Communications: electrical – Land vehicle alarms or indicators – Of collision or contact with external object
Reexamination Certificate
1999-11-15
2001-01-09
Hofsass, Jeffery A. (Department: 2736)
Communications: electrical
Land vehicle alarms or indicators
Of collision or contact with external object
C340S435000, C340S903000, C340S937000, C348S148000, C348S149000
Reexamination Certificate
active
06172601
ABSTRACT:
BACKGROUND OF THE INVENTION
The present invention relates to a three-dimensional scope system with a single camera for vehicles. More particularly, the three-dimensional scope system of the present invention is capable of obtaining a distance between a target and a vehicle body based on data of two still pictures of the target obtained at different vehicle traveling positions by using a single camera.
Conventionally, two stereo cameras, which are mounted on a vehicle body, simultaneously perform the image pickup operation of an obstacle. Data of two still pictures obtained from the right and left cameras are used to detect corresponding or congruent points and to calculate the position of the obstacle based on the principle of triangulation.
FIGS. 7A
to
7
C schematically illustrate a conventional method for measuring the position of an obstacle by using stereo cameras mounted on a vehicle body. In
FIG. 7A
, a right stereo camera
7
and a left stereo camera
8
, constituting a set of two stereo cameras, are installed on a front or rear side of a vehicle body
4
.
FIGS. 7B and 7C
respectively show two still pictures obtained by the right stereo camera
7
and the left camera
8
. An image processing apparatus analyzes the resultant data of two still pictures to obtain corresponding or congruent points. The distance between the vehicle body
4
and the obstacle
5
is calculated. When the distance between the vehicle body
4
and the obstacle
5
becomes less than a predetermined value, a buzzer is actuated or warning sound is generated to caution a driver against the obstacle.
This kind of conventional stereo camera system is disadvantageous in that it requires two cameras and therefore the system cost increases.
SUMMARY OF THE INVENTION
To solve the above-described problems of the conventional stereo camera system, the present invention has an object to form and display a stereoscopic picture image of the obstacle based on the data of two still pictures of the obstacle successively obtained by a single video camera mounted on a vehicle body.
In order to accomplish this and other related objects, the present invention provides a three-dimensional scope system with a single camera for vehicles. The three-dimensional scope system of the present invention comprises a single camera mounted on a vehicle body for successively obtaining two still pictures of a predetermined target at different vehicle traveling positions, a means for obtaining a vehicle traveling distance between the different vehicle traveling positions, a means for obtaining a positional change amount of at least one objective point of the target on a camera screen, and a means for obtaining three-dimensional coordinate data of the objective point based on the vehicle traveling distance and the positional change amount of the objective point on the screen. With this arrangement, the present invention makes it possible to obtain a stereoscopic picture image by using a single camera.
Furthermore, it is preferable that the three-dimensional scope system of the present invention further comprises a means for forming a stereoscopic picture image based on the three-dimensional coordinate data of the objective point, and a monitor for displaying a resultant stereoscopic picture image. With this arrangement, the present invention makes it possible to display the target in a stereoscopic manner by using a single camera.
Furthermore, it is preferable that the means for forming the stereoscopic picture image includes a means for changing a viewpoint. With this arrangement, the present invention makes it possible to flexibly display a stereoscopic picture image of the target to be image picked up from an arbitrary viewpoint.
Furthermore, it is preferable that the three-dimensional scope system of the present invention further comprises a means for generating the alarm when an obstacle is detected within a predetermined distance from the vehicle body. With this arrangement, the present invention makes it possible to caution a driver against a collision predictable from the approaching obstacle.
Furthermore, the present invention provides a processing method for a three-dimensional scope system with a single camera mounted on a vehicle body. The method comprising a first step of causing the single camera to successively obtain two still pictures of a predetermined target at different vehicle traveling positions, a second step of obtaining a positional change amount of at least one objective point of the target on a camera screen, a third step of obtaining three-dimensional coordinate data of the objective point based on a vehicle traveling distance between the different vehicle traveling positions and also based on the positional change amount of the objective point on the screen, and a fourth step of forming a stereoscopic picture image based on the three-dimensional coordinate data of the objective point.
Preferably, the processing method of the present invention further comprises a step of generating the alarm when an obstacle is detected within a predetermined distance from the vehicle body.
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Takahashi Masami
Wada Jyoji
Hofsass Jeffery A.
Lowe Hauptman Gopstein Gilman & Berner LLP
Matsushita Electric - Industrial Co., Ltd.
Nguyen Phung
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