Camera-parameter-set calculation apparatus, camera-parameter-set calculation method, and recording medium

Patent metadata

Field	Value
Publication number	US-11233983-B2
Application number	US-202016782239-A
Country	US
Kind code	B2
Filing date	Feb 5, 2020
Priority date	Sep 8, 2016
Publication date	Jan 25, 2022
Grant date	Jan 25, 2022

Abstract

A camera-parameter-set calculation apparatus includes a three-dimensional point group calculator that calculates a plurality of three-dimensional coordinates, based on first and second images respectively captured by first and second cameras and first and second camera parameter sets of the first and second cameras; an evaluation value calculator that determines a plurality of pixel coordinates in the second image, based on the plurality of three-dimensional coordinates and the second camera parameter set, determines a plurality of third pixel coordinates in a third image captured by a third camera, based on the plurality of three-dimensional coordinates and a third camera parameter set of the third camera, and calculates an evaluation value, based on pixel values at the plurality of second and third pixel coordinates in the second and third images; and a camera-parameter-set determiner that determines a fourth camera parameter set for the third camera, based on the evaluation value.

First claim

What is claimed is:

1. A vehicle comprising:
a first camera that captures a first image;
a second camera that captures a second image; and
a third camera that captures a third image;
wherein a first camera parameter set of the first camera includes one or a plurality of camera parameters of the first camera,
wherein a second camera parameter set of the second camera includes one or a plurality of camera parameters of the second camera,
wherein the third camera parameter set of the third camera including one or a plurality of camera parameters of the third camera,
wherein a computer calculates a plurality of three-dimensional coordinates based on (i) the first image captured by a first camera, (ii) the second image captured by the second camera, (iii) the first camera parameter set of the first camera, and (iv) the second camera parameter set of the second camera,
wherein the computer determines a plurality of second pixel coordinates in the second image, the plurality of second pixel coordinate being determined based on the plurality of three-dimensional coordinates and the second camera parameter set,
wherein the computer determines a plurality of third pixel coordinates in the third image, the plurality of third pixel coordinate being determined based on the plurality of three-dimensional coordinates and the third camera parameter set,
wherein the computer calculates an evaluation value using the second image captured by the second camera and the third image captured by the third camera, the evaluation value being calculated based on (i) a plurality of pixel values at the plurality of second pixel coordinates in the second image and (ii) a plurality of pixel values at the plurality of third pixel coordinates in the third image,
wherein the plurality of three-dimensional coordinates and the plurality of second pixel coordinates have a one-to-one correspondence,
wherein the plurality of three-dimensional coordinates and the plurality of third pixel coordinates have a one-to-one correspondence, and
wherein the computer determines a fourth camera parameter set for the third camera, the fourth camera parameter set being determined based on the evaluation value, the fourth camera parameter set including one or a plurality of camera parameters.

2. A method comprising:
capturing, by a first camera that a vehicle includes, a first image;
capturing, by a second camera that the vehicle includes, a second image; and
capturing, by a third camera that the vehicle includes, a third image;
wherein a first camera parameter set of the first camera includes one or a plurality of camera parameters of the first camera,
wherein a second camera parameter set of the second camera includes one or a plurality of camera parameters of the second camera,
wherein the third camera parameter set of the third camera including one or a plurality of camera parameters of the third camera,
wherein a computer calculates a plurality of three-dimensional coordinates based on (i) the first image captured by a first camera, (ii) the second image captured by the second camera, (iii) the first camera parameter set of the first camera, and (iv) the second camera parameter set of the second camera,
wherein the computer determines a plurality of second pixel coordinates in the second image, the plurality of second pixel coordinate being determined based on the plurality of three-dimensional coordinates and the second camera parameter set,
wherein the computer determines a plurality of third pixel coordinates in the third image, the plurality of third pixel coordinate being determined based on the plurality of three-dimensional coordinates and the third camera parameter set,
wherein the computer calculates an evaluation value using the second image captured by the second camera and the third image captured by the third camera, the evaluation value being calculated based on (i) a plurality of pixel values at the plurality of second pixel coordinates in the second image, and (ii) a plurality of pixel values at the plurality of third pixel coordinates in the third image,
wherein the plurality of three-dimensional coordinates and the plurality of second pixel coordinates have a one-to-one correspondence,
wherein the plurality of three-dimensional coordinates and the plurality of third pixel coordinates have a one-to-one correspondence, and
wherein the computer determines a fourth camera parameter set for the third camera, the fourth camera parameter set being determined based on the evaluation value, the fourth camera parameter set including one or a plurality of camera parameters.

Assignees

• Panasonic Ip Man Co Ltd

Inventors

• Nobori Kunio
• Wakai Nobuhiko
• Azuma Takeo
• Sato Satoshi
• Maruyama Ayako
• Nakata Mikiya

Classifications

• H04N2013/0081

  Depth or disparity estimation from stereoscopic image signals · CPC title

• H04N13/246 Primary

  Calibration of cameras · CPC title

• G01B11/002

  for measuring two or more coordinates · CPC title

• H04N13/243

  using three or more two-dimensional [2D] image sensors · CPC title

• H04N7/181 Primary

  for receiving images from a plurality of remote sources · CPC title