| 摘要 |
PROBLEM TO BE SOLVED: To calibrate the image coordinates of a camera so as to be able to surely prevent the erroneous recognition of an obstacle by surely matching the image coordinates of the camera with the survey coordinates of a laser radar. SOLUTION: When the linear traveling status of an automobile 1 is detected from the slewing radius of the automobile 1, and it is detected that an obstacle is put in a static status from the time change of a distance between the automobile 1 and the obstacle and its own speed based on the survey result of a scan type laser radar 2, the radar side collision prediction time of its own automobile 1 and the obstacle is calculated from the distance and its own speed, and the image side collision prediction time of the automobile 1 and the obstacle is calculated from the horizontal time change of the obstacle on the photographic image of a monocular camera 3, and the horizontal deviation of the image coordinates of the monocular camera 3 to the survey coordinates of the laser radar 2 is detected from the deviation of the both collision prediction time, and the image coordinates of the monocular camera 3 are calibrated so that this deviation can be offset, and that the both collision prediction time can be matched. COPYRIGHT: (C)2006,JPO&NCIPI
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