Stereo camera and image pickup system
Provided is an imaging system such as a stereo camera which includes a mechanism capable of controlling a camera setting such as zooming or panning/tilting, wherein the stereo camera and the imaging system maintains measurement accuracy of the imaging system even when the camera setting is changed. The stereo camera including at least two cameras estimates camera parameters of the camera when a lens position of the camera is changed by an operation instruction of the camera. In addition, the imaging system includes at least two cameras, a camera control unit which controls at least a lens position of the camera, a calibration unit which estimates camera parameters of the camera when at least the lens position of the camera is moved by the camera control unit, and an image recognition unit which performs three-dimensional restoration of captured images of the cameras based on the camera parameters.
1. A stereo camera comprising:
at least two cameras;
a calibration unit configured to estimate camera parameters of the stereo camera when a lens position of the stereo camera is changed by an operation instruction of the stereo camera; and
a camera control unit configured to change the lens position of the stereo camera so that a parallax density calculated from each captured image of the cameras and being a ratio of a number of effective parallaxes to a number of edge points is equal to or greater than a predetermined value, thereby acquiring a captured image of the stereo camera.
2. The stereo camera according to claim 1 , wherein
feature points of each captured image of the at least two cameras are searched and the camera parameters are estimated based on a position coordinate of the searched feature points.
3. The stereo camera according to claim 2 , wherein
the captured image is corrected so that epipolar lines of the feature points between the respective captured images of the at least two cameras become parallel.
4. The stereo camera according to claim 2 , wherein
the camera parameters are estimated by performing an iteration process based on the camera parameters at a time of a previous imaging.
5. The stereo camera according to claim 1 , wherein
the captured image is corrected so that epipolar lines of the feature points between the respective captured images of the at least two cameras become parallel.
6. The stereo camera according to claim 1 , wherein
the camera parameters are estimated by performing an iteration process based on the camera parameters at a time of a previous imaging.
7. The stereo camera according to claim 1 , wherein
when the lens position of the stereo camera is changed by an operation instruction of the stereo camera, an actual lens position is responded from the stereo camera and camera parameters are estimated based on a response value from the stereo camera.
8. The stereo camera according to claim 1 , wherein
each of the at least two cameras is installed so as to pivot on a center of the stereo camera, and camera parameters are estimated when the stereo camera is subjected to pan control.
9. An imaging system, comprising:
at least two cameras;
a camera control unit which controls at least a lens position of both of the at least two cameras;
a calibration unit which estimates camera parameters of the at least two cameras when at least the lens position of the at least two cameras is moved by the camera control unit; and
an image recognition unit which performs three-dimensional restoration of captured images of the at least two cameras based on the camera parameters;
wherein the calibration unit changes the lens position of the at least two cameras so that a parallax density calculated from each captured image of the at least two cameras and being a ratio of a number of effective parallaxes to a number of edge points is equal to or greater than a predetermined value, thereby acquiring a captured image of the at least two cameras.
10. The imaging system according to claim 9 , wherein
the calibration unit searches for feature points of respective captured images of the at least two cameras and estimates the camera parameters based on position coordinates of the searched feature points.
11. The imaging system according to claim 10 , wherein
the image recognition unit corrects the captured image so that epipolar lines of feature points between respective captured images of the at least two cameras become parallel.
12. The imaging system according to claim 10 , wherein
a parameter initial value storage unit for storing camera parameters at a time of a previous imaging for each camera setting value is provided, and
the calibration unit performs estimation processing with the camera parameter of the parameter initial value storage unit as an initial value.
13. The imaging system according to claim 9 , wherein
the image recognition unit corrects the captured image so that epipolar lines of feature points between respective captured images of the at least two cameras become parallel.
14. The imaging system according to claim 9 , wherein
a parameter initial value storage unit for storing camera parameters at a time of a previous imaging for each camera setting value is provided, and
the calibration unit performs estimation processing with the camera parameter of the parameter initial value storage unit as an initial value.
15. The imaging system according to claim 9 , wherein
an actual lens position is responded from the at least two cameras when the lens position of the at least two cameras is changed and a camera setting value storage unit for storing a response value from the at least two cameras is provided, and
the calibration unit estimates camera parameters based on the lens position stored in the camera setting value storage unit.