Toshiba Alpine Automotive Technology Corporation

Kiyoyuki Kawai

Kenji Furukawa

According to one embodiment, an onboard camera automatic calibration apparatus includes at least a road surface point selection unit, an amount-of-rotation-around-Z-axis calculation unit and a coordinate rotation correction unit. The road surface point selection unit selects multiple points not less than three on a road surface in a predetermined image among the multiple images obtained by an onboard camera and selects multiple combinations of two points from among the multiple points. The amount-of-rotation-around-Z-axis calculation unit determines, in a camera coordinate system with an optical axis as a Z axis, an amount of rotation around the Z axis such that the road surface is parallel to an X axis, based on the multiple combinations and motion vectors. The coordinate rotation correction unit performs rotation correction around the Z axis for the images obtained by the onboard camera based on the determined amount of rotation around the Z axis.

Onboard camera automatic calibration apparatus

A motion vector computing device according to one embodiment includes: a difference computing unit that computes inter-frame temporal difference value It, uses horizontal direction inter-pixel difference value Ix and vertical direction inter-pixel difference value Iy in a same frame, the current frame signal and the different frame signals when the pixel moves for a small-time, a variance matrix generating unit computes the variances of the gradient in the horizontal direction, in the vertical direction and in the temporal direction of the luminance value on the basis of the difference values Ix, Iy and It, a coefficient computing unit computes a coefficient of a flat plane formula by calculating a formula for giving a minimum with regard to the square error of the flat plane formula approximating the distribution of luminance gradients of the pixel and a vector computing unit computes the motion vector uses the coefficient.

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Iwaki, Japan

Kiyoyuki Kawai