Vicinity supervising device and vicinity supervising method of vehicle
A vicinity supervising device of a vehicle includes an image capturing unit capturing a plurality of images at different locations; a distance acquiring unit acquiring a distance up to the object detected by transmitting and receiving probing waves from/to the object; a first offset calculation unit calculating a first parallax offset value based on the plurality of images and the distance up to the object; and a second offset calculation unit calculating a second parallax offset value based on a change in a parallax in a predetermined period at an identical point among the plurality of images and a travel distance of the vehicle travelling in a predetermined period; and a parallax correction unit correcting the parallax using the first parallax offset value under a condition where a difference between the first parallax offset value and the second parallax offset value is less than or equal to a threshold.
1. A vicinity supervising device of a vehicle, the vehicle including imaging units configured to capture images and a distance detecting unit configured to detect distance by transmitting and receiving probing waves, the device comprising:
an image capturing unit that acquires, using a processor, a plurality of images from the imaging units in which an object is simultaneously captured at different locations;
a distance acquiring unit that acquires, using the processor, a distance up to the object from the distance detecting unit;
a first offset calculation unit that calculates, using the processor, a first parallax offset value based on the plurality of images and the distance up to the object; and
a second offset calculation unit that calculates, using the processor, a second parallax offset value based on a change in a parallax in a predetermined period at an identical point among the plurality of images acquired by the image capturing unit and a travel distance of the vehicle travelling in the predetermined period; and
a parallax correction unit that corrects, using the processor, the parallax using the first parallax offset value under a condition in which a difference between the first parallax offset value and the second parallax offset value is less than or equal to a threshold, wherein
the parallax correction unit does not correct the parallax under a condition in which a difference between the first parallax offset value and the second parallax offset value is greater than the threshold.
2. The vicinity supervising device according to claim 1 , wherein
the first offset calculation unit is configured to calculate, using the processor, the first parallax offset value under a condition in which the object captured in the plurality of images and the object from which the distance has been acquired are determined as identical.
3. The vicinity supervising device according to claim 1 , wherein
the parallax correction unit is configured to output using the processor, a signal notifying an abnormality under a condition in which a difference between the first parallax offset and the second parallax offset is neither equal to nor less than a threshold.
4. A method for supervising a vicinity of a vehicle comprising:
acquiring a plurality of images in which an object is simultaneously captured at different locations;
acquiring a distance up to the object;
calculating a first parallax offset value based on the plurality of images and the distance up to the object;
calculating a second parallax offset value based on a change in a parallax in a predetermined period at an identical point among the plurality of images acquired and a travel distance of the vehicle travelling in for the predetermined period; and
correcting the parallax using the first parallax offset value under a condition in which a difference between the first parallax offset value and the second parallax offset value is less than or equal to a threshold, wherein
the parallax is not corrected under a condition in which a difference between the first parallax offset value and the second parallax offset value is greater than the threshold.
5. The vicinity supervising device according to claim 1 , wherein the processor comprises a field-programmable gate array.
6. A system for correcting parallax of images captured by a vehicle equipped with imaging units and a distance detecting unit, the imaging units configured to capture images and the distance detecting unit configured to detect distance by transmitting and receiving probing waves, the system comprising:
a processor;
a non-transitory computer-readable storage medium; and
a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to implement:
acquiring a plurality of images from the imaging units in which an object is simultaneously captured at different locations;
acquiring a distance up to the object from the distance detecting unit;
calculating a first parallax offset value based on the plurality of images and the distance up to the object;
calculating a second parallax offset value based on a change in a parallax in a predetermined period at an identical point among the plurality of images acquired and a travel distance of the vehicle travelling in for the predetermined period; and
correcting the parallax using the first parallax offset value under a condition in which a difference between the first parallax offset value and the second parallax offset value is less than or equal to a threshold, wherein
the parallax is not corrected under a condition in which a difference between the first parallax offset value and the second parallax offset value is greater than the threshold.