PROBLEM TO BE SOLVED: To provide a camera calibration device and camera calibration system that can implement calibration even under a situation where a loading state of a vehicle varies, and precisely estimate all camera parameters without using parallelism of the vehicle, for example, with respect to a white line to allow the calibration to be implemented.SOLUTION: A camera calibration device comprises: a picture acquisition unit 202 that acquires a picture taken by a camera; a characteristic extraction unit 203 that extracts a prescribed amount of characteristic from the picture; a pose estimation unit 301 that estimates a pose of a vehicle on the basis of the prescribed amount of characteristic; a translation correction unit 304 that corrects a position of the translation direction with respect to the ground surface of the camera on the basis of the information to be obtained from calibrations implemented in the past; and a camera parameter calculation unit 305 that calculates a camera parameter for a pose with respect to a ground surface of the camera on the basis of the vehicle pose and a position of the translation direction with respect to the ground surface of the camera.SELECTED DRAWING: Figure 6

    【課題】車両の積載状態が変化する状況下でもキャリブレーションを実施できると共に、例えば白線に対する車両の平行性を利用することなく、全てのカメラパラメータを精緻に推定してキャリブレーションを実施することのできるカメラキャリブレーション装置及びカメラキャリブレーションシステムを提供する。【解決手段】カメラにより撮影した映像を取得する映像取得部202と、映像から所定の特徴量を抽出する特徴抽出部203と、所定の特徴量に基づいて車両の姿勢を推定する姿勢推定部301と、過去に実施したキャリブレーションから得られる情報に基づいてカメラの地面に対する並進方向の位置を補正する並進補正部304と、車両の姿勢とカメラの地面に対する並進方向の位置とに基づいて、カメラの地面に対する姿勢に関するカメラパラメータを算出するカメラパラメータ算出部305と、を備えている。【選択図】図6


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    Title :

    CAMERA CALIBRATION DEVICE AND CAMERA CALIBRATION SYSTEM


    Additional title:

    カメラキャリブレーション装置及びカメラキャリブレーションシステム


    Contributors:

    Publication date :

    2016-05-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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