200823430 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種位置偵测方法，尤其是指一種藉 由擷取校正工具之影像資訊進行演算，以求得影像擷取單 元之設置高度之一種影像擷取裝置位置自動偵測方法及使 用該方法之車輛碰撞警示系統。 • 【先前技術】 隨著科技進展，生活富裕，機動車輛日益普及至每個 家庭，而增加交通的方便性。然而隨著車輛使用的頻繁， 使用機動車輛造成的死亡人數始終居高不下。根據内政部 警政署統計，歷年來台灣地區每年因交通事故而死亡的人 數皆維持在三千人左右，受傷人數則在二十萬人左右，如 民國九十四年台灣地區因交通事故的死、傷人數各為2, 894 _ 及200, 009人。平均每天有8人因交通事故死亡。 分析其肇事原因，百分之九十七以上是駕駛不當所 致，事故類型又以追撞案例佔大宗。這些交通事故不僅造 成個人及家庭的負擔，耗費社會有限的醫療資源，並造成 國家生產力的損失。 有鑒於此，如果能以攝影機，建立一車用之碰撞警示 系統，應用先進的影像處理技術辨識出本車週圍車輛並估 測與其之相對距離，並於距離過近時提出警示訊號，警告 駕駛者作出適當處置，如減低車速等等，以避免事故的發 200823430 生，亦可降低交通事故發生機率。. 然而，在估測本車與它車之間距時，攝影機相對於地 面的高度資訊是必要的，而在習用之技術中，通常為人員 量测攝影機之局度’並自行輸入之系統内。例如中華民國 專利公告號第1246665號所揭露之技術，可以量測本車與 前車之距離，不過卻需要使用者量測攝影機之高度，因而 造成不便。為了使用者便利性，因此亟需一種影像擷取裝 置位置自動偵測方法及使用該方法之車輛碰撞警示系統來 B 自動估測攝影機高度，以利後續的距離估測。 【發明内容】 本發明的主要目的是提供一種影像擷取裝置位置自動 偵測方法，透過擷取校正工具之影像，並對該影像進行運 算處理，達到自動估測影像擷取裝置高度之目的。 本發明的次要目的是提供一種車輛碰撞警示系統，透 φ 過擷取校正工具之影像，並對該影像進行運算處理以估測 出影像擷取裝置之高度，達到順利估算本車與它車之相對 距離之目的。 為了達到上述之目的，本發明提供一種影像擷取裝置 位置自動偵測方法，其係包括有下列步驟：提供一影像擷 取裝置，其係設置於一車輛上；提供一校正工具設置於該 影像擷取裝置之擷取範圍内；擷取該校正工具之影像，並 計算其影像之一特徵值；以及根據一逆透視投影法，計算 該影像擷取裝置之高度。 200823430 ' 較佳的是，計算其影像之一特徵值係為計算該校正工 • 具於一影像座標系中之該特徵值大小。而前述所謂之特徵 ^ 值為該校正工具之寬度，其單位為畫素（pixel)。該影像座 標系之範圍則為顯示該影像之顯示幕大小。 較佳的是，該逆透視投影法更包括有下列步驟：計算影 像擷取裝置之一比例因子；以及將該校正工具於空間座標 系中對應該特徵值之實體大小、該特徵值、該影像擷取裝 置之角度以及該比例因子進行運算，以得到該影像掘取裝 • 置之高度。其中該比例因子包括有該顯示幕高度畫素數量 與影像擷取裝置内之影像感測器（image sensor)之高度之 比值以及顯示幕寬度晝素數量與影像擷取裝置内之影像感 測器（image sensor)之寬度之比值。 為了違到上述之目的，本發明更提供車輛碰撞警示系 統，包括：至少一影像擷取裝置，其係可以擷取車輛周圍 之影像資訊；一影像處理與控制模組，其係可接收該影像 擷取裝置所擷取之影像資訊，進行演算與解析車輛與周遭 ⑩ 物體之相對距離而產生一警示訊號，該影像處理與控制模 組更可以板據該影像擷取裝置所傳之影像資訊進行演算程 序而得知該影像擷取裝置之位置；一顯示單元，其係與該 影像處理與控制模組相連接，該顯示單元可接收該影像處 • 理與控制模組所傳遞之訊號以顯示影像；以及一警示單 、 元，其係與該影像處理與控制模組相連接，該警示單元可 接收該警示訊號以產生警報。 【實施方式】 200823430 、為使貴審查委員能對本發明之特徵、目 更進一步的認知與瞭解，下文特將本 置 計:理念原由進行說明，以使 了％本毛月之4寸點，詳細說明陳述如下： 、 位晉1 目|古A ^ ’該圖係為本發明之影像#|取裝置 裝置位置自動債測方法卜其係包括亥衫像操取 二:驟ίο ’提供—影像擷取裝置，其係設置ς:車::進 ^影像擷取裝置可以設置於車輛之前右 前述之組合的位置上。接著，進行步驟 =置於該影像擷取裝置之擷取範圍内，然後以步㈣押 置自動偵測方法之擷取校正工具影像亍 :圖。在本貫施例中，該校正工具91係設置車輛前 據使用者之需要而定。/、尺寸大小或者是外形，可以根 且/Us像70畢之後’先進行判斷在擷取之影像中是否 以話則回到步驟-繼續 並計算該影像之—特 之方式係以步驟131，計算該校;= 值為該校正工具之寬度(其單位為閱:特： 示’該圖係為本發明之影像擷取咖自動 200823430 該㈣絲純㈣可定勒校正工 具91貝體於工間中之位置的座標系。如圖四所示 發明之影像擷取裝置位置自動偵測方法之影像座標李；ί 圖。=像座標系係指顯示該校正工具91影像之座桿厂 例如在本貫施例中係為顯示幕3所構成之座標系。 逆透^^一 Α所示’步驟13後再進行步驟14，根據一 =透射⑼法，計算該影像擷取裝置設置之高度。請袁 圖一C所示，該圖係為本發明之影像祿置動 測方法之逆透視投影法户铉+立同 直目動偵 ί其思義為景_票系中任-點可經過數次座標雜 平私而轉換至空間座標系，而得以計算出攝影機之高度:、 …該逆透視投影法14更包括有下列步驟：以步驟⑷ f影像擷取裝置之—比例因子。然後，以步驟142，將該 校正工具於空間座標系中對應該特徵值之實體大小、該特 欲值、該影像擷取裝置之角度以及該比例因子套人一演算 公式（1)進行運算，以得到該影像擷取裝置之高度。請^ 圖三與圖四所示，其中，該校正卫具91於空間座標系中^ 對應該特徵值之實體大小係為（L丄），其係為已知且單位 為t尺；該特徵值料(M1)，其單位為畫素;該影像揭 取裝置2之角度Θ，係為在設置影像擷取裝置2時即可得 及比例口子包括有该頒示幕咼度Η畫素數量與影像操 取衣置内之影像感測器（image sens〇r)之高度之比值以及 _不幕寬度W畫素數量與影像擷取裝置内之影像感測器 (image sensor)之寬度之比值，該比例因子之單位為金 公尺。 ' 旦μ . !0 200823430 (X, ^xiSysin0 + ίν HI Λ fS cos0 X )200823430 IX. Description of the Invention: [Technical Field] The present invention relates to a position detecting method, and more particularly to a method for calculating the image capturing unit by using the image information of the capturing correction tool to obtain the height of the image capturing unit An image capturing device position detecting method and a vehicle collision warning system using the same. • [Prior Art] As technology advances and life is affluent, motor vehicles are increasingly popularized in every household, increasing the convenience of transportation. However, with the frequent use of vehicles, the number of deaths caused by the use of motor vehicles has remained high. According to the statistics of the Police Department of the Ministry of the Interior, the number of people killed in traffic accidents in Taiwan in the past years has remained at around 3,000, and the number of injured is around 200,000. For example, in the Republic of China in 1994, due to traffic accidents. The number of deaths and injuries was 2,894 _ and 200,009 respectively. On average, 8 people die every day due to traffic accidents. Analysis of the cause of the accident, more than 97% of the accidents caused by improper driving, and the type of accidents accounted for a large number of cases of chasing. These traffic accidents not only create personal and family burdens, but also consume socially limited medical resources and cause loss of national productivity. In view of this, if a collision warning system for a vehicle can be established by using a camera, an advanced image processing technology is used to identify the vehicle around the vehicle and estimate the relative distance from the vehicle, and a warning signal is issued when the distance is too close, warning driving Appropriate disposal, such as reducing the speed of the vehicle, etc., to avoid accidents, can also reduce the probability of traffic accidents. However, when estimating the distance between the vehicle and the vehicle, the height information of the camera relative to the ground is necessary, and in the conventional technology, it is usually measured by the staff of the camera's degree and input into the system. For example, the technique disclosed in the Patent Publication No. 1266665 of the Republic of China can measure the distance between the vehicle and the preceding vehicle, but requires the user to measure the height of the camera, thereby causing inconvenience. For the convenience of the user, there is a need for an automatic image capture device position detection method and a vehicle collision warning system using the method to automatically estimate the camera height for subsequent distance estimation. SUMMARY OF THE INVENTION The main object of the present invention is to provide an automatic image capturing device position detecting method, which can automatically estimate the height of the image capturing device by capturing the image of the correcting tool and performing processing on the image. A secondary object of the present invention is to provide a vehicle collision warning system that traverses an image of a correction tool and performs arithmetic processing on the image to estimate the height of the image capturing device to achieve a smooth estimation of the vehicle and the vehicle. The purpose of the relative distance. In order to achieve the above object, the present invention provides a method for automatically detecting the position of an image capturing device, which comprises the steps of: providing an image capturing device disposed on a vehicle; and providing a correction tool disposed on the image Extracting the image of the device; capturing the image of the calibration tool and calculating a feature value of the image; and calculating the height of the image capturing device according to an inverse perspective projection method. 200823430 ' Preferably, one of the feature values of the image is calculated to calculate the magnitude of the feature value in the image coordinate system. The aforementioned characteristic ^ value is the width of the correction tool, and its unit is pixel. The range of the image coordinate system is the display screen size of the image. Preferably, the inverse perspective projection method further comprises the steps of: calculating a scale factor of the image capture device; and determining, by the correction tool, a physical size corresponding to the feature value in the space coordinate system, the feature value, the image The angle of the capture device and the scale factor are calculated to obtain the height of the image capture device. The scale factor includes a ratio of the height of the display screen to the height of the image sensor in the image capturing device, the number of pixels in the display screen width, and the image sensor in the image capturing device. The ratio of the width of the (image sensor). In order to achieve the above object, the present invention further provides a vehicle collision warning system, comprising: at least one image capturing device capable of capturing image information around the vehicle; and an image processing and control module capable of receiving the image The image information captured by the device is used to calculate and analyze the relative distance between the vehicle and the surrounding objects to generate a warning signal. The image processing and control module can further perform image information according to the image capturing device. Calculating the location of the image capturing device; a display unit is coupled to the image processing and control module, and the display unit can receive the signal transmitted by the image processing and control module to display An image; and a warning sheet and a unit connected to the image processing and control module, the warning unit can receive the warning signal to generate an alarm. [Embodiment] 200823430 In order to enable your review committee to further understand and understand the characteristics and objectives of the present invention, the following is the main reason: the original idea is explained, so that the 4% of the month of the month is detailed. The statement is as follows: 、位晋1目|古 A ^ 'This figure is the image of the invention#|The device location automatic debt measurement method includes the jersey image operation two: ίίο 'provide-image 撷The device is set to: the car:: the image capturing device can be disposed at the position of the combination of the foregoing right before the vehicle. Then, proceed to step = placed in the capture range of the image capture device, and then step (4) the automatic detection method to capture the calibration tool image: image. In the present embodiment, the correction tool 91 is set in front of the vehicle according to the needs of the user. /, size or shape, can be rooted and /Us like 70 after the 'first judge whether in the captured image, then return to the step - continue and calculate the image - the special way is to step 131, Calculate the school; = value is the width of the calibration tool (the unit is read: special: show 'this picture is the image capture coffee automatic 200823430 of the invention) (four) silk pure (four) can be fixed correction tool 91 shell work The coordinate system of the position in the middle. As shown in Fig. 4, the image coordinate of the image capturing device position detecting method is inspected as follows; ί 图. = like coordinate system means the seat bar factory displaying the image of the correcting tool 91, for example In the present embodiment, the coordinate system formed by the screen 3 is shown. After the step 13 is performed, the step 14 is performed, and the height of the image capturing device is calculated according to the method of 1 = transmission (9). Please refer to Yuan Tuyi C, the figure is the inverse perspective projection method of the image measurement method of the invention, and the same as the direct vision of the 铉 _ _ _ _ _ _ _ _ _ _ _ Several coordinates were converted to the space coordinate system, and the camera was calculated. Degree:, ... The inverse perspective projection method 14 further comprises the following steps: taking the scale factor of the image capture device by step (4) f. Then, in step 142, the correction tool is in the space coordinate system corresponding to the entity of the feature value. The size, the special value, the angle of the image capturing device, and the scaling factor are calculated by the calculation formula (1) to obtain the height of the image capturing device. Please refer to Figure 3 and Figure 4, wherein The correct size of the correcting guard 91 in the space coordinate system is (L丄), which is known and the unit is t-foot; the characteristic value material (M1), the unit of which is a pixel The angle of the image pickup device 2 is such that when the image capturing device 2 is set, the proportional mouth includes the number of pixels of the display screen and the image sensing in the image manipulation device. The ratio of the height of the image (sens〇r) and the ratio of the number of framing W pixels to the width of the image sensor in the image capture device, the scale factor is in meters. '旦μ . !0 200823430 (X, ^xiSysin0 + ίν HI Λ fS Cos0 X )
該演算之公式如下式⑴所 XThe formula of the calculus is as shown in the following formula (1).
=象操取裝置距離地面之高度，單位為公尺 其中： 單位為公 單位為公 單位為晝 早位為畫 尺（請參閱圖三所示）；甲右、、彖之X向餘 X尺 1 (:二正二具於空間座標系中左緣之X向座標 尺U青芩閱圖三所示）； 正 = 具於影像座標系中右緣之x向座標 京C明芩閱圖四所示）；= The height of the operation device is from the ground. The unit is in meters. The unit is the unit of the unit. The unit is the ruler (see Figure 3); the right and the X are the X. 1 (: two positive two in the space coordinate system in the left edge of the X-seat ruler U Qingyu read Figure 3); positive = in the image coordinate system in the right edge of the x-direction coordinate Jing C Ming 芩 reading four Show);
Xcl ·枝正工具於影像座標f中亡絡令v a ,描 素（請參閱圖四所示）；右、、彖之x向座標Xcl · Branching tool in the image coordinates f in the v, the description (see Figure 4); right, 彖 x-direction coordinates
早位為J 二二二具於影像座標系中底部之¥向座標， n明茶閱圖四所示）； 度’ f位為晝素(請參閱圖四所示)； *馬度’單位為晝素（請參閱圖四-所示）； =.x方向比例因子，單位為晝素/公尺； =.γ方向比例因子，單位為畫素/公尺； •焦距，單位為公尺； θ:影像擷取裝置與地面之夾角（請參閱圖三所示）； 在進再圖一土所不’當求出影像擷取裝置之高度後 新回：牛:所估算出之高度是否合理’如果不合理，則 ' 1驟12繼續後續之步驟。反之，如果合理的話， 200823430 可以以步驟15將所估算之高度記錄下來。The early position is the XX coordinate of the bottom of the image coordinate system, and the n-tea is shown in Figure 4; the degree 'f is the 昼素 (see Figure 4); *马度' unit It is a halogen (see Figure 4 - shown); =.x direction scale factor, the unit is halogen / meter; =. γ direction scale factor, the unit is pixels / meter; • focal length, the unit is meter ; θ: the angle between the image capturing device and the ground (please refer to Figure 3); after entering the map, the soil is not 'after the height of the image capturing device is determined. New: Cow: Is the estimated height? Reasonable 'If unreasonable, then 'Step 12' to continue the subsequent steps. Conversely, if reasonable, 200823430 can record the estimated height in step 15.
請參閱圖五所示，雖然前述之影像擷取裝置以圖二之 配置方式來進行，但影像擷取裝置並不被限制僅能設置於 車輛的前方。在圖五中，車輛90周圍之位置都可以設置影 像擷取裝置2a〜2d，至於其設置高度之演算方法，如前所 述，在此不做贅述。此外，該影像擷取裝置2a〜2d可選擇 為一攝影機或者是一紅外線影像擷取裝置。其中該攝影機 可送擇為一光電|禺合元件（charge-C0Upied Device; CCD) 以及一互補式金氧半之光學感測元件（ComplementaryReferring to FIG. 5, although the image capturing device described above is configured in the manner of FIG. 2, the image capturing device is not limited to being disposed only in front of the vehicle. In Fig. 5, the image capturing devices 2a to 2d can be disposed at positions around the vehicle 90, and the calculation method of the height setting thereof is as described above, and will not be described herein. Further, the image capturing devices 2a to 2d may be selected as a camera or an infrared image capturing device. The camera can be selected as a photo-C0Upied Device (CCD) and a complementary MOS optical sensing component (Complementary).
Metal-Oxide Semiconductor, CMOS)其中之一。 /利用前述之偵測方法，本發明更提供一車輛碰撞警示 系統6。請參閱圖六所示，該圖係為本發明之車輛碰撞警 不，統較佳實施例示意圖。該車輛碰撞警示系統6，具有 至影像擷取裝置61、一影像處理與控制模組60、一顯 『單兀63以及一警示單元64。該影像擷取裝置61，其係 可以:員取車輛周圍之影像資訊。該影像處理與㈣ 行、、接收该影像擷取裝置61所操取之影像資訊，進 號車輛與周遭物體之相對距離而產生—警示訊 6;所ί之ίίΐ控制模組60更可以根據該影像擷取裝置 61之高度Γ貝讯進仃演算程序而得知該影像擷取裝置 接，^ 63 ’其係與該影像處理與控制模組60木 遞之:號傻可接收卿 之距離估算值m，例如：顯示車輛追蹤晝面、衫 寺相關之影像與文字數據等資訊。該顯开 200823430 元63可為液晶顯示器或者是發光二極體顯示器等，但不在 此限。該警示單元64，其係與該影像處理與控制模組60 相連接，該警示單元64可接收該警示訊號以產生警報，以 提醒駕駛者本車與它車之間距過近。該警示單元64可對駕 駛可發出聲、光或振動等方式警示訊號。 該車輛碰撞警示系統6其係更具有一使用者控制單元 62，該使用者控制單元62可提供使用者一操控界面，以供 使用者進行啟動該車輛碰撞警示系統6、用於設定是否啟 • 動碰撞警示系統6、進行影像擷取裝置61位置偵測程序或 車輛追蹤與測距程序。該影像擷取裝置61位置偵測程序為 前述之影像擷取裝置位置自動偵測方法所述之步驟。而該 車輛追蹤與測距程序則為利用影像資訊來偵測車輛與車輛 周圍之物體之距離，以維持車輛之行進安全。 該影像處理與控制模組60更包含：一影像擷取與解碼 單元601、一數位訊號處理與控制單元600以及一影像編 碼與輸出單元603。該影像擷取與解碼單元601，其係與該 • 影像擷取裝置61相連接，以將該影像擷取裝置61所擷取 之資訊轉成一數位化影像資訊。該數位訊號處理與控制單 元600，其係可接收該數位化影像資訊，進行演算與解析。 該影像編碼與輸出單元603，其係與該數位訊號處理與控 f 制單元600以及該顯示單元63相連接，該影像編碼與輸出 單元603可接收該數位訊號處理與控制單元600所輸出之 一控制訊號將影像編碼並輸出影像視訊給該顯示單元63。 此外，讓影像處理與控制模組60更包含：一影像隨機 存取記憶體602以及一非揮發性可程式記憶體604。該影 13 200823430 •機存取記憶體6α2，錢可記憶魏位化 及經由該數位訊號處理與控制單元600處理完畢夕=訊以 該影像隨機存取記憶體6G2可提供該數位化影像次影像， 數位訊號處理與控制單元_以及提供處理完畢=给讀 該影像編碼與輸出單元603。該非揮發性可程式給 ⑽4,可記錄該數位訊號處理與控制單元6⑽所運^ = k體 該影像擷取裝置61之估算高度。 #杆之One of Metal-Oxide Semiconductor, CMOS). / The present invention further provides a vehicle collision warning system 6 using the aforementioned detection method. Please refer to FIG. 6 , which is a schematic diagram of a preferred embodiment of the vehicle collision warning of the present invention. The vehicle collision warning system 6 has an image capturing device 61, an image processing and control module 60, a display unit 63 and a warning unit 64. The image capturing device 61 is configured to: take the image information around the vehicle. The image processing and (4) lines, receiving the image information acquired by the image capturing device 61, and the relative distance between the incoming vehicle and the surrounding object are generated - a warning message 6; the control module 60 can further The height of the image capturing device 61 is determined by the Γ 仃 calculation program to know that the image capturing device is connected, and the image processing and control module 60 is the same as the image processing and control module. The value m, for example, displays information such as the image and text data related to the vehicle tracking face and the temple. The display may be a liquid crystal display or a light-emitting diode display, but is not limited thereto. The warning unit 64 is connected to the image processing and control module 60. The warning unit 64 can receive the warning signal to generate an alarm to remind the driver that the vehicle is too close to the vehicle. The alert unit 64 can alert the driver by sound, light or vibration. The vehicle collision warning system 6 further has a user control unit 62. The user control unit 62 can provide a user control interface for the user to activate the vehicle collision warning system 6 for setting whether to enable or not. The collision warning system 6 performs a position detection program of the image capturing device 61 or a vehicle tracking and ranging program. The image capturing device 61 position detecting program is the step described in the foregoing image capturing device position automatic detecting method. The vehicle tracking and ranging procedure uses image information to detect the distance between the vehicle and objects around the vehicle to maintain the safety of the vehicle. The image processing and control module 60 further includes an image capturing and decoding unit 601, a digital signal processing and control unit 600, and an image encoding and output unit 603. The image capturing and decoding unit 601 is connected to the image capturing device 61 to convert the information captured by the image capturing device 61 into a digital image information. The digital signal processing and control unit 600 can receive the digitized image information for calculation and analysis. The image encoding and output unit 603 is connected to the digital signal processing and control unit 600 and the display unit 63. The image encoding and output unit 603 can receive one of the outputs of the digital signal processing and control unit 600. The control signal encodes the image and outputs the image to the display unit 63. In addition, the image processing and control module 60 further includes an image random access memory 602 and a non-volatile programmable memory 604. The image 13 200823430 • the machine access memory 6α2, the memory can be memorized and processed by the digital signal processing and control unit 600. The image random access memory 6G2 can provide the digital image secondary image. The digital signal processing and control unit _ and the processing is completed = the image encoding and output unit 603 is read. The non-volatile programmable program (10) 4 records the estimated height of the image capture device 61 that is processed by the digital signal processing and control unit 6 (10). #杆之
當透過使用者控制單元62切換至車輛追蹤與測距程 時，該影像處理與控制模組6〇亦將根據影像擷取裝置Μ 所接收到的影像資訊，辨識與追蹤車輛並估測與其之相對 距離。並將計算出之相對距離疊加於原始影像資訊上，以 成一新的車輛追蹤影像資訊，並儲存於該影像隨機存取記 憶體602。而該影像隨機存取記憶體602内的影像資訊將 傳至該影像編碼與輸出單元603，轉成可支援顯示單元63 的影像視訊訊號，輸出影像，以顯示車輛追蹤與測距晝面。 惟以上所述者，僅為本發明之較位實施例，當不能以 之限制本發明範圍。即大凡依本發明申請專利範圍所做之 均等變化及修飾，仍將不失本發明之要義所在，亦不脫離 本發明之精神和範圍，故都應視為本發明的進一步實施狀 況。 綜合上述，本發明提供之影像擷取裝置位置自動價測 方法及使用該方法之車輛碰撞警示系統’具有自動估測攝 影機南度，以利後續的距離估測之優點’因此可以滿足業 界之需求，進而提高該產業之競爭力以及帶動週遭產業之 發展，誠已符合發明專利法所規定申請發明所需具備之要 14 200823430 貴審查委員允 • 件，故爰依法呈提發明專利之申請，謹請 * 撥時間惠予審視，並賜准專利為禱。When switching to the vehicle tracking and ranging process through the user control unit 62, the image processing and control module 6〇 will also identify and track the vehicle based on the image information received by the image capturing device 并 and estimate the same relative distance. The calculated relative distance is superimposed on the original image information to form a new vehicle tracking image information and stored in the image random access memory 602. The image information in the image random access memory 602 is transmitted to the image encoding and output unit 603, converted into an image video signal capable of supporting the display unit 63, and the image is output to display the vehicle tracking and ranging surface. However, the above is only a comparative embodiment of the present invention, and the scope of the present invention is not limited thereto. It is to be understood that the scope of the present invention is not limited by the spirit and scope of the present invention, and should be considered as a further embodiment of the present invention. In summary, the method for automatically measuring the position of the image capturing device provided by the present invention and the vehicle collision warning system using the method have the advantages of automatically estimating the south of the camera to facilitate the subsequent distance estimation, thereby meeting the needs of the industry. In order to improve the competitiveness of the industry and promote the development of the surrounding industries, Cheng has already met the requirements for the invention of inventions required by the invention patent law. 14 200823430 The examination of the members of the review committee, therefore, the application for the invention of patents in accordance with the law, Please* dial the time to review and grant the patent as a prayer.
15 200823430 【圖式簡單說明】 置自動偵測方法之較 置自動偵測方法之計 置自動偵測方法之逆 自動偵測方法之擷取 圖一 A係為本發明之影像擷取裝置位 佳實施例流程示意圖。 圖一 B係為本發明之影像擷取裒置位 异其影像之一特徵值流程示意圖。 圖一 C係為本發明之影像擷取裝置位 透視投影法流程示意圖。 圖二係為本發明之影像擷取裝置位置 校正工具影像示意圖。 圖二係為本發明之影像擷取裝 座標系示意圖。 置位置自動偵測方法之空 間 顯示 圖四係為本發明之影像擷取裝置位置自動制方法之 幕顯座標系示意圖。 圖五係為本發明之影像擷取裝置配置位置示意圖。 圖/、係為本务明之車輛碰撞警示系統較佳實施例示意圖。 【主要元件符號說明】 1一影像擷取裝置位置自動偵測方法 10〜15-步驟 131-步驟 141〜142-步驟 影像擷取裝置 2a〜2d-影像擷取裝置 3-顯示幕 200823430 6—車輛碰撞警不糸統 60- 影像處理與控制模組 6 0 0 -數位訊號處理與控制單元 601- 影像擷取與解碼單元 602- 影像隨機存取記憶體 6 0 3 -影像編碼與輸出单元 6 0 4 -非揮發性可程式記憶體 61- 影像擷取裝置 62- 使用者控制單元 63- 顯示單元 64- 警示單元 Θ0-車輛 91- 校正工具 92- 影像擷取範圍15 200823430 [Simple diagram of the diagram] The automatic detection method of the automatic detection method is based on the automatic detection method of the automatic detection method. Figure 1A is the image acquisition device of the present invention. A schematic diagram of the process of the embodiment. Figure 1B is a schematic flow chart of one of the feature values of the image capturing device of the present invention. Figure 1 is a schematic flow chart of the perspective projection method of the image capturing device of the present invention. FIG. 2 is a schematic diagram of the image of the image capturing device position correction tool of the present invention. Figure 2 is a schematic diagram of the image capture system of the present invention. The space display method for automatically detecting the position is shown in Fig. 4 is a schematic diagram of the screen display system of the automatic image capturing device position method of the present invention. FIG. 5 is a schematic diagram showing the configuration position of the image capturing device of the present invention. Figure / is a schematic diagram of a preferred embodiment of a vehicle collision warning system. [Main component symbol description] 1 image capture device position automatic detection method 10~15-step 131-step 141~142-step image capture device 2a~2d-image capture device 3-display screen 200823430 6-vehicle Collision Violation 60- Image Processing and Control Module 6 0 0 - Digital Signal Processing and Control Unit 601 - Image Capture and Decode Unit 602 - Video Random Access Memory 6 0 3 - Image Encoding and Output Unit 6 0 4 - Non-volatile programmable memory 61 - Image capture device 62 - User control unit 63 - Display unit 64 - Warning unit Θ 0 - Vehicle 91 - Correction tool 92 - Image capture range