Vehicle-mounted stereo camera device and method for correcting the same
A vehicle-mounted stereo camera device that achieves high-precision distance detection is provided, including a left camera and a right camera disposed to cause visual fields to overlap each other, a first enclosure and a second enclosure that enclose the left camera and the right camera and have portions within the visual fields of the left camera and the right camera, respectively, and a stereo processor that calculates a distance to a body outside the vehicle based on images captured by the left camera and the right camera and on positions of the left camera and the right camera on the vehicle. The stereo processor detects displacement amounts of the left camera and the right camera based on amounts of change in positions of the first enclosure and the second enclosure within the visual fields of the left camera and the right camera, and changes a cutout position in the images captured by the left camera and the right camera.
1. A vehicle-mounted stereo camera device comprising:
a first image capturing unit and a second image capturing unit disposed to cause a visual field of the first image capturing unit and a visual field of the second image capturing unit to overlap each other;
a first enclosure that encloses the first image capturing unit and has a portion that is within the visual field of the first image capturing unit;
a second enclosure that encloses the second image capturing unit and has a portion that is within the visual field of the second image capturing unit; and
a controller that calculates a distance to a body outside a vehicle based on an image captured by the first image capturing unit, on an image captured by the second image capturing unit, and on positions of the first image capturing unit and the second image capturing unit on the vehicle,
wherein the controller:
captures two first images using the first image capturing unit;
detects a first shielded region in each of the captured two first images, the first shielded region being shielded by the portion of the first enclosure;
detects a displacement amount of the first image capturing unit based on an amount of change in the first shielded region;
changes a cutout position in an image captured by the first image capturing unit based on the detected displacement amount of the first image capturing unit;
captures two second images using the second image capturing unit;
detects a second shielded region in each of the captured two second images, the second shielded region being shielded by the portion of the second enclosure;
detects a displacement amount of the second image capturing unit based on an amount of change in the second shielded region; and
changes a cutout position in an image captured by the second image capturing unit based on the detected displacement amount of the second image capturing unit.
2. The vehicle-mounted stereo camera device according to claim 1 , wherein the controller:
calculates and stores the displacement amounts every time electric power is supplied to the vehicle;
calculates an average of the displacement amounts when a number of times of the electric power supply reaches a predetermined number; and
changes the cutout positions based on the average of the displacement amounts.
3. A correction method of a vehicle-mounted stereo camera device comprising enclosure that encloses image capturing units and has portions that are within visual fields of the image capturing units,
the correction method comprising:
capturing two images using each of the image capturing units;
for each of the image capturing units, detecting shielded regions in each of the captured two images, the shielded regions being shielded by the portions of the enclosure;
detecting a displacement amount of at least one of the image capturing units based on an amount of change in the shielded regions; and
changing a cutout position in an image captured by at least one of the image capturing units of which the displacement amount is detected based on the detected displacement amount.
4. The correction method of a vehicle-mounted stereo camera device according to claim 3 , the correction method further comprising:
calculating and storing the displacement amounts every time electric power is supplied to a vehicle;
calculating an average of the displacement amounts when a number of times of the electric power supply reaches a predetermined number; and
changing the cutout positions based on the average of the displacement amounts.