Image processing apparatus and method, image processing system and program
View Patent ↗There is provided an image processing apparatus including multiple imaging units included in a stereo camera, the multiple imaging units configured to photograph a chart pattern including a pole, and a correction parameter calculation unit configured to calculate a correction parameter that corrects a gap between the multiple imaging units, based on the pole and a pattern included in the chart pattern photographed by the multiple imaging units.
1. An image processing apparatus comprising:
multiple imaging units included in a stereo camera, the multiple imaging units configured to photograph a chart pattern including a pole; and
a correction parameter calculation unit configured to calculate a correction parameter that corrects a gap between the multiple imaging units, based on the pole and a pattern included in the chart pattern photographed by the multiple imaging units.
2. The image processing apparatus according to claim 1 , wherein the pole includes a disk portion in a tip and a side shape of the tip is T-shaped.
3. The image processing apparatus according to claim 1 , further comprising:
a pole detection unit configured to detect the pole included in the chart pattern photographed by the multiple imaging units;
a tilt detection unit configured to detect a tilt of the chart pattern based on the pole detected by the pole detection unit;
a detection unit configured to detect a feature point based on the pattern included in the chart pattern photographed by the multiple imaging units; and
a feature point correction unit configured to correct arrangement of the feature point detected by the detection unit, based on the tilt detected by the tilt detection unit,
wherein the correction parameter calculation unit calculates the correction parameter that corrects the gap between the multiple imaging units, based on information on the feature point whose arrangement is corrected by the feature point correction unit.
4. The image processing apparatus according to claim 1 , wherein the chart pattern includes a box chart and a lattice point chart.
5. The image processing apparatus according to claim 1 , wherein the pole is installed at a position protruding from the chart pattern.
6. The image processing apparatus according to claim 1 , wherein the pole is formed of a disk portion and a prop portion.
7. The image processing apparatus according to claim 6 , wherein the prop portion is installed at a position of chart pattern, and the disk portion is formed upon an end of the prop portion that is protruded from the chart pattern.
8. The image processing apparatus according to claim 1 , wherein the chart pattern is a planar chart pattern.
9. The image processing apparatus according to claim 1 , wherein the correction parameter calculation unit calculates the correction parameter that corrects the gap between the multiple imaging units, based on a shift amount of the pole and the pattern included in the chart pattern.
10. The image processing apparatus according to claim 1 , wherein the chart pattern includes a plurality of poles.
11. An image processing method comprising:
photographing a chart pattern including a pole by multiple imaging units included in a stereo camera; and
calculating a correction parameter that corrects a gap between the multiple imaging units, based on the pole and a pattern included in the chart pattern photographed by the multiple imaging units.
12. A non-transitory computer-readable medium having embodied thereon a program, which when executed by a computer causes the computer to perform a method, the method comprising:
photographing a chart pattern including a pole by multiple imaging units included in a stereo camera; and
calculating a correction parameter that corrects a gap between the multiple imaging units, based on the pole and a pattern included in the chart pattern photographed by the multiple imaging units.
13. An image processing system comprising:
an image processing apparatus configured to include multiple imaging units; and
a chart pattern configured to perform calibration in an imaging direction of each of the imaging units,
wherein the chart pattern is installed in a position facing the multiple imaging units and includes a pattern as a feature point and a pole, and
wherein the image processing apparatus includes the multiple imaging units that are included in a stereo camera and photograph the chart pattern, and a correction parameter calculation unit that calculates a correction parameter which corrects a gap between the multiple imaging units, based on the pole and a pattern included in the chart pattern photographed by the multiple imaging units.