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stereo camera setup

A technology of a stereo camera and an image processing device, which is applied to a measuring device, a stereo system, and an optical device, etc., can solve the problem that the correction of parallax shift cannot be fully ensured, and achieve the effect of reducing the calculation cost.

Active Publication Date: 2022-06-07
HITACHI ASTEMO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, with this correction method, the parallax offset can only be calculated when an object that can be judged to be a stationary object is photographed, and the opportunity for correcting the parallax offset cannot be sufficiently ensured.

Method used

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no. 1 Embodiment approach ＞

[0036] side reference Figure 1 to Figure 14 , the first embodiment of the present invention will be described.

[0037] figure 1 It is a figure which shows the hardware structure of the stereo camera apparatus of this embodiment.

[0038] figure 1 Among them, the stereo camera device 100 includes: a stereo camera 110 (camera device) including a pair of left and right cameras (image pickup units) of a left camera 111 and a right camera 112; and an image processing device 120 including a read-only memory ( A memory 130 such as a ROM) or a random access memory (RAM) and a central processing unit (CPU) 140 as a processor; and an interface 150 for communicating between the stereo camera device 100 and the outside through CAN (Control Area Network) communication or the like Communication between external devices 160 such as sensors and other devices is performed, and the stereo camera 110 , the image processing device 120 , and the interface 150 are connected by a bus line 100 a...

no. 2 Embodiment approach ＞

[0101] side reference Figure 15 and Figure 16 , the second embodiment of the present invention will be described. In this embodiment, only differences from the first embodiment will be described, and in the drawings used in this embodiment, the same reference numerals are given to the same members as those of the first embodiment, and descriptions will be omitted.

[0102] This embodiment shows the case where the parallax shift correction amount calculation determination unit 610 is provided, which determines whether or not to perform parallax shift based on whether or not the parallax shift correction amount can be calculated with high accuracy. Calculation of the correction amount (parallax shift correction amount calculation processing). In the present embodiment, in order to obtain the parallax shift correction amount with high accuracy, it is important to satisfy the following two conditions: The movement amount of the own vehicle, which is a parameter for calculating...

no. 3 Embodiment approach ＞

[0118] side reference Figure 18 , the third embodiment of the present invention will be described. In this embodiment, only differences from the second embodiment will be described, and in the drawings used in this embodiment, the same reference numerals are given to the same members as those of the second embodiment, and descriptions thereof will be omitted.

[0119] In the present embodiment, a parallax shift correction amount calculation determination unit 610A that determines the execution of the parallax shift correction amount calculation process is provided instead of the parallax shift correction unit 121A provided in the second embodiment, which determines that the parallax shift correction is not to be performed. The parallax offset correction amount calculation determination unit 610 in the case of the amount calculation process. That is, in the present embodiment, when the parallax shift correction amount calculation determination unit 610A determines that the pa...

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Abstract

The present invention provides a stereo camera device capable of reducing calculation cost while ensuring calculation accuracy of parallax offset. The present invention has: a feature point detection unit (220), which detects the feature points of a plurality of images captured by the left camera (111) and the right camera (112); ) and the right camera (112) respectively track feature points between a plurality of images captured at different times; the tracking range determination unit (230), which uses the feature points for the plurality of images in the feature point tracking unit (240) Tracking is limited to a part of the tracking range of multiple images; and a parallax offset correction amount calculation unit (250), which is based on the moving distance of the vehicle (1) between different times and the feature tracked by the feature point tracking unit (240) The parallax offset correction amount for correcting the parallax offset between the left camera (111) and the right camera (112) is calculated based on the point-related parallax.

Description

technical field [0001] The present invention relates to a stereo camera device. Background technique [0002] As means for estimating the three-dimensional position of an object, there is a stereo camera system. [0003] In a stereo camera system, cameras arranged at a plurality of positions capture images of the same object from a plurality of different viewpoints, and the target object is calculated from differences in vision (so-called parallax) in a plurality of images obtained by each of the plurality of cameras. the distance. In addition to information such as parallax, in the calculation of the distance to the object in the stereo camera system, an offset-like error that occurs in parallax called parallax offset is also considered. This parallax shift changes with time due to the deformation of devices such as cameras due to vibration or temperature changes, and the physical load generated during screwing. Therefore, in order to accurately calculate the distance to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04N13/204G01C3/06G01B11/00
CPCG01B11/00G01C3/06
Inventor 大里琢马青木利幸大塚裕史永崎健
Owner HITACHI ASTEMO LTD
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