# US 10,313,658 B2 · Vehicle-mounted stereo camera device and method for correcting the same

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- Number: US 10,313,658 B2
- Document ID: US10313658B2
- Status: Granted
- Kind: B2
- Application number: 15/488,564
- Filed: 2017-04-17
- Published: 2017-08-03
- Granted: 2019-06-04
- Earliest claimed: 2015-09-07
- Assignees: Panasonic Intellectual Property Management Co., Ltd.
- Applicants: Panasonic Intellectual Property Management Co., Ltd.
- Inventors: Shigenori Yatsuri; Norikazu Yamamoto; Mitsuru Kashihara; Yuichi Suzuki; Ken Ishida
- Web page: https://patentgrep.com/patent/US10313658B2

## CPC

- H04N 13/246: Calibration of cameras
- G01B 7/003: {for measuring position, not involving coordinate determination (coordinate measuring G01B7/004)}
- G01C 3/085: {with electronic parallax measurement}
- G06T 7/593: from stereo images
- G06T 7/74: {involving reference images or patches}
- G07C 5/006: {Indicating maintenance}
- H04N 13/128: Adjusting depth or disparity
- H04N 13/239: using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence)
- H04N 13/271: wherein the generated image signals comprise depth maps or disparity maps
- H04N 13/296: Synchronisation thereof; Control thereof
- B60K 35/22: Display screens
- B60K 2360/21: using cameras
- B60R 2300/105: using multiple cameras
- B60R 2300/107: using stereoscopic cameras
- B60R 2300/303: using joined images, e.g. multiple camera images
- B60R 2300/40: characterised by the details of the power supply or the coupling to vehicle components
- G06T 2207/10012: Stereo images
- G06T 2207/10021: Stereoscopic video; Stereoscopic image sequence
- G06T 2207/30252: Vehicle exterior; Vicinity of vehicle
- G06T 2207/30261: Obstacle
- H04N 2013/0081: {Depth or disparity estimation from stereoscopic image signals}
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR

## Abstract

A vehicle-mounted stereo camera device that achieves high-precision distance detection is provided. The provided vehicle-mounted stereo camera device includes a left camera and right camera disposed on a vehicle via a holder to cause visual fields to overlap each other, a stereo processor that calculates a distance to a body outside the vehicle based on images captured by the left camera and right camera and on positions on the vehicle, first and second geomagnetic sensors respectively disposed near the left camera and right camera, and a third geomagnetic sensor disposed on the holder. The stereo processor compares a geomagnetic value detected by the first or second geomagnetic sensor with a geomagnetic value detected by the third geomagnetic sensor, detects a displacement amount of the left camera or right camera, and changes a cutout position in the image captured by the left camera or right camera based on the displacement amount.

## Claims

### Claim 1

A vehicle-mounted stereo camera device comprising:
a first image capturing unit and a second image capturing unit disposed on a vehicle via a holder to cause visual fields to overlap each other;
a controller that calculates a distance to a body outside the vehicle based on an image captured by the first image capturing unit, on an image captured by the second image capturing unit, and on positions of the first image capturing unit and the second image capturing unit on the vehicle;
a first geomagnetic detector disposed near the first image capturing unit;
a second geomagnetic detector disposed near the second image capturing unit; and
a third geomagnetic detector disposed on the holder,
wherein the controller compares a geomagnetic value detected by the first geomagnetic detector with a geomagnetic value detected by the third geomagnetic detector to detect a displacement amount of the first image capturing unit, and based on the displacement amount of the first image capturing unit, the controller changes a cutout position in the image captured by the first image capturing unit, and
the controller compares a geomagnetic value detected by the second geomagnetic detector with the geomagnetic value detected by the third geomagnetic detector to detect a displacement amount of the second image capturing unit, and based on the displacement amount of the second image capturing unit, the controller changes a cutout position in the image captured by the second image capturing unit.

### Claim 2 (depends on 1)

The vehicle-mounted stereo camera device according to claim 1, wherein the controller:
calculates and stores the displacement amounts every time electric power is applied to the vehicle;
calculates an average of the displacement amounts when a number of times of electric power application reaches a predetermined number; and
changes the cutout positions based on the average of the displacement amounts.