Apparatus and method for detecting posture of camera mounted on vehicle

Patent metadata

Field	Value
Publication number	US-9361687-B2
Application number	US-201213489835-A
Country	US
Kind code	B2
Filing date	Jun 6, 2012
Priority date	Jun 13, 2011
Publication date	Jun 7, 2016
Grant date	Jun 7, 2016

Abstract

An in-vehicle camera posture detecting apparatus includes a first image storing unit configured to store an image of a calibration sheet placed near the vehicle, the calibration sheet having a plurality of calibration marks, a first posture estimating unit for estimating the posture of the camera based on the first image, a second image storing unit that stores an image of the calibration sheet after movement of the vehicle, a second posture estimating unit that estimates the posture of the camera based on the second image, a sheet deviation calculating unit that calculates an amount of deviation of the calibration sheet from a predetermined position based on the estimates provided by the first and second posture estimating units, and a camera posture determining unit that determines the posture of the camera based on a posture estimated value and the calculated amount of deviation.

First claim

What is claimed is:

1. An in-vehicle camera posture detecting apparatus for detecting a positional alignment of a camera mounted on a vehicle, the apparatus comprising:
a first image storing unit configured to store, as a first image, an image of a calibration sheet placed in a predetermined position relative to the vehicle and captured by the camera, the calibration sheet having a plurality of calibration marks thereon having a predetermined configuration relative to one another;
a first posture estimating unit configured to estimate the posture of the camera based on the first image;
a second image storing unit configured to store, as a second image, an image of the calibration sheet captured by the camera after movement of the vehicle by a distance;
a second posture estimating unit configured to estimate the posture of the camera based on the second image;
a distance calculating unit configured to calculate the distance;
a sheet deviation calculating unit configured to calculate an amount of deviation of the calibration sheet from the predetermined position of the calibration sheet relative to the vehicle based on the estimates provided by the first posture estimating unit, the second posture estimating unit, and the distance; and
a camera posture determining unit configured to determine the posture of the camera based on a posture estimated value obtained by at least one of the first and second posture estimating units and the calculated amount of deviation.

2. The apparatus according to claim 1 , wherein the distance calculating unit calculates the distance based on the posture estimated values obtained by the first and second posture estimating units.

3. The apparatus according to claim 1 , wherein the camera is installed in a default position and the sheet deviation calculating unit is configured to calculate the deviation amount based on the relationship between the default position of the camera, the estimations by the first and second posture estimating units, and the deviation amount of the calibration sheet from the predetermined position.

4. The apparatus according to claim 1 , wherein the camera posture determining unit is configured to determine an actual camera angle based on the relationship between camera angles estimated by the first and second posture estimating units, and a component in a direction of rotation of the deviation amount of the calibration sheet calculated by the sheet deviation calculating unit.

5. The apparatus according to claim 1 , wherein the camera posture determining unit determines the posture of the camera based on a posture estimated value obtained by the first posture estimating unit.

6. The apparatus according to claim 1 , wherein the vehicle is moved in a straight line.

7. The apparatus according to claim 1 , further comprising:
a display processing unit configured to display a check image on a display, the check image used to determine whether the vehicle has been moved by a predetermined distance.

8. The apparatus according to claim 7 ,
wherein the check image includes a marker that moves in the check image as the vehicle is moved, and an auxiliary line having a display position fixed in the check image, and
wherein the check image is displayed such that the marker coincides with the auxiliary line when the movement of the vehicle by the predetermined distance is completed.

9. The apparatus according to claim 1 , further comprising:
a movement completion determining unit that determines based on images captured by the camera whether the movement of the vehicle by a predetermined distance is completed, and provides a notification on completion of the movement.

10. A method for detecting the posture of a camera mounted on a vehicle, the method comprising:
estimating, by first posture estimating component, the posture of the camera based on an image of a calibration sheet placed in a predetermined position relative to the vehicle and captured by the camera, the calibration sheet having a plurality of calibration marks thereon having a predetermined configuration relative to one another;
estimating, by second posture estimating component, the posture of the camera based on an image of the calibration sheet captured by the camera after movement of the vehicle by a distance;
calculating, by a distance calculating component, the distance;
calculating, by a sheet deviation calculating component, an amount of deviation of the calibration sheet from the predetermined position of the calibration sheet relative to the vehicle based on estimations by the first posture estimating component, the second posture estimating component, and the distance; and
determining, by the camera posture determining component, the posture of the camera based on a posture estimated value obtained by at least one of the first and second posture estimating components and the deviation amount calculated by the sheet deviation calculating component.

11. An in-vehicle camera apparatus configured to detect a posture of a camera mounted on a vehicle, the apparatus comprising:
a first image storing unit configured to store a calibration sheet image captured when a calibration sheet is placed at a predetermined location relative to the vehicle, the calibration sheet having a plurality of calibration marks thereon having a predetermined configuration relative to one another;
a first posture estimating unit configured to estimate the posture of the camera based on the calibration sheet image;
a second image storing unit configured to store a displaced calibration sheet image after the vehicle has moved by a distance relative to the calibration sheet;
a second posture estimating unit configured to estimate the posture of the camera based on the displaced calibration sheet image;
a distance calculating unit configured to calculate the distance;
a sheet deviation calculating unit configured to calculate an amount of deviation of the calibration sheet from the predetermined position of the calibration sheet relative to the vehicle based on the estimates provided by the first posture estimating unit, the second posture estimating unit, and the distance; and
a camera posture determining unit configured to determine the posture of the camera based on a posture estimated value obtained by at least one of the first and second posture estimating units and the calculated amount of deviation.

Assignees

• Shimoda Kenichi
• Watanabe Hisayuki
• Hiruta Kazuhiro
• Alpine Electronics Inc

Inventors

• Shimoda Kenichi
• Watanabe Hisayuki
• Hiruta Kazuhiro

Classifications

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G06T2207/30244

  Camera pose · CPC title

• G06T7/0018 Primary

  Physics · mapped topic

• G06T2207/30204

  Marker · CPC title

• G06T7/80 Primary

  Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration · CPC title