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公开(公告)号：US20130215280A1
公开(公告)日：2013-08-22
申请号：US13564612
申请日：2012-08-01
IPC分类号： 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 index, 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 index (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 a camera mounting angle based on the display position of the calibration marker (14) displayed overlapping two points of the calibration index (8).
摘要翻译： 本发明的目的是提供一种照相机校准装置，通过使用校准索引，照相机和照相机校准方法能够进行相机校准的单次操作。 相机校准装置（100）包括被配置为拍摄校准索引（8）的图像的成像单元（1），被配置为指示校准标记（14）的显示位置被叠加的指令装置（5） 在所述图像上，图像信号处理装置（3）被配置为处理所述图像，使得根据所述指示在所述显示位置叠加所述校准标记;以及计算单元（4），被配置为基于所述图像信号处理装置 显示校准标记（14）的显示位置与校准索引（8）的两点重叠。
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2.发明授权Calibration operation device, camera device, camera system and camera calibration method 有权校准操作装置，相机装置，相机系统和相机校准方法公开(公告)号：US08928757B2
公开(公告)日：2015-01-06
申请号：US13542965
申请日：2012-07-06
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 an index 41 provided outside a movable object 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 index 41 is included in the area of the first adjustment part 421 and the index 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包括：照相机11，被配置为拍摄包括设置在可移动物体100外部的索引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 在叠加图像中移位，使得索引41的一端包括在第一调整部421的区域中，索引41位于第二调整部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。
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公开(公告)号：US08687067B2
公开(公告)日：2014-04-01
申请号：US13542960
申请日：2012-07-06
申请人： Takeo Oshima , Takashi Maekawa , Ryuuichi Sawada , Haruo Yanagisawa , Chinatsu Sakurai , Akinori Iwabuchi , Shinya Tamizu , Takashi Inoue
发明人： Takeo Oshima , Takashi Maekawa , Ryuuichi Sawada , Haruo Yanagisawa , Chinatsu Sakurai , Akinori Iwabuchi , Shinya Tamizu , Takashi Inoue
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 movable object 100 and includes a camera 11 configured to take an image including an index 41 provided outside the movable object 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 index 41 meets the position adjustment part and a part of the index 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安装在可移动物体100的预定位置，并且包括被配置为拍摄包括设置在可移动物体100外部的索引41的图像的照相机11，被配置为通过叠加产生叠加图像的图像叠加单元122 在摄像机11拍摄的图像上具有位置调整部和旋转调整部的校准对象42，以及计算部124，其基于校准对象42在叠加图像中移位后的位置， 索引41的端部或中心与位置调整部分相遇，并且除了端部或中心之外的索引的一部分与旋转调节部分重叠，相对于摇摄角度的参数，用于校准的倾斜角度和滚动角度 相机安装位置。
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4.发明申请CALIBRATION OPERATION DEVICE, CAMERA DEVICE, CAMERA SYSTEM AND CAMERA CALIBRATION METHOD 有权校准操作装置，相机装置，相机系统和相机校准方法公开(公告)号：US20130265442A1
公开(公告)日：2013-10-10
申请号：US13542965
申请日：2012-07-06
IPC分类号： H04N17/00
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 an index 41 provided outside a movable object 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 index 41 is included in the area of the first adjustment part 421 and the index 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包括：照相机11，被配置为拍摄包括设置在可移动物体100外部的索引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，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 在叠加图像中移位，使得索引41的一端包括在第一调整部421的区域中，索引41位于第二调整部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。
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公开(公告)号：US20130222607A1
公开(公告)日：2013-08-29
申请号：US13542960
申请日：2012-07-06
申请人： Takeo OSHIMA , Takashi MAEKAWA , Ryuuichi SAWADA , Haruo YANAGISAWA , Chinatsu SAKURAI , Akinori IWABUCHI , Shinya TAMIZU , Takashi INOUE
发明人： Takeo OSHIMA , Takashi MAEKAWA , Ryuuichi SAWADA , Haruo YANAGISAWA , Chinatsu SAKURAI , Akinori IWABUCHI , Shinya TAMIZU , Takashi INOUE
IPC分类号： H04N17/00
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 movable object 100 and includes a camera 11 configured to take an image including an index 41 provided outside the movable object 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 index 41 meets the position adjustment part and a part of the index 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安装在可移动物体100的预定位置，并且包括被配置为拍摄包括设置在可移动物体100外部的索引41的图像的照相机11，被配置为通过叠加产生叠加图像的图像叠加单元122 在摄像机11拍摄的图像上具有位置调整部和旋转调整部的校准对象42，以及计算部124，其基于校准对象42在叠加图像中移位后的位置， 索引41的端部或中心与位置调整部分相遇，并且除了端部或中心之外的索引的一部分与旋转调节部分重叠，相对于摇摄角度的参数，用于校准的倾斜角度和滚动角度 相机安装位置。
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