VR test system and VR test method

Abstract

This VR test system 1 of a stereo camera includes: a driving environment simulation device which outputs video of a camera model as a left image and a right image independent of each other; a left display device 202 which displays a left image; a right display device 204 which is independent of the left display device 202 and displays a right image; and a stereo camera 210 having a left camera device 212 which captures a left image displayed on the left display device 202, and a right camera device 214 which captures a right image displayed on the right display device 204. High-definition left and right images are efficiently taught to the stereo camera. Thus, high-definition left and right images are efficiently taught to the stereo camera.

Description

VR test system, VR test method

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

[0002] Conventionally, left and right images with parallax are displayed on a display, and the left and right images on this display are photographed by a stereo camera having a pair of image sensors, thereby testing the object recognition situation by the stereo camera in a VR (Virtual Reality) space (see, for example, JP 2023-38706 A).

[0003] However, conventional VR test systems have the problem that left and right images are displayed side by side on a single display, leaving unnecessary blank space (dead space) around the left and right images.

[0004] Furthermore, because a typical stereo camera has a minimum shooting distance (the shortest distance at which an object can be recognized), 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 and right cameras of the stereo camera overlap, which poses a problem in that neither the left nor right images can be displayed on the display in this intersection area.

[0005] In view of the above circumstances, the present invention aims to provide a VR test system that can efficiently teach high-resolution left and right images to a stereo camera.

[0006] The present invention, which relates to the above-mentioned problem, is a VR test system for a stereo camera, 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.

[0007] In relation to the above-mentioned VR test system, the system may be characterized by including an optical system that is arranged between the left display device and the stereo camera and / or between the right display device and the stereo camera, and that focuses the left image and / or the right image on the left camera device and / or the right camera device.

[0008] In relation to the above-described 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.

[0009] In relation to the above-described 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.

[0010] In relation to the above-described VR test system, the optical system may be characterized by bending the optical axis of the left camera unit and / or the right camera unit.

[0011] In relation to the above-described 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.

[0012] In relation to the above-described 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 vertical direction.

[0013] In relation to the above-mentioned VR test system, the optical system may have a mirror that bends the optical axis 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 that have previously reflected the inversion effect of the mirror.

[0014] In relation to the above-mentioned 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 Gb, the converted pixel pitch on the display surface of the left display device and the right display device may be characterized in that Ga < Gb is satisfied.

[0015] In relation to the above VR test system, 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 １００ -S １２０ ) may be satisfied.

[0016] 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 display device that displays the left and right images; a stereo camera having 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 that is arranged between the display device and the stereo camera and focuses the left and / or right images on the left and / or right camera device, wherein the optical system bends the optical axis of the left and / or right camera device.

[0017] The present invention, which relates to the above-mentioned problem, is a VR test method for a stereo camera, which simulates a driving environment by outputting images from a camera model as mutually independent left and right images, displays the left and right images on a display device, arranges a stereo camera having a left camera device and a right camera device, arranges 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 photographs the left image of the display device with the left camera device and the right image of the display device with the right camera device via the optical system.

[0018] According to the present invention, it is possible to achieve the excellent effect of efficiently teaching high-definition left and right images to a stereo camera.

[0019] FIG. 1 is a block diagram showing the overall configuration of a VR test system according to a first embodiment. FIG. 2 is a plan view of a virtual space provision system in the same VR test system. FIG. 3 is a plan view of the same virtual space provision system. FIG. 4 is an explanatory diagram combining a front view of a left image of the same virtual space provision system and a plan view of a left camera device. FIG. 5 is a plan view of a virtual space provision system in a VR test system according to a second embodiment. FIG. 6 is a plan view of a virtual space provision system in a VR test system according to a third embodiment. FIG. 7 is a perspective view of a virtual space provision system in a VR test system according to a fourth embodiment.

[0020] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0021] <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 provision system 20. The virtual space provision system 20 includes a darkroom 200, a left display device 202, a right display device 204, a stereo camera 210, and an optical system 230. Fig. 2 shows a plan view of the virtual space provision system 20. For ease of explanation, in this virtual space provision 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.

[0022] (Driving Environment Simulation Device) The driving environment simulation device 10 is a computer having a CPU, memory, external storage device, input device, 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., imaging technique) of the stereo camera 210 to be inspected.

[0023] The driving environment simulation device 10 includes an image processing unit 101 implemented by a simulation program. The image processing unit 101 generates two-dimensional (X-Y axes) left and right images of a camera model to be captured by the stereo camera 210, independently of each other, based on three-dimensional (X-Y-Z axes) information of the virtual space recognized by the stereo camera 210. At this time, the objects reflected in the left and right images are processed to include left-right parallax corresponding to the distance in the Z axis direction from the stereo camera 210.

[0024] The driving environment simulation device 10 outputs the left image and right image generated by the image processing unit 101 to the left display device 202 and right display device 204 of the virtual space providing system 20, respectively, via a data communication interface.

[0025] (Darkroom) The darkroom 200 is a box-shaped structure provided to prevent surrounding structures, external light, and the like, which may cause disturbances, from being reflected in the image captured by the stereo camera 210. Inside the darkroom 200, a left display device 202, a right display device 204, the stereo camera 210, and an optical system 230 are arranged.

[0026] (Left display device and right display device) 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 display screen 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.

[0027] 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 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. Furthermore, 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 left-right angle of view of each of the left camera device 212 and right camera device 214.

[0028] (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 (which means the optical axis state immediately before both cameras) are parallel to each other, and a perspective projection model is used as the camera model. The stereo camera 210 is internally equipped with a CPU, memory, etc. that serve as a computer, and a recognition program is executed on them. The stereo camera 210 has an image processing unit 220, a distance calculation unit 222, and a recognition processing unit 224 as functional components resulting from the recognition program being executed by the computer. The image processing unit 220 performs correction processing on the left photographed data captured by the left camera device 212 and the right photographed data captured by the right camera device 214, taking into account misalignment of the optical axis and angle of view, lens distortion, etc. The distance calculation unit 222 matches the corrected left photographed data with the right photographed data, calculates the distance to the object from the relative coordinate misalignment (parallax amount) between the matched pixels, and generates distance data. In other words, 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, right photographed data, and distance data to recognize the object in the image and perform predetermined processing. For example, in the case of an in-vehicle stereo sensor, predetermined processing includes determining the risk of collision, determining whether the vehicle needs to accelerate or decelerate, and determining whether the vehicle needs to steer. Various data generated by the image processing unit 220, distance calculation unit 222, and recognition processing unit 224 is transmitted to an external computer 290. The external computer 290 performs an evaluation process to determine whether the output results obtained from the stereo camera 210 are a correct response to the teaching information (right and left images).

[0029] (Optical System) As shown in FIG. 2 , the optical system 230 includes a left optical system 260 disposed in 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 a right optical path 254 connecting the right display device 204 and the right camera device 214. The left optical system 260 includes 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 includes 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. Note that, 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, and therefore the far point of 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 subject than the hyperfocal distance within the depth of field, or even closer to the subject than the near point of field, the imaging results from the left camera device 212 and the right camera device 214 will be blurred. Therefore, even when the left display device 202 and the right display device 204 are arranged closer to the subject than 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.

[0030] 3, in the left camera device 212 and the right camera device 214 of the stereo camera 210, imaging areas 212A and 214A, which are isosceles triangles with the angle of view θ on the X-Z axis plane as their vertex angles, 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, then the distance J is, for example, approximately 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 even closer to the near point of field.

[0031] For example, as shown by the dotted line, when the left display device 202 and the right display device 204 are placed farther away 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 achieve focus, but the left display device 202 and the right display device 204 will 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 then move the left display device 202 and the right display device 204 apart in the horizontal direction and project them onto each. 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.

[0032] Therefore, in this embodiment, as shown by the solid lines, the left display device 202 and the right display device 204 are arranged within the distance J, thereby displaying the left image 112 and the right image 114, which form a 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 near point of field, which would result in blurred images captured by the left camera device 212 and the right camera device 214. Therefore, the left optical system 260 and the right optical system 270 are arranged midway along the optical path to reduce blurring.

[0033] In this case, it is desirable to increase the resolution of the left display device 202 and the right display device 204 by the amount that they are closer to the left camera device 212 and the right camera device 214. In this embodiment, the left display device 202 and the right display device 204 are independent of each other, which has the advantage that a high-resolution general-purpose display can be adopted at low cost.

[0034] The pixel pitch of the displays of the left display device 202 and the right display device 204 is adopted based on the following criteria: When the pixel pitch of the left display device 202 and the right display device 204 is Ga, and the pixel pitch of the light receiving elements of the left camera device 212 and the right camera device 214 converted onto the projection surfaces of the left display device 202 and the right display device 204 is Gb, it is preferable that Ga < Gb be satisfied. More preferably, 1.5 Ga < Gb is satisfied, and even more preferably, 2.0 Ga < Gb is satisfied. In other words, one pixel of the light receiving element on the camera side captures an area wider than one pixel of the display, more preferably, an area wider than 1.5 pixels horizontally adjacent on the display, and even more preferably, an area wider than two pixels horizontally adjacent on the display.

[0035] The actual parallax distance between the left and right images for an object 100 m away (i.e., the actual distance difference when comparing the left and right images on the projection surface of the display) is S １００ , the actual parallax distance between the left and right images for an object 120 m away is S １２０ When defining the pixel pitch Ga<(S １００ -S １２０ ) is preferably satisfied. １００ -S １２０ ) means the difference in parallax distance on the display caused by a distance difference of 20 m at a distance of 100 m. This allows the display to express a distance difference equivalent to 20 m at a distance of 100 m as a difference of one pixel pitch or more. More preferably, 1.5 Ga<(S １００ -S １２０ ), and more preferably, 2.0Ga<(S １００ -S １２０ ) is satisfied. This makes it possible to accurately represent the distance to an object 100 m ahead in the left and right images to an accuracy of less than 20 m. As a result, using these left and right images, the evaluation of whether the stereo camera 210 can distinguish a distance difference of 20 m ahead 100 m can be made to depend on the recognition ability of the stereo camera 210 itself.

[0036] (Parameters for generating 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 following describes the calculation of the left image, and a description of the calculation of the right image, which is the same as the left image, will be omitted.

[0037] (Stereo camera parameters) Distance B between optical axes (mm) Distance L (mm) from the left and right camera devices to the left and right display devices Field angle θ (°) of the left and right camera devices Number of horizontal pixels P of the light receiving element Ｈ (pixels) Number of pixels P in the vertical direction of the light receiving element Ｖ (pixels) Focal length F of the left and right camera devices (pixels) Parallax at infinity D∞ of the left and right camera devices (pixels) Width C of the imaging range of the left and right camera devices Ｈ (mm) Height C of the imaging range of the left and right camera devices Ｖ (mm) Note that L and C Ｈ , C Ｖ The parameters other than are characteristic values ​​of the stereo camera 210.

[0038] (Parameters related to left and right display devices) Number of pixels E in the horizontal direction (X-axis direction) of the display Ｈ (pixels) Number of pixels E in the vertical direction (Y-axis direction) of the display Ｖ (pixels) Dot pitch E between pixels Ｐ (mm)

[0039] (Parameters of left and right images) Width of left and right images W (mm) Height of left and right images H (mm)

[0040] (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 )

[0041] (Formula for calculating the size of left and right images) W = C Ｈ H=C ＶIn this size calculation formula, the sizes of the left and right images are set to exactly match 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.

[0042] (Disparity Calculation Formula for Stereo Camera) When the distance to the object (object reflected in the left and right images) to be measured is K (mm), the recognized disparity D (pixels) of the left and right light receiving elements of the stereo camera 210 is calculated as follows: D=B×F / K+D∞

[0043] The distance calculation unit 222 of the stereo camera 210 can perform matching (estimation of identical pixels) between the left and right image data captured by the left camera device 212 and the right camera device 214 using SAD (Sum of Absolute Difference). The distance calculation unit 222 sets the upper left corner of the image capture range on the light receiving element as the reference coordinate (x, y) = (0, 0) and outputs the coordinates of each of the matched pair of left and right pixels. 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.

[0044] (Disparity Calculation Included in Left and Right Images) The left and right images for training output from the driving environment simulation device 10 contain multiple virtual objects. For example, in FIG. 4 , the objects include the road itself, a vehicle ahead, a center line, a side lane, and the like. Distance information from the stereo camera 210, i.e., a virtual distance K' from the stereo camera 210 as the starting point, is defined in advance for these objects (specifically, all pixels in 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' indicates the relative displacement between the left and right images. This virtual parallax D' is read by the stereo camera 210 and converted into a recognized parallax D (pixels) on the light-receiving elements.

[0045] 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 by increasing their resolution, the left and right images provided to the stereo camera 210 can be closer to the actual three-dimensional environment. Furthermore, due to the synergistic effect of the increased resolution of the displays and the left and right conversion mechanisms 262, 272, it is possible to position 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 of the left camera device 212 and the right camera device 214 (the entire imaging areas 212A, 214A), thereby improving teaching accuracy.

[0046] Second Embodiment Next, a VR test system 1001 according to a second embodiment will be described with reference to Fig. 5. Note that in this VR test system 1001, components, functions, programs, etc. that are the same as or similar to those in the VR test system 1 of the first embodiment will be assigned the same reference numerals, and detailed descriptions thereof will be omitted, with a focus on the differences from the first embodiment.

[0047] 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) extending directly from the left camera device 212 of the stereo camera 210 by 90° midway in the horizontal direction (X-axis direction) and to the left as viewed from the stereo camera 210. 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 also be interposed between the left camera device 212 and the left optical axis changing mechanism 264.

[0048] 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 in this case, a reflecting mirror is used. The right optical axis changing mechanism 274 bends the optical axis (right optical path 254) extending directly from the right camera device 214 of the stereo camera 210 by 90° in the horizontal direction (X-axis direction) and to the right as viewed from the stereo camera 210. 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 also be interposed between the right camera device 214 and the right optical axis changing mechanism 274.

[0049] In the VR test system 1001 of the second embodiment, the left display device 202 and the right display device 204 can be separated from each other in the left-right direction (X-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. 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 bend along the way.

[0050] 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 flipped horizontally and formed on the stereo camera 210. Therefore, in the driving environment simulation device 10 (not shown in Fig. 5), the left and right images are output in a state in which they are flipped horizontally in advance to reflect the flipping effect of the mirrors in advance, so that correct left and right images are provided to the stereo camera 210.

[0051] 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, components, functions, programs, etc. that are the same as or similar to those in the VR test systems 1 and 1001 according to the first and second embodiments will be assigned the same reference numerals, and detailed descriptions thereof will be omitted, with a focus on the differences from the first and second embodiments.

[0052] 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 here, a reflecting mirror is used. Compared to the second embodiment, the left optical system 260 does not include a left conversion mechanism 262. Furthermore, 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 greater than that in the second embodiment. Specifically, the distance L (mm) is set to be greater 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 depth of field of the left camera device 212.

[0053] 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 here, a reflecting mirror is used. Compared to the second embodiment, the right optical system 270 does not include a right conversion mechanism 272. Furthermore, 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 greater than that in the second embodiment. Specifically, the distance L (mm) is set to be greater 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 depth of field of the right camera device 214.

[0054] As in the third embodiment, if 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 is increased, 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 displayＨ (pixels), 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, thereby suppressing imaging distortion caused by the conversion lens.

[0055] Fourth Embodiment Next, a VR test system 3001 according to a fourth embodiment will be described with reference to Fig. 7. Note that in this VR test system 3001, components, functions, programs, etc. that are the same as or similar to those in the VR test systems 1, 1001, and 2001 according to the first to third embodiments 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 to third embodiments.

[0056] 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 in this case, a reflecting mirror is used.

[0057] 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 in this case, a reflecting mirror is used.

[0058] 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 vertical direction (Y-axis direction) by the left optical axis changing mechanism 264 and the right optical axis changing mechanism 274. This makes it less likely that the left display device 202 and the right display device 204 will interfere with each other, compared to the VR test system 1 of the first embodiment, and allows the displays to be made larger.

[0059] 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 upside down and formed on the stereo camera 210. Therefore, in the driving environment simulation device 10 (not shown), in order to reflect the mirror reversal effect in advance, the left and right images are output in a state in which they are upside down in advance, so that correct left and right images are provided to the stereo camera 210.

[0060] Although the second to fourth embodiments illustrate examples in which mirrors are used as the left optical axis changing mechanism 264 and the right optical axis changing mechanism 274, the present invention is not limited thereto, and the optical axis may be bent using optical components such as prisms. Furthermore, the second to fourth embodiments illustrate examples in which 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 midway along 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 an angle larger than 90° (acute angle). Furthermore, the second to fourth embodiments illustrate examples in which both the left optical axis changing mechanism 264 and the right optical axis changing mechanism 274 are provided. However, only one of the left and right optical paths 252, 254 may be bent using either the left optical axis changing mechanism 264 or the right optical axis changing mechanism 274.

[0061] The present invention is not limited to the above-described embodiment, but includes various modifications in which components are added, deleted, or converted from the above-described configuration.

[0062] 1, 1001, 2001, 3001 VR test system 10 Driving environment simulation device 20 Virtual space provision system 101 Image processing unit 112 Left image 114 Right image 200 Darkroom 202 Left display device 204 Right display device 210 Stereo camera 212 Left camera device 213 Superimposition area 213A Proximal point 214 Right camera device 220 Image processing unit 222 Distance calculation unit 224 Recognition processing unit 230 Optical system 252 Left optical path 254 Right optical path 260 Left optical system 262 Left conversion mechanism 264 Left optical axis changing mechanism 270 Right optical system 272 Right conversion mechanism 274 Right optical axis changing mechanism 290 External computer

Claims

1. A VR test system for a stereo camera 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.

2. A VR test system for a stereo camera as described in claim 1, characterized in that it comprises 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.

3. The stereo camera VR test system according to claim 2, wherein the optical system changes the focal length of the left camera device and / or the right camera device to the wide-angle side.

4. A VR test system for a stereo camera as described in claim 3, characterized in that the left display device and the right display device are arranged 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.

5. The stereo camera VR test system according to claim 2, wherein the optical system bends the optical axis of the left camera device and / or the right camera device.

6. The stereo camera VR test system according to claim 5, wherein the optical system bends the optical axis of the left camera device and / or the right camera device at least in the left-right direction.

7. The stereo camera VR test system according to claim 5, wherein the optical system bends the optical axis of the left camera device and / or the right camera device at least in the vertical direction.

8. The stereo camera VR test system according to claim 5, wherein the optical system has a mirror that bends the optical axis of the left camera device and / or the right camera device, and the driving environment simulation device outputs the left image and / or the right image in which the inversion effect caused by the mirror has been previously reflected.

9. A VR test system for a stereo camera according to claim 1, characterized in that, 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 a converted pixel pitch on the display surface of the left display device and the right display device as Gb, Ga < Gb is satisfied.

10. The pixel pitch of the left display device and the right display device is Ga, and 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 2. The VR test system for a stereo camera according to claim 1, wherein:

11. A VR test system for a stereo camera comprising: a driving environment simulation device that outputs images of a camera model as mutually independent left and right images; a display device that displays the left and right images; 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; and an optical system that is disposed between the display device and the stereo camera and focuses the left and / or right image on the left camera device and / or the right camera device, wherein the optical system bends the optical axis of the left camera device and / or the right camera device.

12. A VR test method for a stereo camera, comprising the steps of: simulating a driving environment by outputting an image of a camera model as a left image and a right image that are independent of each other; displaying the left image and the right image on a display device; arranging a stereo camera having a left camera device and a right camera device; arranging an optical system that bends the optical axis of the left camera device and / or the right camera device between the display device and the stereo camera; and capturing the left image of the display device with the left camera device and the right image of the display device with the right camera device via the optical system.

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