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    IMAGE PROCESSING DEVICE, IMAGE CAPTURING DEVICE, DRIVING SUPPORT DEVICE, MOVING BODY, AND IMAGE PROCESSING METHOD
    3.
    发明公开
    IMAGE PROCESSING DEVICE, IMAGE CAPTURING DEVICE, DRIVING SUPPORT DEVICE, MOVING BODY, AND IMAGE PROCESSING METHOD 审中-公开

    公开(公告)号：EP3703359A1

    公开(公告)日：2020-09-02

    申请号：EP18870811.9

    申请日：2018-10-05

    申请人： Kyocera Corporation

    发明人： MAEKAWA, Takashi

    IPC分类号： H04N7/18 ,  B60R1/00 ,  G03B15/00 ,  H04N5/232

    摘要： An image processing apparatus includes an input interface and first to fourth controllers. The input interface acquires an image. The first controller performs image processing on the image. The second controller performs correction processing to correct optical distortion in the image caused by an optical system that captured the image. The third controller performs recognition processing on an image to which the image processing has been performed and in which the optical distortion has been corrected. The fourth controller superimposes a result of the recognition processing onto the image subjected to the image processing and the correction processing and outputs a resulting image. The first controller can perform at least two types of image processing: first image processing and second image processing. The second controller can perform at least two types of correction processing: first correction processing and second correction processing. The third controller receives an input of an image to which the first image processing and the first correction processing have been performed and outputs information indicating a location of a recognized object in the image. The fourth controller receives an input of an image to which the second image processing and the second correction processing have been performed and the information indicating the location of the recognized object, and superimposes a drawing indicating the location of the recognized object onto a corresponding location in the image. Thus, an image processing apparatus, an imaging apparatus, a driving assistance apparatus, and a mobile body that realize a high detection rate in image recognition and display of a highly visible image can be provided.

    CAMERA DEVICE, CAMERA SYSTEM, AND CAMERA CALIBRATION METHOD
    4.
    发明公开
    CAMERA DEVICE, CAMERA SYSTEM, AND CAMERA CALIBRATION METHOD 有权
    KAMERAVORRICHTUNG，KAMERASYSTEM UND KAMERAKALIBRIUNUNGSVERFAHREN

    公开(公告)号：EP2818363A1

    公开(公告)日：2014-12-31

    申请号：EP13751150.7

    申请日：2013-02-18

    申请人： Kyocera Corporation

    发明人： OSHIMA, Takeo ,  MAEKAWA, Takashi ,  SAWADA, Ryuuichi ,  YANAGISAWA, Haruo ,  SAKURAI, Chinatsu ,  IWABUCHI, Akinori ,  TAMIZU, Shinya ,  INOUE, Takashi

    IPC分类号： B60R1/00 ,  G03B15/00 ,  H04N5/225 ,  H04N5/232

    CPC分类号： B60R1/00 ,  G06T7/80 ,  G06T2207/10004 ,  G06T2207/20092 ,  G06T2207/30244 ,  G06T2207/30252 ,  H04N17/002

    摘要： An object of the present invention is to simplify a calibration operation of a camera and to shorten a time necessary for calibration. A camera calibration device 10 is mounted on a predetermined position of a vehicle 100 and includes a camera 11 configured to take an image including a mark 41 provided outside the vehicle 100, an image superimposing unit 122 configured to generate a superimposed image by superimposing a calibration object 42 having a position adjustment part and a rotation adjustment part on the image taken by the camera 11, and a calculation unit 124 configured to calculate, based on a position of the calibration object 42 after being shifted in the superimposed image such that an end or a center of the mark 41 meets the position adjustment part and a part of the mark other than the end or the center overlaps the rotation adjustment part, parameters relative to a pan angle, a tilt angle and a roll angle for calibration of the camera mounting position.

    摘要翻译： 本发明的目的是简化照相机的校准操作并缩短校准所需的时间。 相机校准装置10安装在车辆100的预定位置，并且包括被配置为拍摄包括设置在车辆100外部的标记41的图像的照相机11，被配置为通过叠加校准产生叠加图像的图像叠加单元122 对象42在摄像机11拍摄的图像上具有位置调整部分和旋转调节部分，以及计算单元124，被配置为基于校准对象42在叠加图像中移位之后的位置来计算，使得结束 或者标记41的中心与位置调整部相遇，并且除端部或中心以外的标记的一部分与旋转调整部重叠，相对于用于校准照相机的摇摄角度，倾斜角度和倾斜角度的参数 安装位置。

    CAMERA CALIBRATION DEVICE, CAMERA, AND CAMERA CALIBRATION METHOD
    5.
    发明公开
    CAMERA CALIBRATION DEVICE, CAMERA, AND CAMERA CALIBRATION METHOD 审中-公开
    照相机校正装置，照相机和摄像机标定方法。

    公开(公告)号：EP2757768A1

    公开(公告)日：2014-07-23

    申请号：EP12832652.7

    申请日：2012-09-13

    申请人： Kyocera Corporation

    发明人： MAEKAWA, Takashi ,  YANAGISAWA, Haruo ,  SAWADA, Ryuuichi

    IPC分类号： H04N5/225 ,  B60R1/00 ,  B60R11/04 ,  H04N7/18 ,  H04N17/00

    CPC分类号： H04N17/004 ,  G06T7/80 ,  G06T2207/20092 ,  G06T2207/30252 ,  H04N17/002

    摘要： An object of the present invention is to provide a camera calibration device, enabling a single operation of camera calibration by using a calibration mark, a camera and a camera calibration method. A camera calibration device (100) includes an imaging unit (1) configured to take an image of a calibration mark (8), an instruction means (5) configured to instruct on a display position of a calibration marker (14) to be superimposed on the image, an image signal processing means (3) configured to process the image such that the calibration marker is superimposed at the display position according to the instruction, and a calculation unit (4) configured to calculate parameters for calibrating deviation of a camera mounting angle based on the display position of the calibration marker (14) displayed overlapping two points of the calibration mark (8).

    CALIBRATION PROCESSOR, CAMERA DEVICE, CAMERA SYSTEM, AND CAMERA CALIBRATION METHOD
    7.
    发明公开
    CALIBRATION PROCESSOR, CAMERA DEVICE, CAMERA SYSTEM, AND CAMERA CALIBRATION METHOD 有权
    KALIBRIERPROZESSOR，KAMERAVORRICHTUNG，KAMERASYSTEM UND KALIBRIERVERFAHRENFÜREINE KAMERA

    公开(公告)号：EP2835962A1

    公开(公告)日：2015-02-11

    申请号：EP13772216.1

    申请日：2013-04-03

    申请人： Kyocera Corporation

    发明人： MAEKAWA, Takashi ,  OSHIMA, Takeo ,  YANAGISAWA, Haruo ,  SAWADA, Ryuuichi

    IPC分类号： H04N5/232 ,  G03B15/00 ,  G03B17/00 ,  G03B17/56 ,  H04N5/225

    CPC分类号： H04N17/002 ,  B60R2300/402 ,  G06T7/80 ,  G06T2200/24 ,  G06T2207/20092 ,  G06T2207/30252

    摘要： An object of the present invention is to simplify an operation for calibration of a camera and to shorten a time necessary for the calibration. A camera calibration device 10 includes: a camera 11 configured to take an image including a mark 41 provided outside a vehicle 100; an image superimposing unit 122 configured to generate a superimposed image by superimposing a calibration object 42 having a first adjustment part 421 indicating a predetermined area and a second adjustment part 422 indicating a predetermined rotation area; and a calculation unit 124 configured to control the image superimposing unit 122 to generate the superimposed image in which the calibration object 42 is shifted based on a shift instruction of the calibration object 42 and to calculate, based on a position of the calibration object 42 after being shifted in the superimposed image such that an end of the mark 41 is included in the area of the first adjustment part 421 and the mark 41 is positioned in the rotation area of the second adjustment part 422, parameters relative to a pan angle, a tilt angle and a roll angle for calibrating displacement of a mounting position of the camera 11.

    摘要翻译： 本发明的目的是简化用于校准照相机的操作并缩短校准所需的时间。 照相机校准装置10包括：照相机11，被配置为拍摄包括设置在车辆100外部的标记41的图像; 图像叠加单元122，被配置为通过叠加具有指示预定区域的第一调节部分421的校准对象42和指示预定旋转区域的第二调节部分422来生成叠加图像; 以及计算单元124，其被配置为基于校准对象42的移位指令来控制图像叠加单元122生成校准对象42移位的叠加图像，并且基于校准对象42之后的位置来计算 在叠加图像中移动，使得标记41的一端包括在第一调整部421的区域中，标记41位于第二调节部422的旋转区域中，相对于摇摄角度的参数， 倾斜角度和滚动角度，用于校准相机11的安装位置的位移。