Distance estimation apparatus and method
A distance to an object is estimated with a monocular camera that estimates a distance from a moving object to feature points on an image from an imaging device mounted on the moving object. The distance estimator sets one or more feature points on the image acquired from the imaging device at a first timing and detects the feature point on the image acquired from the imaging device at a second timing. The distance estimator also determines the movement amount of the feature point on the image between the first timing and the second timing and determines the movement amount of the moving object between the first and second timings. The distance estimator then estimates the distance from the moving object to the feature point based on the movement amount on the image and the movement amount of the moving object between the first and second timings.
1. A distance estimation apparatus, comprising:
a first means that sets a feature point on a first image acquired from the imaging device at a first timing;
a second means that detects the feature point set at the first means on a second image acquired from the imaging device at a second timing;
a fourth means that determines a movement amount of the feature point between the first image and the second image between the first timing and the second timing;
a fifth means that determines a movement amount of a moving object between the first timing and the second timing; and
a sixth means that estimates a distance from the moving object to the feature point based on the movement amount between the first image and the second image and the movement amount of the moving object between the first timing and the second timing,
wherein the sixth means divides the movement amount into a plurality of directions and estimates the distance to the feature point based on the movement amount of the feature point in each of the directions, and
wherein the sixth means estimates the distance to the feature point in each of the plurality of directions and estimates the distance to the feature point by combining a plurality of the distances estimated in the plurality of directions.
2. The distance estimation apparatus according to claim 1 , wherein, for estimation of the distance, the sixth means determines the distance by weight based on the movement amount of the feature point in the plurality of directions.
3. The distance estimation apparatus according to claim 1 , wherein, for estimation of the distance, the sixth means estimates a position error of the feature point on the image, adjusts a combination parameter based on the estimated error, and estimates the distance based on the distance estimated in the plurality of directions and the adjusted parameter.
4. The distance estimation apparatus according to claim 1 , wherein the combination of the plurality of estimated distances is determined based on the movement amount of the moving object and/or a position of the feature point between the first image and the second image.
5. The distance estimation apparatus according to claim 1 , wherein the moving object includes a plurality of the imaging devices, and the plurality of imaging devices having different installation conditions captures a same object surrounding the moving object to estimate a distance from the moving object to the surrounding object.
6. The distance estimation apparatus according to claim 1 , wherein the sixth means estimates the distance to the feature point using, as a major factor, a larger movement amount among the movement amounts of the feature point in the respective directions divided into the plurality of directions.
7. A distance estimation method, comprising:
setting a feature point on a first image acquired from the imaging device at a first timing;
detecting the feature point on a second image acquired from the imaging device at a second timing;
determining a movement amount of the feature point between the first image and the second image between the first timing and the second timing;
determining a movement amount of a moving object between the first timing and the second timing;
estimating a distance from the moving object to the feature point based on the movement amount between the first image and the second image and the movement amount of the moving object between the first timing and the second timing; and
estimating the distance to the feature point using, as a major factor, a larger movement amount among the movement amounts of the feature point in the respective directions divided into the plurality of directions.
8. The distance estimation method according to claim 7 , comprising dividing the movement amount on the image into a plurality of directions and estimating the distance to the feature point based on the movement amount of the feature point.