The dividing means which calculate that edge direction which consists of the edge and the vector which consist of vector on the basis of the gradient presumption

摘要

PPROBLEM TO BE SOLVED: To estimate a tilt of a sensor by use of an omnidirectional image. PSOLUTION: 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. PCOPYRIGHT: (C)2004,JPO&NCIPI