DEVICE AND METHOD FOR DETECTING PLANE FROM IMAGE

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 nE(t-1) of an inertial coordinate system E using the posture angle in the previous time (t-1), and the normal vector nE(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