VR test system and VR test method

Abstract

To efficiently teach high-definition left and right images to a stereo camera.SOLUTION: A stereo camera VR test system 1 includes a driving environment simulation device that outputs images of a camera model as left and right images that are independent of each other, a left display device 202 that displays the left image, a right display device 204 that is independent of the left display device 202 and displays the right image, and a stereo camera 210 that has a left camera device 212 that captures the left image displayed on the left display device 202, and a right camera device 214 that captures the right image displayed on the right display device 204.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a VR system and a VR testing method for testing a stereo camera in a virtual reality environment. [Background technology]

[0002] Conventionally, left and right images with parallax are displayed on a display, and the left and right images on the display are photographed by a stereo camera having a pair of image sensors, thereby testing the object recognition situation of the stereo camera in a VR (Virtual Reality) space (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2023-38706 Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional VR test systems displayed left and right images side by side on a single display, which resulted in the problem of wasted white space (dead space) being left around the left and right images.

[0005] Furthermore, in a typical stereo camera, there is a restriction on the minimum shooting distance (the shortest distance to recognize an object), and the display cannot be placed closer than that. Therefore, if the display is placed farther than the minimum shooting distance, an intersection area is formed where the imaging ranges of the left camera and the right camera of the stereo camera overlap, and there is a problem that neither the left nor the right image can be displayed on the display in this intersection area.

[0006] In view of the above circumstances, the present invention aims to provide a VR test system capable of efficiently teaching high-definition left and right images to a stereo camera. [Means for solving the problem]

[0007] The present invention, which relates to the above-mentioned problem, is a stereo camera VR test system comprising: a driving environment simulation device that outputs images of a camera model as mutually independent left and right images; a left display device that displays the left image; a right display device that is independent from the left display device and displays the right image; and a stereo camera having a left camera device that captures the left image displayed on the left display device, and a right camera device that captures the right image displayed on the right display device.

[0008] In relation to the above-mentioned VR test system, the system may be characterized by including an optical system arranged between the left display device and the stereo camera and / or between the right display device and the stereo camera, for forming the left image and / or the right image on the left camera device and / or the right camera device.

[0009] In relation to the above VR test system, the optical system may be characterized in that the focal length of the left camera device and / or the right camera device is changed to a wide-angle side.

[0010] In relation to the above-mentioned VR test system, the left display device and the right display device may be disposed closer to the stereo camera than a proximal point of an overlapping area where the angle of view of the left camera device and the angle of view of the right camera device intersect.

[0011] In relation to the above VR test system, the optical system may be characterized by bending the optical axis of the left camera arrangement and / or the right camera arrangement.

[0012] In relation to the above VR test system, the optical system may be characterized in that the optical axis of the left camera device and / or the right camera device is bent at least in the left-right direction.

[0013] In relation to the above VR test system, the optical system may be characterized in that it bends the optical axes of the left camera device and / or the right camera device at least in the vertical direction.

[0014] In relation to the above VR test system, the optical system has a mirror that bends the optical axes of the left camera device and / or the right camera device, and the driving environment simulation device may be characterized in that it outputs the left image and / or the right image in which the inversion effect by the mirror is reflected in advance.

[0015] In relation to the above VR test system, when the pixel pitch of the left display device and the right display device is defined as Ga, and the pixel pitch of the light receiving elements of the left camera device and the right camera device is defined as the converted pixel pitch Gb converted onto the display surfaces of the left display device and the right display device, it may be characterized in that Ga < Gb is satisfied.

[0016] In relation to the above VR test system, the pixel pitch of the left display device and the right display device is Ga, the binocular disparity distance at a target 100 m ahead included in the left image and the right image is S 100 and the binocular disparity distance at a target 120 m ahead included in the left image and the right image is S 120 When defined, it may be characterized in that Ga < (S 100 - S 120 ) is satisfied.

[0017] The present invention related to the above problem is a stereo camera VR test system including a driving environment simulation device that outputs images of a camera model as independent left and right images, a display device that displays the left and right images, a left camera device that captures the left image displayed on the display device, and a right camera device that captures the right image, and an optical system disposed between the display device and the stereo camera that forms the left image and / or the right image on the left camera device and / or the right camera device, wherein the optical system bends the optical axes of the left camera device and / or the right camera device.

[0018] The present invention, which relates to the above-mentioned problem, is a VR test method for a stereo camera, which is characterized by simulating a driving environment by outputting images of a camera model as left and right images that are independent of each other, displaying the left and right images on a display device, arranging a stereo camera having a left camera device and a right camera device, arranging an optical system between the display device and the stereo camera that bends the optical axis of the left camera device and / or the right camera device, and photographing the left image of the display device with the left camera device and photographing the right image of the display device with the right camera device via the optical system. Effect of the Invention

[0019] According to the present invention, it is possible to obtain the excellent effect of efficiently teaching high-definition left and right images to a stereo camera. [Brief description of the drawings]

[0020] [Figure 1] 1 is a block diagram showing an overall configuration of a VR test system according to a first embodiment. [Diagram 2] FIG. 2 is a plan view of the virtual space providing system in the VR test system. [Diagram 3] FIG. 2 is a plan view of the virtual space providing system. [Figure 4] FIG. 2 is an explanatory diagram combining a front view of the left image of the virtual space providing system and a plan view of the left camera device. [Diagram 5] FIG. 11 is a plan view of a virtual space providing system in a VR test system according to a second embodiment. [Figure 6] FIG. 13 is a plan view of a virtual space providing system in a VR test system according to a third embodiment. [Figure 7] FIG. 13 is a perspective view of a virtual space providing system in a VR test system according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0022] First Embodiment Fig. 1 shows the configuration of a VR (Virtual Reality) test system 1 according to a first embodiment. The VR test system 1 includes a driving environment simulation device 10 and a virtual space providing system 20. The virtual space providing system 20 includes a darkroom 200, a left display device 202 and a right display device 204, a stereo camera 210, and an optical system 230. Fig. 2 shows a plan view of the virtual space providing system 20. For ease of explanation, in this virtual space providing system 20, the optical axis direction of the stereo camera 210 is defined as the Z-axis direction, the horizontal direction as the X-axis direction, and the up-down direction (vertical direction) as the Y-axis direction.

[0023] (Driving environment simulation device) The driving environment simulation device 10 is a computer having a CPU, a memory, an external storage device, an input device, a data communication interface, etc., and includes a simulation program having a scenario, a vehicle model, a driver model, a camera model, etc. The camera model is information related to the lens structure and projection method (i.e., the imaging method) of the stereo camera 210 to be inspected.

[0024] The driving environment simulation device 10 includes an image processing unit 101 that is realized by a simulation program. This image processing unit 101 generates two-dimensional (XY axes) left and right images of a camera model that is the subject of shooting by the stereo camera 210, independently of each other, based on three-dimensional (XYZ axes) information of the virtual space recognized by the stereo camera 210. At this time, processing is applied to the objects reflected in the left and right images, including left-right parallax corresponding to the distance from the stereo camera 210 in the Z axis direction.

[0025] The driving environment simulation device 10 outputs the left image and the right image generated by the image processing unit 101 to the left display device 202 and the right display device 204 of the virtual space providing system 20, respectively, via the data communication interface.

[0026] (darkroom) The darkroom 200 is a box-shaped structure provided to prevent surrounding structures, external light, and the like, which may be disturbances, from being captured by the stereo camera 210. In the darkroom 200, a left display device 202, a right display device 204, the stereo camera 210, and an optical system 230 are arranged.

[0027] (Left and right display devices) The left display device 202 and the right display device 204 are independent displays. For example, a liquid crystal display or an organic EL display can be used as the display. The screen of the display is perpendicular to the Z-axis direction. The left display device 202 displays a left image output from the driving environment simulation device 10. The right display device 204 displays a right image output from the driving environment simulation device 10.

[0028] The display area of ​​each of the left display device 202 and the right display device 204 is, for example, a rectangular area that is longer in the left-right direction (X-axis direction) than in the up-down direction (Y-axis direction). The aspect ratio of this rectangular area is close to the aspect ratio of the rectangular imaging areas of the left camera device 212 and the right camera device 214 built into the stereo camera 210. As a result, it is possible to reduce dead space within the display area where left and right images are not displayed. In addition, it is preferable to adopt a size in the left-right direction (X-axis direction) of the display area of ​​each display that can cover the entire angle of view in the left-right direction of each of the left camera device 212 and the right camera device 214.

[0029] (Stereo camera) The stereo camera 210 has a left camera device 212 and a right camera device 214. The left camera device 212 faces the left image displayed on the left display device 202 and captures it. The right camera device 214 faces the right image displayed on the right display device 204 and captures it. The optical axes of the left camera device 212 and the right camera device 214 (meaning the optical axis state immediately before both cameras) are parallel to each other, and a perspective projection model is adopted as the camera model. The stereo camera 210 has a CPU and a memory as a computer inside, and a recognition program is executed. The stereo camera 210 has an image processing unit 220, a distance calculation unit 222, and a recognition processing unit 224 as a functional configuration by executing the recognition program by the computer. The image processing unit 220 performs correction processing on the left shooting data captured by the left camera device 212 and the right shooting data captured by the right camera device 214, taking into account the deviation of the optical axis and angle of view, lens distortion, etc. The distance calculation unit 222 performs matching of the corrected left and right photographed data, and calculates the distance of the object from the relative coordinate shift amount (parallax amount) between the matched pixels to generate distance data. That is, the stereo camera 210 performs three-dimensional stereoscopic vision including the distance data of the object. The recognition processing unit 224 combines the left photographed data, the right photographed data, and the distance data to recognize the object in the image and executes a predetermined process. For example, in the case of an in-vehicle stereo sensor, the predetermined process includes a collision risk determination process, a determination of the necessity of accelerating or decelerating the vehicle, and a determination of the necessity of steering the vehicle. Various generated data from the image processing unit 220, the distance calculation unit 222, and the recognition processing unit 224 are transmitted to an external computer 290. The external computer 290 performs an evaluation process of whether the output result obtained from the stereo camera 210 is a correct response to the teaching information (right image and left image).

[0030] (optical system) As shown in FIG. 2, the optical system 230 has a left optical system 260 disposed in the middle of a left optical path 252 connecting the left display device 202 and the left camera device 212, and a right optical system 270 disposed in the middle of a right optical path 254 connecting the right display device 204 and the right camera device 214. The left optical system 260 has a left conversion mechanism 262 (left conversion lens) that changes the focal length of the left camera device 212 to form a left image of the left display device 202 on the left camera device 212. Similarly, the right optical system 270 has a right conversion mechanism 272 (right conversion lens) that changes the focal length of the right camera device 214 to form a right image of the right display device 204 on the right camera device 214. For example, in the case of an in-vehicle stereo camera 210, the left camera device 212 and the right camera device 214 are required to accurately recognize the distance from a close subject to a far subject, so that the far point of the field in the depth of field is often set to infinity. Therefore, if the left display device 202 and the right display device 204 are arranged closer to the hyperfocal distance within the depth of field, or even closer to the near point of field, the imaging results by the left camera device 212 and the right camera device 214 will be blurred. Therefore, even if the left display device 202 and the right display device 204 are arranged closer to the near point of field of the stereo camera 210 alone, the left conversion mechanism 262 and the right conversion mechanism 272 change the focal length of the stereo camera 210 to the short distance side (wide angle side), thereby suppressing blurring of the imaging results.

[0031] (Left and right display resolution) 3, in the left camera device 212 and the right camera device 214 of the stereo camera 210, imaging areas 212A and 214A of an isosceles triangle with a vertex angle of the field angle θ on the XZ axis plane partially overlap each other. If the distance on the optical axis (on the left and right optical paths) from a near point 213A of this overlapping area 213 to the left camera device 212 and the right camera device 214 is J, the distance J is, for example, about 300 mm to 500 mm. As a result, the near point 213A is often located closer to the subject than the hyperfocal distance of the stereo camera 210 alone, and further closer to the subject near point.

[0032] For example, as shown by the dotted line, when the left display device 202 and the right display device 204 are placed farther than the distance J, the left display device 202 and the right display device 204 can be positioned further back than the near point of field, making it easier to focus, but the left display device 202 and the right display device 204 interfere with each other in the overlapping region 213. As a result, it is necessary to generate the left image 112 and the right image 114 as partial images that intentionally omit the overlapping region 213, and to project them on the left display device 202 and the right display device 204 by moving them apart in the horizontal direction. As a result, it is not possible to perform a distance measurement test using the left and right images only in the overlapping region 213.

[0033] Therefore, in this embodiment, as shown by the solid line, the left display device 202 and the right display device 204 are arranged within the distance J to display the left image 112 and the right image 114 which are the full image. As already mentioned, if they are arranged within the distance J, the left display device 202 and the right display device 204 will be located closer to the viewer than the hyperfocal distance and even closer to the viewer than the near point of field, and if this continues, the images captured by the left camera device 212 and the right camera device 214 will be blurred. Therefore, the left optical system 260 and the right optical system 270 are arranged in the middle of the optical path to reduce the blur.

[0034] In this case, it is desirable to increase the resolution of the left display device 202 and the right display device 204 as they approach the left camera device 212 and the right camera device 214. In this embodiment, since the left display device 202 and the right display device 204 are independent of each other, there is an advantage that a high-resolution general-purpose display can be adopted at low cost.

[0035] The pixel pitches of the displays of the left display device 202 and the right display device 204 are adopted according to the following criteria. When the pixel pitch Ga of the left display device 202 and the right display device 204, and the converted pixel pitch Gb obtained by converting the pixel pitch of the light-receiving elements of the left camera device 212 and the right camera device 214 onto the projection planes of the left display device 202 and the right display device 204 are considered, it is preferable that Ga < Gb. More desirably, 1.5Ga < Gb is satisfied, and even more desirably, 2.0Ga < Gb. In other words, one pixel of the light-receiving element on the camera side images a wider range than one pixel of the display, more desirably a wider range than 1.5 pixels adjacent in the horizontal direction on the display, and even more desirably a wider range than 2 pixels adjacent in the horizontal direction on the display.

[0036] Also, let S be the actual disparity distance in the left and right images of an object 100 m ahead (that is, the actual distance difference when comparing the left and right images on the projection plane of the display). 100 And let S be the actual disparity distance in the left and right images of an object 120 m ahead. 120 When defining, it is preferable that the pixel pitch Ga < (S 100 - S 120 ). (S 100 - S 120 ) means the difference in the disparity distance on the display caused by a distance difference of 20 m at 100 m ahead. Thereby, the display can express a distance difference corresponding to 20 m at 100 m ahead as a deviation of one pixel pitch or more. Note that more desirably, 1.5Ga < (S 100 - S 120 ) is satisfied, and even more desirably, 2.0Ga < (S 100 - S 120 ) is satisfied. As a result, within the left and right images, the distance of the object at 100 m ahead can be accurately expressed with an accuracy of less than 20 m. Consequently, the evaluation of whether the stereo camera 210 can discriminate a distance difference of 20 m at 100 m ahead using this left and right video can depend on the recognition ability of the stereo camera 210 itself.

[0037] (Parameters related to the generation of left and right images) The left and right images displayed on the screens of the left display device 202 and the right display device 204 are generated in the driving environment simulation device 10 based on the parameters shown in Figures 2 to 4. Note that the calculation of the left image will be explained below, and the explanation of the calculation of the right image, which is the same as the left image, will be omitted.

[0038] (Stereo camera parameters) Distance between optical axes B (mm) Distance L from the left and right camera devices to the left and right display devices (mm) ·Angle of view of left and right camera devices θ(°) Number of horizontal pixels of the light receiving element P H (pixel) Number of pixels in the vertical direction of the light receiving element P V (pixel) · Focal length of the left and right camera devices F (pixels) - Parallax D∞ (pixels) between the left and right camera devices at infinity Width of the imaging range of the left and right cameras C H (mm) Height of the imaging range of the left and right cameras C V (mm) In addition, L, C H , C V The parameters other than these are characteristic values ​​of the stereo camera 210.

[0039] (Parameters for left and right display devices) - Number of pixels in the horizontal direction (X axis direction) of the display E H (pixel) - Number of pixels in the vertical direction (Y axis) of the display E V (pixel) ·Pixel pitch E P (mm)

[0040] (parameters for left and right images) Width of left and right images W(mm) Height of left and right images H (mm)

[0041] (Calculation formula for the imaging range of the left and right camera devices) C H=2L×tan(θ / 2) C V =C H ×(P V / P H )

[0042] (Formula for calculating the size of left and right images) W=C H H=C V In this size calculation formula, the sizes of the left and right images are set to be completely equal to the imaging ranges of the left and right camera devices. However, the sizes of the left and right images can also be set to be larger than the imaging ranges.

[0043] (Stereo camera parallax calculation formula) If the distance to an object (object reflected in the left and right images) to be measured is K (mm), the recognized parallax D (pixels) of the left and right light receiving elements of the stereo camera 210 is as follows. D=B×F / K+D∞

[0044] In addition, the distance calculation unit 222 of the stereo camera 210 can perform matching (identical pixel estimation) between the left and right imaging data captured by the left camera device 212 and the right camera device 214 by SAD (Sum of Absolute Difference). The distance calculation unit 222 outputs the coordinates of each of the matched pair of left and right pixels, with the upper left corner of the imaging range on the light receiving element set as the reference coordinate (x, y) = (0, 0). Furthermore, the distance calculation unit 222 calculates the recognized parallax D on the light receiving element based on the amount of deviation (pixels) between the coordinates of the pair of pixels, and estimates the distance K (mm) to the target based on this recognized parallax D using the above formula.

[0045] (Disparity calculation included in left and right images) A plurality of virtual objects are present in the left and right images for teaching output from the driving environment simulation device 10. For example, in FIG. 4, objects such as the road itself, a vehicle ahead, a center line, and a side lane are present as objects. Distance information from the stereo camera 210, that is, a virtual distance K' starting from the stereo camera 210, is defined in advance for these objects (specifically, all pixels of the left and right images). Based on this virtual distance K', a virtual parallax D' based on the virtual distance K' is reflected between the left and right images for each object. This virtual parallax D' means the relative displacement amount between the left and right images. This virtual parallax D' is converted into a recognized parallax D (pixels) on the light receiving element by being read by the stereo camera 210.

[0046] As described above, in the VR test system 1 of the first embodiment, the left display device 202 and the right display device 204 are independent displays, and their resolutions are increased, so that the left and right images provided to the stereo camera 210 can be made closer to the actual three-dimensional environment. Furthermore, due to the synergistic effect of the high resolution displays and the left and right conversion mechanisms 262, 272, it becomes possible to arrange the left display device 202 and the right display device 204 closer to the near side than the proximal point 213A of the overlapping area 213, and the left and right images can cover the entire angle of view (the entire imaging areas 212A, 214A) of the left camera device 212 and the right camera device 214, so that the teaching accuracy can be improved.

[0047] Second Embodiment Next, a VR test system 1001 according to a second embodiment will be described with reference to Fig. 5. In this VR test system 1001, the components, functions, programs, etc. that are the same as or similar to those in the VR test system 1 according to the first embodiment will be assigned the same reference numerals, and detailed descriptions thereof will be omitted, and the following description will focus on the differences from the first embodiment.

[0048] The left optical system 260 of the VR test system 1001 has a left conversion mechanism 262 and a left optical axis changing mechanism 264. The left optical axis changing mechanism 264 is an optical component that bends the optical axis (left optical path 252) midway, and a reflecting mirror is used here. The left optical axis changing mechanism 264 bends the optical axis (left optical path 252) that extends directly from the left camera device 212 of the stereo camera 210 at 90° in the horizontal direction (X-axis direction) and to the left as viewed from the stereo camera 210 side. Note that, although the left conversion mechanism 262 is illustrated as being interposed between the left optical axis changing mechanism 264 and the left display device 202, it may be interposed between the left camera device 212 and the left optical axis changing mechanism 264.

[0049] The right optical system 270 of the VR test system 1001 has a right conversion mechanism 272 and a right optical axis changing mechanism 274. The right optical axis changing mechanism 274 is an optical component that bends the optical axis (right optical path 254) midway, and a reflecting mirror is used here. The right optical axis changing mechanism 274 bends the optical axis (right optical path 254) that extends directly from the right camera device 214 of the stereo camera 210 at 90° in the horizontal direction (X-axis direction) and to the right as viewed from the stereo camera 210 side. Note that, although the right conversion mechanism 272 is illustrated as being interposed between the right optical axis changing mechanism 274 and the right display device 204, it may be interposed between the right camera device 214 and the right optical axis changing mechanism 274.

[0050] In the VR test system 1001 of the second embodiment, the left display device 202 and the right display device 204 can be separated in the left-right direction (X-axis direction) by the left optical axis changing mechanism 264 and the right optical axis changing mechanism 274. As a result, the left display device 202 and the right display device 204 are less likely to interfere with each other compared to the VR test system 1 of the first embodiment, so it is possible to increase the size of the display. Note that the distance L (mm) from the left and right camera devices 212, 214 to the left and right display devices 202, 204, which is a parameter of the stereo camera 210, means the distance along the left and right optical paths 252, 254 that are bent midway.

[0051] When mirrors are used in the left / right optical axis changing mechanisms 264, 274, the left and right images on the left display device 202 and the right display device 204 are inverted horizontally and imaged by the stereo camera 210. Therefore, in the driving environment simulation device 10 (not shown in Fig. 5), in order to reflect the inversion effect of the mirror in advance, the left and right images are output in a state in which they are inverted horizontally in advance, so that the correct left and right images are provided to the stereo camera 210.

[0052] <Third embodiment> Next, a VR test system 2001 according to a third embodiment will be described with reference to Fig. 6. Note that in this VR test system 2001, the components, functions, programs, etc. that are the same as or similar to those in the VR test systems 1, 1001 according to the first and second embodiments will be assigned the same reference numerals, and detailed descriptions thereof will be omitted, and the following description will focus on the parts that differ from the first and second embodiments.

[0053] The left optical system 260 of the VR test system 2001 has a left optical axis changing mechanism 264. The left optical axis changing mechanism 264 is an optical component that bends the optical axis (left optical path 252) midway, and a reflecting mirror is used here. Compared to the second embodiment, the left optical system 260 does not include a left conversion mechanism 262, and further, the distance L (mm) on the left optical path 252 from the left camera device 212 to the left display device 202 is set to be larger than that of the second embodiment. Specifically, the distance L (mm) is set to be larger than the distance J on the left optical path 252 from the proximal point 213A to the left camera device 212 in FIG. 3. Furthermore, the distance L (mm) is set to be within the range of the depth of field of the left camera device 212.

[0054] Similarly, the right optical system 270 of the VR test system 2001 has a right optical axis changing mechanism 274. The right optical axis changing mechanism 274 is an optical component that bends the optical axis (right optical path 254) midway, and a reflecting mirror is used here. Compared to the second embodiment, the right optical system 270 does not include a right conversion mechanism 272, and further, the distance L (mm) on the right optical path 254 from the right camera device 214 to the right display device 204 is set to be larger than that of the second embodiment. Specifically, the distance L (mm) is set to be larger than the distance J on the right optical path 254 from the proximal point 213A to the right camera device 214 in FIG. 3. Furthermore, the distance L (mm) is set to be within the range of the depth of field of the right camera device 214.

[0055] As in the third embodiment, by increasing the distance L (mm) on the optical path from the left and right camera devices 212, 214 to the left and right display devices 202, 204, the left and right display devices 202, 204 can be made larger accordingly. As a result, the number of pixels E in the horizontal direction (X-axis direction) of the display H (pixels), the number of pixels in the vertical direction (Y axis direction) E V Since the number of pixels can be increased, high-resolution left and right images can be provided to the stereo camera 210. At the same time, the left and right images can be formed on the stereo camera 210 without the need for a conversion lens, so imaging distortion caused by the conversion lens is suppressed.

[0056] <Fourth embodiment> Next, a VR test system 3001 according to the fourth embodiment will be described with reference to Fig. 7. In this VR test system 3001, detailed descriptions of components, functions, programs, etc. that are the same as or similar to those of the VR test systems 1, 1001, and 2001 according to the first to third embodiments will be omitted by using the same reference numerals, and the description will focus on the parts that are different from the first to third embodiments.

[0057] The left optical system 260 of the VR test system 3001 has a left optical axis changing mechanism 264. The left optical axis changing mechanism 264 is an optical component that bends the optical axis (left optical path 252) in the vertical direction (Y-axis direction, specifically, upward) midway, and a reflecting mirror is used here.

[0058] Similarly, the right optical system 270 of the VR test system 3001 has a right optical axis changing mechanism 274. The right optical axis changing mechanism 274 is an optical component that bends the optical axis (right optical path 254) in the vertical direction (Y-axis direction, specifically, downward) midway, and a reflecting mirror is used here.

[0059] In the VR test system 3001 of the fourth embodiment, the left display device 202 and the right display device 204 can be separated in the up-down direction (Y-axis direction) by the left optical axis changing mechanism 264 and the right optical axis changing mechanism 274. This makes it possible to increase the size of the displays since the left display device 202 and the right display device 204 are less likely to interfere with each other compared to the VR test system 1 of the first embodiment.

[0060] When mirrors are used in the left / right optical axis changing mechanisms 264, 274, the left and right images on the left display device 202 and the right display device 204 are inverted vertically and formed on the stereo camera 210. Therefore, in the driving environment simulation device 10 (not shown), in order to reflect the inversion effect of the mirror in advance, the left and right images are output in a state in which they are inverted vertically in advance, so that the correct left and right images are provided to the stereo camera 210.

[0061] In the second to fourth embodiments, the left optical axis changing mechanism 264 and the right optical axis changing mechanism 274 are illustrated as mirrors, but the present invention is not limited thereto. For example, the optical axis may be bent using optical components such as a prism. Furthermore, in the second to fourth embodiments, the left optical axis changing mechanism 264 and the right optical axis changing mechanism 274 bend the optical axis of the stereo camera 210 by 90° in the left-right or up-down direction in the middle of the optical path. However, the bending angle is not particularly limited, and the optical axis may be bent at an angle smaller than 90° (obtuse angle) or at an angle larger than 90° (acute angle). Furthermore, in the second to fourth embodiments, the left optical axis changing mechanism 264 and the right optical axis changing mechanism 274 are illustrated as both being provided, but only one of the left and right optical paths 252 and 254 may be bent using either the left optical axis changing mechanism 264 or the right optical axis changing mechanism 274.

[0062] It should be noted that the present invention is not limited to the above-described embodiment, but includes various modified examples in which components are added, deleted, or converted from the above-described configuration. [Explanation of symbols]

[0063] 1,1001,2001,3001 VR Test System 10. Driving environment simulation device 20 Virtual space provision system 101 Image processing section 112 Left image 114 Right image 200 Darkroom 202 Left display device 204 Right display device 210 Stereo Camera 212 Left camera device 213 Overlapping Area 213A Proximal point 214 Right Camera Device 220 Image Processing Department 222 Distance calculation unit 224 Recognition processing section 230 Optical system 252 Left light path 254 Right Path 260 Left optical system 262 Left conversion mechanism 264 Left optical axis change mechanism 270 Right optical system 272 Right conversion mechanism 274 Right optical axis change mechanism 290 External computer

Claims

1. A driving environment simulation device that outputs an image of a camera model as a left image and a right image independent of each other; a left display device for displaying the left image; a right display device that is independent of the left display device and displays the right image; a stereo camera having a left camera device that captures the left image displayed on the left display device and a right camera device that captures the right image displayed on the right display device; A VR test system for a stereo camera comprising:

2. The present invention is characterized in that an optical system is provided between the left display device and the stereo camera, and / or between the right display device and the stereo camera, and forms the left image and / or the right image on the left camera device and / or the right camera device. The stereo camera VR test system according to claim 1 .

3. The optical system is characterized in that the focal length of the left camera device and / or the right camera device is changed to a wide-angle side. The stereo camera VR test system according to claim 2 .

4. The left display device and the right display device are disposed closer to the stereo camera than a proximal point of an overlapping area where an angle of view of the left camera device and an angle of view of the right camera device intersect. The stereo camera VR test system according to claim 3 .

5. The optical system is characterized in that it bends the optical axis of the left camera device and / or the right camera device. The stereo camera VR test system according to claim 2 .

6. The optical system is characterized in that the optical axis of the left camera device and / or the right camera device is bent at least in the left and right directions. The stereo camera VR test system according to claim 5.

7. The optical system is characterized in that the optical axis of the left camera device and / or the right camera device is bent at least in the vertical direction. The stereo camera VR test system according to claim 5.

8. the optical system includes a mirror that bends an optical axis of the left camera device and / or the right camera device; The driving environment simulation device comprises: The left image and / or the right image are output in which the inversion effect by the mirror is previously reflected. The stereo camera VR test system according to claim 5.

9. When a pixel pitch of the left display device and the right display device is defined as Ga, and a converted pixel pitch obtained by converting the pixel pitch of the light receiving element of the left camera device and the right camera device onto the display surface of the left display device and the right display device is defined as Gb, Ga < Gb is satisfied. The stereo camera VR test system according to claim 1 .

10. The pixel pitch of the left display device and the right display device is Ga, the parallax distance of an object 100 m away included in the left image and the right image is S １００ , the parallax distance of an object 120 m away included in the left image and the right image is S １２０ When defining Ga < (S １００ -S １２０ ) is satisfied, The stereo camera VR test system according to claim 1 .

11. A driving environment simulation device that outputs an image of a camera model as a left image and a right image independent of each other; a display device for displaying the left image and the right image; a stereo camera having a left camera device that captures the left image and a right camera device that captures the right image displayed on the display device; an optical system disposed between the display device and the stereo camera, the optical system forming the left image and / or the right image on the left camera device and / or the right camera device; Equipped with A stereo camera VR test system, characterized in that the optical system bends the optical axis of the left camera device and / or the right camera device.

12. The camera model outputs independent left and right images to simulate the driving environment. Displaying the left image and the right image on a display device; A stereo camera having a left camera device and a right camera device is arranged, an optical system for bending an optical axis of the left camera device and / or the right camera device is disposed between the display device and the stereo camera; A VR test method for a stereo camera, comprising: capturing the left image of the display device with the left camera device, and capturing the right image of the display device with the right camera device, via the optical system.

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