To estimate a tilt of a sensor by use of an omnidirectional image.
As a step for determining an edge and its direction based on the omnidirectional image acquired by the sensor, processes S10-S30 are executed. As a mapping step for mapping the edge and the edge direction on a spherical image, processes S40, S50 are executed. As a voting step for voting the edge and the edge direction mapped on the spherical image into a voting space comprising a prescribed plane related to a sensor coordinate system, a process S60 is executed. Thereafter, as a detection step for detecting a point where the number of voted times in the voting space is maximum, a process S70 is executed. As an estimation step for estimating the tilt of the sensor coordinate system to a world coordinate system wherein the sensor is located based on the detection result thereof, a process S80 is executed.
TANAHASHI HIDEKI
SATO KATSUTAKA
HIRAYU HIDEKAZU
SOFTOPIA JAPAN FOUNDATION
Makoto Onda