Abstract: A camera parameter estimating device includes: a camera position posture acquisition unit acquiring estimated position and posture of a camera, based on a captured image acquired by the camera; a first vector calculation unit calculating a first vector corresponding to a traveling direction of the vehicle; a second vector calculation unit calculating a second vector corresponding to a normal direction of a plane corresponding to a road surface on which the vehicle travels; a third vector calculation unit calculating a third vector orthogonal to the first and second vectors; and a camera parameter estimation unit estimating an actual installation posture of the camera on the basis of the first, second and third vectors and the estimated posture of the camera when the estimated position moves along a direction indicated by the first vector.

Abstract: A three-dimensional position estimation device includes: a feature point detection unit detecting feature points from images captured by an image capturing device mounted in a moving object; a position-posture change amount calculation unit calculating change amounts of a position and a posture of the moving object; a feature point association unit associating feature points using a feature amount indicating a feature of the feature point; a three-dimensional position acquisition unit acquiring three-dimensional positions of the feature points and acquires a position and a posture of the image capturing device; a graph structure data generation unit generating graph structure data configured with feature point and image nodes, and a feature point and image capturing edges; an error function setting unit setting first and second error functions; and a graph structure data optimizing unit optimizing the three-dimensional position and the position and the posture of the image capturing device.

Abstract: A self-position estimation apparatus includes an image capturing unit capturing driving images and reference images at a plurality of positions along a predetermined driving route, a detection unit detecting feature points on each of the driving images and feature points on each of the reference images, a storage unit storing map information which includes the feature points on each of the reference images and a position and a posture of the image capturing unit at a time each of the reference images is captured by the image capturing unit, and an estimation unit selecting a similar image similar to one of the driving images from the reference images to correlate the feature points on the one of the driving images and feature points on the similar image, the estimation unit estimating a position and a posture of an own vehicle a predetermined driving route based on a correlation result.

Abstract: A camera calibration device includes: a storage unit configured to store an allowable range of a camera position posture including at least one of a position and an angle of an in-vehicle camera in association with a reference riding pattern that is a reference of an occupant's riding pattern with respect to a vehicle; an acquisition unit configured to acquire the riding pattern and the camera position posture at a preset timing; and a control unit configured to execute at least one of notification of optical axis deviation of the in-vehicle camera and correction of the optical axis deviation when the acquired camera position posture is not within the allowable range associated with the reference riding pattern that matches the acquired riding pattern in the storage unit.

Abstract: A three-dimensional position estimation device includes: a feature point detection unit detecting feature points from images captured by an image capturing device mounted in a moving object; a position-posture change amount calculation unit calculating change amounts of a position and a posture of the moving object; a feature point association unit associating feature points using a feature amount indicating a feature of the feature point; a three-dimensional position acquisition unit acquiring three-dimensional positions of the feature points and acquires a position and a posture of the image capturing device; a graph structure data generation unit generating graph structure data configured with feature point and image nodes, and a feature point and image capturing edges; an error function setting unit setting first and second error functions; and a graph structure data optimizing unit optimizing the three-dimensional position and the position and the posture of the image capturing device.

Abstract: A camera parameter estimating device includes: a camera position posture acquisition unit acquiring estimated position and posture of a camera, based on a captured image acquired by the camera; a first vector calculation unit calculating a first vector corresponding to a traveling direction of the vehicle; a second vector calculation unit calculating a second vector corresponding to a normal direction of a plane corresponding to a road surface on which the vehicle travels; a third vector calculation unit calculating a third vector orthogonal to the first and second vectors; and a camera parameter estimation unit estimating an actual installation posture of the camera on the basis of the first, second and third vectors and the estimated posture of the camera when the estimated position moves along a direction indicated by the first vector.

Abstract: A camera calibration device includes: a storage unit configured to store an allowable range of a camera position posture including at least one of a position and an angle of an in-vehicle camera in association with a reference riding pattern that is a reference of an occupant's riding pattern with respect to a vehicle; an acquisition unit configured to acquire the riding pattern and the camera position posture at a preset timing; and a control unit configured to execute at least one of notification of optical axis deviation of the in-vehicle camera and correction of the optical axis deviation when the acquired camera position posture is not within the allowable range associated with the reference riding pattern that matches the acquired riding pattern in the storage unit.

Abstract: A self-position estimation apparatus includes an image capturing unit capturing driving images and reference images at a plurality of positions along a predetermined driving route, a detection unit detecting feature points on each of the driving images and feature points on each of the reference images, a storage unit storing map information which includes the feature points on each of the reference images and a position and a posture of the image capturing unit at a time each of the reference images is captured by the image capturing unit, and an estimation unit selecting a similar image similar to one of the driving images from the reference images to correlate the feature points on the one of the driving images and feature points on the similar image, the estimation unit estimating a position and a posture of an own vehicle a predetermined driving route based on a correlation result.

Abstract: A parking assistance device includes: a parking space candidate detection unit estimating positions of obstacles based on data of distance to the obstacles at both sides of a host vehicle, and detecting a parking space candidate at the sides of the vehicle; an image selection unit selecting two or more captured images in which an inner side surface of an obstacle adjacent to the parking space candidate is captured; a stereo image processing unit performing stereo image processing on the two or more captured images and calculating a three-dimensional point group of the obstacle; a position determination unit determining a position of the obstacle on the parking space candidate side based on the calculated three-dimensional point group; and a parking space correction unit correcting a position of the parking space candidate based on the determined position of the obstacle on the parking space candidate side.

Abstract: A parking assistance device includes: a parking space candidate detection unit estimating positions of obstacles based on data of distance to the obstacles at both sides of a host vehicle, and detecting a parking space candidate at the sides of the vehicle; an image selection unit selecting two or more captured images in which an inner side surface of an obstacle adjacent to the parking space candidate is captured; a stereo image processing unit performing stereo image processing on the two or more captured images and calculating a three-dimensional point group of the obstacle; a position determination unit determining a position of the obstacle on the parking space candidate side based on the calculated three-dimensional point group; and a parking space correction unit correcting a position of the parking space candidate based on the determined position of the obstacle on the parking space candidate side.

Abstract: An on-board camera calibration device with high productivity is provided which allows speedy calibration of the on-board camera with high precision with a simple construction. Based on an actual coordinate specified in a projecting plane of a camera coordinate system and a converted coordinate obtained by converting an initial coordinate of a calibration point with using unfixed camera adjustment values, the adjustment values corresponding to angles of rotation about one or two axes from among three axes of the camera coordinate system are calculated and the camera adjustment values are updated. Based on the actual coordinate and the converted coordinate in accordance with the updated camera adjustment values, the adjustment values corresponding to angles of rotation about the remaining axes of the camera coordinate system is calculated and the camera adjustment values are updated. When the predetermined completion condition is satisfied, the updated camera adjustment values are fixed.

Abstract: An on-board camera calibration device with high productivity is provided which allows speedy calibration of the on-board camera with high precision with a simple construction. Based on an actual coordinate specified in a projecting plane of a camera coordinate system and a converted coordinate obtained by converting an initial coordinate of a calibration point with using unfixed camera adjustment values, the adjustment values corresponding to angles of rotation about one or two axes from among three axes of the camera coordinate system are calculated and the camera adjustment values are updated. Based on the actual coordinate and the converted coordinate in accordance with the updated camera adjustment values, the adjustment values corresponding to angles of rotation about the remaining axes of the camera coordinate system is calculated and the camera adjustment values are updated. When the predetermined completion condition is satisfied, the updated camera adjustment values are fixed.

Abstract: Disclosed is a foam-molded member having a skin with which peeling or floating does not occur when the skin is wrapped. Also disclosed is a method of manufacturing the foam-molded member having a skin. A foam-molded member having a skin, such as a door trim, includes a core, a skin, foam and a fixing member. The core can be folded at a folding portion, and the skin faces the core. The foam is filled in a space between the core and the skin. The fixing member fixes the core that is integrally formed with the skin and the foam and is folded at the folding portion. The core is divided into a body portion and an extension portion, with the folding portion serving as a boundary. The extension portion folded at the folding portion is fixed to the body portion by the fixing member.

Abstract: Disclosed is a foam-molded member having a skin with which peeling or floating does not occur when the skin is wrapped. Also disclosed is a method of manufacturing the foam-molded member having a skin. A foam-molded member having a skin, such as a door trim, includes a core, a skin, foam and a fixing member. The core can be folded at a folding portion, and the skin faces the core. The foam is filled in a space between the core and the skin. The fixing member fixes the core that is integrally formed with the skin and the foam and is folded at the folding portion. The core is divided into a body portion and an extension portion, with the folding portion serving as a boundary. The extension portion folded at the folding portion is fixed to the body portion by the fixing member.