# US 12,602,814 B2 · Information processing device, information processing method, and computer readable medium for determining attachment state of in-vehicle camera

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- Number: US 12,602,814 B2
- Document ID: US12602814B2
- Status: Granted
- Kind: B2
- Application number: 18/186,575
- Filed: 2023-03-20
- Published: 2024-03-28
- Granted: 2026-04-14
- Earliest claimed: 2022-09-26
- Assignees: DENSO TEN Limited
- Applicants: DENSO TEN Limited
- Inventors: Koji Ohnishi; Naoshi Kakita; Takayuki Ozasa
- Web page: https://patentgrep.com/patent/US12602814B2

## CPC

- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G06T 7/73: using feature-based methods
- G06T 7/00: Image analysis
- G06T 7/0002: {Inspection of images, e.g. flaw detection}
- G06T 2207/30268: Vehicle interior
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

An information processing device includes a controller configured to execute a posture estimation processing by extracting a pair group of line segments based on an optical flow of a feature point on a road surface from a processing target region set in a camera image captured by an in-vehicle camera and by estimating a posture of the in-vehicle camera based on an angle estimation value at which the in-vehicle camera is attached, the angle estimation value being estimated from each pair data included in the pair group. The controller is configured to determine that an attachment state of the in-vehicle camera is abnormal in response to at least one of a data accumulation number of the pair data, a standard deviation of the angle estimation value, or a deviation amount from a given calibration value relating to the posture in the posture estimation processing being out of a preset range.

## Claims

### Claim 1

An information processing device comprising:
a controller configured to execute a posture estimation processing by extracting a pair group of line segments based on optical flows of a plurality of feature points on a road surface corresponding to each one of the line segments in the pair group from a processing target region set in a camera image captured by an in-vehicle camera and by estimating a posture of the in-vehicle camera based on an angle estimation value at which the in-vehicle camera is attached, the angle estimation value being estimated from each pair data included in the pair group, wherein the pair data includes data of a pair of the optical flows based on the plurality of feature points on the road surface, wherein
the controller is configured to
determine that an attachment state of the in-vehicle camera is abnormal in response to a data accumulation number of the pair data being 1/10 or less of a preset reference value.

### Claim 2 (depends on 1)

The information processing device according to claim 1, wherein the controller is configured to determine that the abnormality occurs in response to the data accumulation number being 10 or less with the reference value being 100 or more.

### Claim 3 (depends on 1)

The information processing device according to claim 1, wherein
the controller is configured to
estimate the posture of the in-vehicle camera based on a median value of the angle estimation value in the posture estimation processing.

### Claim 4 (depends on 1)

The information processing device according to claim 1, wherein
the controller is configured to
estimate the posture of the in-vehicle camera based on a mode value of the angle estimation value in the posture estimation processing.

### Claim 5

An information processing method executed by an information processing device, the method comprising:
executing a posture estimation processing by extracting a pair group of line segments based on optical flows of a plurality of feature points on a road surface corresponding to each one of the line segments in the pair group from a processing target region set in a camera image captured by an in-vehicle camera and by estimating a posture of the in-vehicle camera based on an angle estimation value at which the in-vehicle camera is attached, the angle estimation value being estimated from pair data of the pair group, wherein the pair data includes data of a pair of the optical flows based on the plurality of feature points on the road surface; and
determining that an attachment state of the in-vehicle camera is abnormal in response to a data accumulation number of the pair data being 1/10 or less of a preset reference value.

### Claim 6

A non-transitory computer readable medium storing a program that causes a computer to execute a process comprising:
executing a posture estimation processing by extracting a pair group of line segments based on optical flows of a plurality of feature points on a road surface corresponding to each one of the line segments in the pair group from a processing target region set in a camera image captured by an in-vehicle camera and by estimating a posture of the in-vehicle camera based on an angle estimation value at which the in-vehicle camera is attached, the angle estimation value being estimated from pair data of the pair group, wherein the pair data includes data of a pair of the optical flows based on the plurality of feature points on the road surface; and
determining that an attachment state of the in-vehicle camera is abnormal in response to a data accumulation number of the pair data being 1/10 or less of a preset reference value.