and a camera adjustment method used in the vehicle surrounding image display device. Background technique [0003] Conventionally, there is known a technique for converting an image captured (captured) by an on-vehicle camera into a projected image (a bird's-eye view image) showing the surroundings of the vehicle (that is, showing the surroundings of the vehicle viewed from above the vehicle). [0004] In addition, in recent years, it has been disclosed that a camera is calibrated (calibration: adjustment) when the camera is replaced, the electronic control device that controls the camera, or when the camera has shifted in position or post...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04N7/18B60R1/00G06T1/00
CPCB60R2300/402H04N7/181G06T2207/30204G06T2207/30252G06T7/80B60R1/00H04N23/63H04N23/90B60R2300/105B60R2300/303
Inventor 田中仁松本宗昭
Owner DENSO CORP