Abstract: This camera calibration device is provided with: an image acquisition unit into which a plurality of images captured at different times by a camera mounted to a vehicle are inputted; a feature point extraction unit which extracts features points from each of the images inputted into the image acquisition unit; a feature point tracking unit which tracks the feature points between the plurality of images; a vehicle movement acquisition unit which acquires information related to the movement of the vehicle; a trajectory estimation unit which, on the basis of the information acquired by the vehicle movement acquisition unit, estimates the trajectory of the feature points corresponding to the movement of the vehicle; and an internal parameter estimation unit which estimates internal parameters of the camera on the basis of the trajectory of the feature points tracked by the feature point tracking unit, and the trajectory of the feature points estimated by the trajectory estimation unit.

Abstract: This camera calibration device is provided with: an image acquisition unit into which a plurality of images captured at different times by a camera mounted to a vehicle are inputted; a feature point extraction unit which extracts features points from each of the images inputted into the image acquisition unit; a feature point tracking unit which tracks the feature points between the plurality of images; a vehicle movement acquisition unit which acquires information related to the movement of the vehicle; a trajectory estimation unit which, on the basis of the information acquired by the vehicle movement acquisition unit, estimates the trajectory of the feature points corresponding to the movement of the vehicle; and an internal parameter estimation unit which estimates internal parameters of the camera on the basis of the trajectory of the feature points tracked by the feature point tracking unit, and the trajectory of the feature points estimated by the trajectory estimation unit.

Abstract: Provided is an on-vehicle processing device that can estimate the position of a vehicle with higher accuracy. A storage unit stores a parking lot point group including a plurality of coordinates of points of a part of an object in a parking lot coordinate system. A sensor input unit acquires peripheral information from a camera. A movement information acquisition unit acquires movement information. A local peripheral information creation unit generates local peripheral information expressing second point group data including a position of the vehicle in a local coordinate system and a plurality of coordinates of points of a part of the object in the local coordinate system on the basis of the peripheral information and the movement information.

Abstract: A calibration system is mounted in a vehicle and is provided with: an attitude sensor that acquires attitude information regarding a vehicle coordinate system of the vehicle; an image pickup unit that captures an image of the surroundings of the vehicle; an attitude-sensor reliability level calculation unit that calculates an attitude-sensor reliability level that is a reliability level of the attitude sensor; and an attitude use estimation unit that estimates, in the case where the calculated attitude-sensor reliability level is greater than a predetermined threshold, an external parameter of the image pickup unit using the attitude information output by the attitude sensor and a relationship of a coordinate system of the image pickup unit to the vehicle coordinate system.

Abstract: There are provided a calibration apparatus and method capable of obtaining a high-precision calibration result by taking out only feature points on a road surface from images captured by an in-vehicle camera which is a calibration target. A road surface range is estimated by using feature points appearing in an image(s) captured by a camera (a front camera 102 or a rear camera 103) that is not a camera on which the calibration is executed (a side camera 106); and the calibration is executed by using only feature points existing within the estimated road surface range from among the feature points appearing in an image(s) captured by the camera on which the calibration is executed.

Abstract: In an onboard processing device, a parking path when a vehicle, which is a target vehicle, enters a parking place and a parking map including the parking place are obtained by an information obtaining unit, a peripheral environment of the vehicle is detected by a periphery detection unit, a vehicle position on the parking map is estimated by a vehicle position estimation unit, and a drive-out path when the vehicle is driven out from the parking place is set based on the estimated vehicle position, the parking path, and the detected peripheral environment by a path setting unit.

Abstract: This calibration apparatus calibrates a camera mounted on a vehicle and includes: an image obtaining unit that obtains an image of outside of the vehicle; and a calibration unit that calibrates a camera parameter which is the roll angle and/or the pitch angle of the camera by using corresponding feature points in an image of the vehicle captured before a change in the attitude thereof and in an image captured after the change in the attitude thereof.

Abstract: The present invention provides a camera calibration device and a camera calibration system with which it is possible to execute calibration even in a situation where the load-bearing state of a vehicle changes, and also to precisely estimate all of camera parameters and execute calibration without utilizing the parallelism of the vehicle to, e.g., a white line. The orientation of a vehicle is estimated on the basis of a prescribed feature amount extracted from a video, the translation-direction position of a camera relative to ground is corrected on the basis of information obtained from the calibration executed at a time in the past such as the time of product shipment, and a camera parameter pertaining to the orientation of the camera relative to ground is calculated on the basis of the orientation of the vehicle and the translation-direction position of the camera relative to ground.

Abstract: An in-vehicle processing apparatus is capable of performing position estimation resistant to disturbance.

Abstract: A camera calibration device that captures images of at least one marker with at least two cameras and calibrates installation states of the at least two cameras based upon the captured images by the at least two cameras, includes: an extracting unit that extracts a feature amount of the at least one marker based upon the captured images by the at least two cameras; a primary calibration unit that calculates a position of each of the at least two cameras in a marker coordinate system, based upon the feature amount; and a secondary calibration unit that preforms coordinate transformation of the position of each of the cameras in the marker coordinate system calculated by the primary calibration unit, into a position of each of the cameras in a vehicle coordinate system.

Abstract: This calibration apparatus calibrates a camera mounted on a vehicle and includes: an image obtaining unit that obtains an image of outside of the vehicle; and a calibration unit that calibrates a camera parameter which is the roll angle and/or the pitch angle of the camera by using corresponding feature points in an image of the vehicle captured before a change in the attitude thereof and in an image captured after the change in the attitude thereof.

Abstract: The present invention provides a camera calibration device and a camera calibration system with which it is possible to execute calibration even in a situation where the load-bearing state of a vehicle changes, and also to precisely estimate all of camera parameters and execute calibration without utilizing the parallelism of the vehicle to, e.g., a white line. The orientation of a vehicle is estimated on the basis of a prescribed feature amount extracted from a video, the translation-direction position of a camera relative to ground is corrected on the basis of information obtained from the calibration executed at a time in the past such as the time of product shipment, and a camera parameter pertaining to the orientation of the camera relative to ground is calculated on the basis of the orientation of the vehicle and the translation-direction position of the camera relative to ground.

Abstract: A camera calibration device that captures images of at least one marker with at least two cameras and calibrates installation states of the at least two cameras based upon the captured images by the at least two cameras, includes: an extracting unit that extracts a feature amount of the at least one marker based upon the captured images by the at least two cameras; a primary calibration unit that calculates a position of each of the at least two cameras in a marker coordinate system, based upon the feature amount; and a secondary calibration unit that preforms coordinate transformation of the position of each of the cameras in the marker coordinate system calculated by the primary calibration unit, into a position of each of the cameras in a vehicle coordinate system.

Abstract: A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.

Abstract: Provided are a camera calibration device and a camera calibration system that can significantly reduce a burden on an operator associated with transport of calibration patterns or an operation of arranging calibration patterns in a calibration operation, and can significantly reduce the storage place for the calibration patterns.

Abstract: A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.

Abstract: A road shape recognition device capable of accurately recognizing the road shape of a road that lies ahead in the travel direction of a vehicle is provided. A road shape recognition device 1 detects a road region of the road based on an image capturing a scene ahead in the travel direction of the vehicle, and estimates the shape of the road based on that road region. Thus, it is possible to accurately recognize road shapes over distances ranging from short to long.

Abstract: Calibration method of cameras is performed by using images generated by imaging a peripheral area of a vehicle by the cameras, wherein the peripheral area of a vehicle includes a calibration index pre-set on a road surface where the vehicle is positioned. The cameras are mounted on the vehicle, and the calibration index includes intersections formed by at least two first parallel straight lines and two second parallel straight lines having different inclination from the two first parallel straight lines. The camera calibration method includes steps of generating a bird's-eye-view video by viewpoint-converting each of the images based on a first camera parameter that is stored in advance; recognizing the intersections from the generated bird's-eye-view video; and calculating a second camera parameter, via which a non-deviated bird's-eye-view video can be generated, based on the recognized intersections and information on positions and poses of the cameras.

Abstract: A detection device of a planar area is provided. The detection device includes an image obtaining section for obtaining a left image and a right image; a planar area aligning section for setting given regions of interest to the obtained left image and the right image, and through use of a geometric transform function that matches the region of interest of the right image with the region of interest of the left image, performing geometric transform to generate a geometric transform image; and a planar area detecting section for detecting a planar area based on the geometric transform image and the region of interest of the right image. The planar area aligning section sets the planar area detected by the planar area detecting section as a given region of interest.

Abstract: In order to perform vehicle control, a warning process, and the like which do not give a driver an uncomfortable feeling in speed adjustment, a warning process, and the like corresponding to a road shape such as a curve, it is necessary to recognize not only a near road shape but also a far road shape with high accuracy.