PROBLEM TO BE SOLVED: To provide a calibration device, a calibration method and a distance measurement apparatus which can accurately and stably obtain parallax off-set even if a mobile body is moving and measurement data is small.SOLUTION: A calibration device comprises: a three-dimensional object feature point extraction part which extracts at least two feature points on a three-dimensional object in a reference image 1 and obtains image coordinates 1 of each feature point; a parallax calculation part which calculates a parallax 1 of each feature point using a comparison image 1; a movement detection part which calculates image coordinates 2 and a parallax 2 of each feature point in a reference image 2 using the reference image 2 and a comparison image 2 imaged after the elapse of prescribed time; and a parallax off-set calculation part which calculates parallax off-set using the image coordinates 1, parallax 1, image coordinates 2 and parallax 2. The parallax off-set calculation part calculates the parallax off-set by an evaluation function with the parallax off-set as unknown defined on the basis of a differential formula expressing a difference in a movement amount of two points with three-dimensional coordinates using a conversion formula for converting the image coordinates of the reference image into the three-dimensional coordinates.SELECTED DRAWING: Figure 3

    【課題】移動体が移動中で、計測データが少なくても精度良く安定して視差オフセットを求めることができる校正装置及び校正方法並びに距離計測装置を提供する。【解決手段】基準画像1の中の立体物上の少なくとも2つの特徴点を抽出し、各特徴点の画面座標1を求める立体物特徴点抽出部と、比較画像1を用いて各特徴点の視差1を算出する視差算出部と、所定の時間経過した後に撮像された基準画像2及び比較画像2を用いて基準画像2の中での各特徴点の画面座標2及び視差2を算出する移動検出部と、画面座標1、視差1、画面座標2及び視差2を用いて視差オフセットを算出する視差オフセット算出部を備え、視差オフセット算出部は、基準画像の画面座標を三次元座標に変換する変換式を用いて三次元座標での2点の移動量の差を表わした差分式に基づいて定義された、視差オフセットを未知数とした評価関数により視差オフセットを算出する。【選択図】図3


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    Title :

    CALIBRATION DEVICE, DISTANCE MEASUREMENT APPARATUS AND CALIBRATION METHOD


    Additional title:

    校正装置、距離計測装置及び校正方法


    Contributors:

    Publication date :

    2016-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen





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