Imaging control device and method, and vehicle
The present technology relates to an imaging control device and method, and a vehicle that enable improvement of distance measurement accuracy. A distance of an observation point in a detection range is detected by a detection unit. The detected distance of the observation point is corrected by a correction unit on the basis of overlap of observation points in a plurality of detection ranges corresponding to a plurality of the detection units. For example, overlap between the observation point detected in the detection range on a side surface of the vehicle and the observation point detected in the detection range in front of the vehicle is detected, and the detected distance is corrected on the basis of the detected overlap of the observation points. The present technology can be applied to driving assistance of a vehicle.
1. An imaging control device, comprising:
a plurality of detection units, wherein
each detection unit of the plurality of detection units has a corresponding detection range, and
each detection unit of the plurality of detection units is configured to detect a distance of an observation point in the corresponding detection range, wherein the distance of the observation point detected by each detection unit in the corresponding detection range is associated with an error range; and
a correction unit configured to:
detect a plurality of overlaps of error ranges of distances of observation points detected by the plurality of detection units in corresponding detection ranges; and
correct the detected distance of an observation point based on a first overlap of the plurality of overlaps, wherein
the first overlap has a smaller distance from a vehicle than a second overlap of the plurality of overlaps, or
the first overlap has a smaller distance from the observation point than the second overlap.
2. The imaging control device according to claim 1 , wherein
the distance of each observation point is detected based on an image captured by at least a set of cameras configuring a stereo camera system.
3. The imaging control device according to claim 2 , wherein
the plurality of detection units is a plurality of stereo camera systems directed in different directions from one another.
4. The imaging control device according to claim 2 , wherein
the correction unit is further configured to correct the detected distance based on the plurality of overlaps of error ranges in two directions out of four directions around the vehicle.
5. The imaging control device according to claim 3 , wherein
the at least set of cameras is in a vertical direction and has at least one optical axis directed obliquely downward.
6. The imaging control device according to claim 3 , further comprising
a plurality of cameras configuring the stereo camera system.
7. The imaging control device according to claim 1 , wherein
the observation point is a point obtained by measurement of a target object around the vehicle.
8. The imaging control device according to claim 1 , further comprising
a recognition processing unit configured to recognize a target object corresponding to the observation point based on an image captured by at least one camera mounted on the vehicle.
9. The imaging control device according to claim 1 , further comprising
a specific detection unit including at least one of an ultrasonic sensor, an infrared sensor, a millimeter wave sensor, or a radar, wherein
the correction unit is further configured to correct the detected distance based on using a detection result of the specific detection unit.
10. An imaging control method, comprising:
detecting, by each detection unit of a plurality of detection units, a distance of an observation point in a corresponding detection range, wherein the distance of the observation point detected by each detection unit in the corresponding detection range is associated with an error range;
detecting a plurality of overlaps of error ranges of distances of observation points detected by the plurality of detection units in corresponding detection ranges; and
correcting the detected distance of an observation point based on a first overlap of the plurality of overlaps, wherein
the first overlap has a smaller distance from a vehicle than a second overlap of the plurality of overlaps, or
the first overlap has a smaller distance from the observation point than the second overlap.
11. A vehicle, comprising:
a camera configuring a stereo camera system, wherein the camera is configured to capture a detection range for detection of a distance to an observation point;
a plurality of detection units, wherein
each detection unit of the plurality of detection units has a corresponding detection range, and
each detection unit of the plurality of detection units is configured to detect the distance of the observation point in the corresponding detection range, wherein the distance of the observation point detected by each detection unit in the corresponding detection range is associated with an error range; and
a correction unit configured to:
detect a plurality of overlaps of error ranges of distances of observation points detected by the plurality of detection units in corresponding detection ranges; and
correct the detected distance of the observation point based on a first overlap of the of the plurality of overlaps, wherein
the first overlap has a smaller distance from the vehicle than a second overlap of the plurality of overlaps, or
the first overlap has a smaller distance from the observation point than the second overlap.