Aparatus, method, and recording medium for measuring distance in a real space from a feature point on the road

A non-transitory storage medium storing a distance calculation program that causes a computer to execute a process, the process comprising:

• obtaining a first image captured by an image pickup device;
• extracting a first feature point which satisfies an extraction condition used to determine a point on a road surface in the first image;
• and
• calculating a first distance from the first feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the first image and a first angle of the point viewed from a center of the image pickup device in the real space, and setting information including an angle of depression of the image pickup device and a distance between the image pickup device and the road surface, wherein the calculating includes:
• calculating the first angle of the first feature point on the road surface relative to the image pickup device in the real space in accordance with the data and the position of the first feature point included in the first image;
• and
• calculating the first distance in the real space in accordance with a trigonometric function calculation using the first angle of the first feature point and the setting information of the image pickup device.

A distance calculation apparatus comprising;

• a processor to execute;
• obtaining a first image captured by an image pickup device;
• extracting a first feature point which satisfies an extraction condition used to determine a point on a road surface in the first image;
• and
• calculating a first distance from the extracted first feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the first image and an angle of the point viewed from a center of the image pickup device in the real space, the position of the point in the first image being a distance represented by a number of pixels counted from a center of the first image, and setting information including an angle of depression of the image pickup device, an angle in a lateral direction of the image pickup device, a rotation angle of the image pickup device, and a distance between the image pickup device and the road surface, and
• a memory, coupled to the processor, to store the data and the setting information.

A distance calculation apparatus comprising;

• a processor to execute;
• obtaining a first image captured by an image pickup device;
• extracting a first feature point which satisfies an extraction condition used to determine a point on a road surface in the first image;
• and
• calculating a first distance from the extracted first feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the first image and an angle of the point viewed from a center of the image pickup device in the real space, and setting information including an angle of depression of the image pickup device and a distance between the image pickup device and the road surface, and
• a memory, coupled to the processor, to store the data and the setting information,
• wherein the processor is further configured, in the calculating, to
• calculate the first angle of the first feature point on the road surface relative to the image pickup device in the real space in accordance with the data and the position of the first feature point included in the first image, and
• calculate the first distance in the real space in accordance with a trigonometric function calculation using the first angle of the first feature point and the setting information of the image pickup device.

A method comprising:

• obtaining a first image captured by an image pickup device;
• extracting a first feature point which satisfies an extraction condition used to determine a point on a road surface in the first image;
• and
• calculating, by a processor, a first distance from the first feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the first image and a first angle of the point viewed from a center of the image pickup device in the real space, the position of the point in the first image being a distance represented by a number of pixels counted from a center of the first image, and setting information including an angle of depression of the image pickup device, an angle in a lateral direction of the image pickup device, a rotation angle of the image pickup device, and a distance between the image pickup device and the road surface.

A method comprising:

• obtaining a first image captured by an image pickup device;
• extracting a first feature point which satisfies an extraction condition used to determine a point on a road surface in the first image;
• and
• calculating, by a processor, a first distance from the first feature point to the image pickup device in a real space in accordance with data obtained by associating a position of the point in the first image and a first angle of the point viewed from a center of the image pickup device in the real space, and setting information including an angle of depression of the image pickup device and a distance between the image pickup device and the road surface,
• wherein the calculating includes
• calculating the first angle of the first feature point on the road surface relative to the image pickup device in the real space in accordance with the data and the position of the first feature point included in the first image;
• and
• calculating the first distance in the real space in accordance with a trigonometric function calculation using the first angle of the first feature point and the setting information of the image pickup device.