PROBLEM TO BE SOLVED: To allow for calculation of camera parameters, even when an image suitable for calculation of camera parameters cannot be obtained.SOLUTION: A calibration system includes an attitude sensor mounted on a vehicle, and acquiring the attitude information of the coordinate system of the vehicle, an imaging unit for shooting the surroundings of the vehicle, an attitude sensor reliability calculation unit for calculating the attitude sensor reliability, i.e., the reliability of the attitude sensor, and an attitude use estimation unit for estimating the external parameters of the imaging unit by using the attitude information outputted from the attitude sensor, and the relation of the coordinate system of the imaging unit to the vehicle coordinate system, when the calculated attitude sensor reliability is larger than a predetermined threshold.SELECTED DRAWING: Figure 2
【課題】カメラパラメータの算出に適する画像が得られない場合でも、カメラパラメータを算出できる。【解決手段】キャリブレーションシステムは、車両に搭載され、車両の車両座標系の姿勢情報を取得する姿勢センサと、車両の周囲を撮影する撮像部と、姿勢センサの信頼度である姿勢センサ信頼度を算出する姿勢センサ信頼度算出部と、算出された姿勢センサ信頼度が予め定めた閾値より大きい場合に、姿勢センサが出力する姿勢情報、および車両座標系に対する撮像部の座標系の関係を用いて撮像部の外部パラメータを推定する姿勢使用推定部と、を備える。【選択図】図2
CALIBRATION SYSTEM, CALIBRATION DEVICE
キャリブレーションシステム、キャリブレーション装置
2017-08-17
Patent
Electronic Resource
Japanese
IPC: | H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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