The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 26, 2016
Filed:
Oct. 10, 2013
Image processing apparatus and image processing method with projective transform of multiple cameras
Fujitsu Limited, Kawasaki-shi, Kanagawa, JP;
Yasuhiro Aoki, Kawasaki, JP;
Masami Mizutani, Kawasaki, JP;
FUJITSU LIMITED, Kawasaki, JP;
Abstract
An image processing apparatus includes an image obtaining section for obtaining images from cameras on a moving object; a correspondence processing section for generating a correspondence between characteristic points extracted from a pair of images before and after the moving object moves straight; a height/orientation estimating section for estimating orientations and heights of the cameras, by estimating a homography matrix from the corresponded characteristic points, then decomposing the homography matrix, and using the decomposition result, a movement direction vector, a road surface normal vector, and a moved amount of the moving object; a projective transform section for applying projective transform to common view parts between the cameras; and a relative position estimating section for estimating a relative position of one of the cameras relative to another one of the cameras using translation for overlapping the common view parts after projective transform.