基本信息:
- 专利标题： Device and method for detecting plane from image
- 专利标题（中）：用于从图像检测平面的装置和方法
- 申请号：JP2009289428 申请日：2009-12-21
- 公开(公告)号：JP2011129048A 公开(公告)日：2011-06-30
- 发明人： KUNIHIRO TAKAO , SAKANO HAJIME
- 申请人： Ihi Aerospace Co Ltd , Ihi Corp , 株式会社Ihi , 株式会社Ihiエアロスペース
- 专利权人： Ihi Aerospace Co Ltd,Ihi Corp,株式会社Ihi,株式会社Ihiエアロスペース
- 当前专利权人： Ihi Aerospace Co Ltd,Ihi Corp,株式会社Ｉｈｉ,株式会社Ｉｈｉエアロスペース
- 优先权： JP2009289428 2009-12-21
- 主分类号： G08G1/16
- IPC分类号： G08G1/16 ; G01B21/00 ; G06T1/00 ; G06T7/00
摘要：
PROBLEM TO BE SOLVED: To provide a device and method for detecting a plane from an image, while estimating an initial value of a projection conversion matrix H with high accuracy in a short time even when a vehicle heavily shakes.
SOLUTION: The detection method has: a step of detecting a posture angle of a mobile object; and a step of correcting a stored normal vector n of the plane using the detected posture angle. In the step of correcting the normal vector n, a normal vector n(t-1) of a camera coordinate system C is converted into a normal vector n
E (t-1) of an inertial coordinate system E using the posture angle in the previous time (t-1), and the normal vector n
E (t-1) of the inertial coordinate system E is converted into a normal vector n(t) of the camera coordinate system C using the posture angle at the current time (t).
COPYRIGHT: (C)2011,JPO&INPIT
摘要（中）：
SOLUTION: The detection method has: a step of detecting a posture angle of a mobile object; and a step of correcting a stored normal vector n of the plane using the detected posture angle. In the step of correcting the normal vector n, a normal vector n(t-1) of a camera coordinate system C is converted into a normal vector n
E (t-1) of an inertial coordinate system E using the posture angle in the previous time (t-1), and the normal vector n
E (t-1) of the inertial coordinate system E is converted into a normal vector n(t) of the camera coordinate system C using the posture angle at the current time (t).
COPYRIGHT: (C)2011,JPO&INPIT
要解决的问题：提供一种用于从图像中检测平面的装置和方法，同时即使在车辆剧烈晃动时也能在短时间内高精度地估计投影转换矩阵H的初始值。 检测方法具有：检测移动体的姿势角的步骤; 以及使用检测到的姿势角校正所存储的平面的法线矢量n的步骤。 在校正法线向量n的步骤中，相机坐标系C的法线向量n（t-1）被转换成惯性坐标系的法向矢量n （t-1） 使用惯性坐标系E的前一时刻（t-1）的姿态角度和法线矢量n E（SB-1）转换成法线向量n（t） 摄像机坐标系C使用当前时间（t）的姿态角度。 版权所有（C）2011，JPO＆INPIT