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Stereo camera supporting apparatus, stereo camera supporting method, calibration detection apparatus, calibration correction apparatus, and stereo camera system

A technology of stereo cameras, supporting devices, applied in the direction of measuring devices, using optical devices, measuring distances, etc.

Inactive Publication Date: 2005-11-23
OLYMPUS CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Furthermore, there is the problem that in order to perform calibration, multiple known flags must be configured to process

Method used

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  • Stereo camera supporting apparatus, stereo camera supporting method, calibration detection apparatus, calibration correction apparatus, and stereo camera system
  • Stereo camera supporting apparatus, stereo camera supporting method, calibration detection apparatus, calibration correction apparatus, and stereo camera system
  • Stereo camera supporting apparatus, stereo camera supporting method, calibration detection apparatus, calibration correction apparatus, and stereo camera system

Examples

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no. 1 Embodiment approach

[0133] Figure 6 It is a diagram showing a configuration example of the stereo camera coupling device 56 of the stereo camera support device 50 according to the first embodiment of the present invention.

[0134] The stereo camera coupling device 56 is a coupling member for mounting the stereo camera 16 on the vehicle 80 and can control the stereo camera 16 to freely change to a desired position and posture. Both ends of the stereo camera coupling device 56 are provided with a supporting member 84 fixed to an appropriate part of the vehicle body for coupling with the vehicle body, and a supported component 86 for coupling with the stereo camera 16 .

[0135] In addition, there is provided a mechanism for allowing the stereo camera 16 integrated in the vehicle body to be freely oriented within a predetermined range. That is, this mechanism is an attitude control mechanism and includes a pan rotation motor 88a, a pitch rotation motor 88b, and a roll rotation motor 88c that can ...

no. 2 Embodiment approach

[0166] Next, a stereo camera support device 50 according to a second embodiment of the present invention will be described.

[0167] The stereo camera support device 50 of the second embodiment is included in the same manner as the stereo camera support device 50 of the first embodiment described above. figure 1 shown in the stereo camera system to be applied. In addition, the configuration of the stereo camera combination device 56 of the second embodiment is the same as Figure 6 The configuration of the stereo camera combination device 56 of the first embodiment shown is the same. Therefore, the same reference numerals are assigned to the same parts as in the first embodiment, and detailed description thereof will be omitted.

[0168] Next, the operation of the stereo camera support device 50 according to the second embodiment of the present invention will be described. In the present embodiment, the stereo camera support device 50 corrects changes in the field of view c...

no. 3 Embodiment approach

[0183] Next, a stereo camera support device 50 according to a third embodiment of the present invention will be described.

[0184] The stereo camera support device 50 of the third embodiment is included in the same manner as the stereo camera support device 50 of the first embodiment described above. figure 1 shown in the stereo camera system to be applied. In addition, the configuration of the stereo camera combination device 56 of the third embodiment is the same as Figure 6 The configuration of the stereo camera combination device 56 of the first embodiment shown is the same. Therefore, the same reference numerals are assigned to the same parts as in the first embodiment, and detailed description thereof will be omitted.

[0185] Next, the operation of the stereo camera support device 50 according to the third embodiment of the present invention will be described. In the present embodiment, the stereo camera support device 50 corrects a change in the field of view caus...

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Abstract

A stereo camera supporting apparatus of the present invention comprises a joining member constituted in such a manner as to support a stereo camera on a vehicle, and a control device which controls posture or position of the stereo camera supported on the vehicle by the joining member. The control device controls the posture or position of the stereo camera with respect to video obtained by the stereo camera in such a manner that a contour portion present in the highest level position in a contour of a noted subject in the video is positioned in a frame upper end of the video or its vicinity irrespective of a change of the posture or position of the vehicle.

Description

technical field [0001] The present invention relates to a stereo camera support device for supporting a stereo camera for obtaining a plurality of images having parallax caused by a plurality of viewpoints isolated from each other, a support method of the stereo camera, and a stereo camera system using them. , and particularly relates to a technology for making the position occupied by a specific subject reflected in the imaging field of view of a stereo camera through them in a specific tendency within a video frame. [0002] Furthermore, the present invention relates to a calibration deviation detecting device for detecting a calibration deviation between an external device of a predetermined position reference and a photographing device for capturing a stereoscopic image, a calibration correction device for the photographing device, a stereo camera and a stereo camera system including the device. Background technique [0003] In recent years, for example, a system that mo...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01C3/06G06T7/00
CPCG06T7/002G06T7/85
Inventor 小坂明生三由贵史岩城秀和荒井和彦
Owner OLYMPUS CORP
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