# US 10,864,855 B2 · Imaging control apparatus, method for controlling imaging control apparatus, and mobile body

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 10,864,855 B2
- Document ID: US10864855B2
- Status: Granted
- Kind: B2
- Application number: 16/496,647
- Filed: 2018-03-16
- Published: 2020-04-09
- Granted: 2020-12-15
- Earliest claimed: 2017-03-31
- Assignees: Sony Semiconductor Solutions Corporation
- Applicants: Sony Semiconductor Solutions Corporation
- Inventors: Hirokazu Hashimoto; Hideaki Imai; Noribumi Shibayama
- Web page: https://patentgrep.com/patent/US10864855B2

## CPC

- B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras
- 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)
- B60R 1/31: providing stereoscopic vision
- G01B 11/00: Measuring arrangements characterised by the use of optical techniques
- G01C 3/06: Use of electric means to obtain final indication
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- H04N 13/10: Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N 13/271: wherein the generated image signals comprise depth maps or disparity maps
- B60R 2300/105: using multiple cameras
- B60R 2300/107: using stereoscopic cameras
- B60R 2300/301: combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
- H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N 2013/0081: {Depth or disparity estimation from stereoscopic image signals}
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- 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)
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

The present disclosure relates to an imaging control apparatus, a method for controlling the imaging control apparatus, and a mobile body that can improve the distance measurement accuracy of a stereo camera mounted in a vehicle. A set of cameras included in a stereo camera system is arranged in line, on a side surface of a main body of a vehicle, in a vertical direction relative to a road surface. Further, in order from a front side of columns of pixels arranged in an array, imaged pixel signals are sequentially read in the vertical direction in units of pixels for each of the columns of the pixels. The present disclosure can be applied to an in-vehicle system.

## Claims

### Claim 1

An imaging control apparatus comprising:
a set of cameras mounted in a mobile body and included in a stereo camera system; and
a detection section configured to detect a distance to an observation point in a detection range on a basis of images imaged by the set of cameras, wherein the set of cameras is arranged in line, on a side surface of the mobile body, in a vertical direction relative to a road surface, and configured to sequentially read imaged pixel signals in the vertical direction in units of pixels arranged in an array;
wherein the set of cameras is each arranged in line, on at least any of a side surface on each of front left and front right of the mobile body, a side surface on each of center left and center right of the mobile body, and a side surface on each of rear left and rear right of the mobile body, such that parallax occurs in the vertical direction relative to the road surface.

### Claim 2 (depends on 1)

The imaging control apparatus according to claim 1, wherein each of the set of cameras is configured to read, in order from a column of pixels on a front side of the mobile body, the pixel signals in sequence in the vertical direction for each column.

### Claim 3 (depends on 2)

The imaging control apparatus according to claim 2, wherein each of the set of cameras is configured to sequentially read, in order from the column of the pixels on the front side of the mobile body, the pixel signals in a direction from bottom to top or in a direction from top to bottom in the vertical direction for each column.

### Claim 4 (depends on 3)

The imaging control apparatus according to claim 3, wherein the set of cameras is arranged in line, on each of left and right side surfaces of the mobile body, in the vertical direction relative to the road surface, and the set of cameras on each of left and right of the mobile body is configured to sequentially read, in order from the column of the pixels on the front side of the mobile body, the pixel signals in the direction from bottom to top or in the direction from top to bottom in the vertical direction for each column.

### Claim 5 (depends on 3)

The imaging control apparatus according to claim 3, wherein the set of cameras is arranged in line, on each of left and right side surfaces of the mobile body, in the vertical direction relative to the road surface, and the set of cameras on one of left and right of the mobile body is configured to sequentially read, in order from the column of the pixels on the front side of the mobile body, the pixel signals in the direction from bottom to top in the vertical direction for each column, while the set of cameras on the other one of the left and right is configured to sequentially read, in order from the column of the pixels on the front side of the mobile body, the pixel signals in the direction from top to bottom in the vertical direction for each column.

### Claim 6 (depends on 1)

The imaging control apparatus according to claim 1, wherein in a case where the set of cameras is arranged in line, on the side surface on each of the front left and the front right of the mobile body or on the side surface on each of the rear left and the rear right of the mobile body, in the vertical direction relative to the road surface, each of the cameras includes a camera with an angle narrower than a predetermined angle.

### Claim 7 (depends on 1)

The imaging control apparatus according to claim 1, wherein in a case where the set of cameras is arranged in line, on the side surface of each of the center left and the center right of the mobile body, in the vertical direction relative to the road surface, each of the cameras includes a camera with an angle wider than a predetermined angle.

### Claim 8 (depends on 1)

The imaging control apparatus according to claim 1, wherein the pixels of the cameras are arranged in an array such that a width in a horizontal direction is greater than a width in the vertical direction.

### Claim 9 (depends on 8)

The imaging control apparatus according to claim 8, wherein the pixels of the cameras are arranged in an array such that a ratio of the width in the horizontal direction to the width in the vertical direction is approximately 16:9 or approximately 4:3.

### Claim 10

A method for controlling an imaging control apparatus including a detection section configured to detect a distance to an observation point in a detection range on a basis of images imaged by a set of cameras mounted in a mobile body and included in a stereo camera system, the method comprising:
a step of sequentially reading, by the set of cameras, imaged pixel signals in a vertical direction in units of pixels arranged in an array, the set of cameras being arranged in line, on a side surface of the mobile body, in the vertical direction relative to a road surface;
wherein the set of cameras is each arranged in line, on at least any of a side surface on each of front left and front right of the mobile body, a side surface on each of center left and center right of the mobile body, and a side surface on each of rear left and rear right of the mobile body, such that parallax occurs in the vertical direction relative to the road surface.

### Claim 11

A mobile body comprising:
an imaging control apparatus including
a set of cameras mounted in the mobile body and included in a stereo camera system, and
a detection section configured to detect a distance to an observation point in a detection range on a basis of images imaged by the set of cameras,
the set of cameras being arranged in line, on a side surface of the mobile body, in a vertical direction relative to a road surface, and configured to sequentially read imaged pixel signals in the vertical direction in units of pixels arranged in an array;
wherein the set of cameras is each arranged in line, on at least any of a side surface on each of front left and front right of the mobile body, a side surface on each of center left and center right of the mobile body, and a side surface on each of rear left and rear right of the mobile body, such that parallax occurs in the vertical direction relative to the road surface.