To improve the accuracy in calibrating a camera mounted on a movable body.SOLUTION: A calibration apparatus 1 comprises: a camera 2; a memory 3 that stores three-dimensional positions of four or more calibration points located at at least two or more different distances from the camera 2 and a mounting position and a mounting angle of the camera 2; a processor 4 that creates a display image in which four or more markers for calibration corresponding respectively to the four or more calibration points are displayed superimposed on an image photographed by the camera 2; and an interface unit 5 that displays the display image and gives the processor 4, from the outside, an instruction to change superimposition display positions of the respective markers for calibration. The processor 4 calculates calibration values for performing six-axis adjustment of the mounting position and mounting angle of the camera 2, so as to reduce an index representing the difference between estimated display positions on the photographed image of the four or more calibration points estimated from the three-dimensional positions of the calibration points, the mounting position, and the mounting angle, and the display positions of the markers for calibration on the display image.SELECTED DRAWING: Figure 1

    【課題】移動体に搭載されるカメラの較正精度を向上させる。【解決手段】較正装置1は、カメラ2と、カメラ2から少なくとも2種類以上の異なる距離に位置する4点以上の較正点の3次元位置、並びに、カメラ2の搭載位置および搭載角度を記憶するメモリ3と、カメラ2の撮像画像に、4点以上の前記較正点にそれぞれ対応する4つ以上の較正用マーカを重畳表示した、表示画像を生成するプロセッサ4と、表示画像を表示し、且つ、プロセッサ4に、それぞれの較正用マーカの重畳表示位置の変更指示を外部から与えるインターフェイス部5とを含む。プロセッサ4は、較正点の3次元位置、搭載位置および搭載角度から推定される4点以上の較正点の撮像画像上の推定表示位置と、表示画像上の較正用マーカの表示位置との差を表す指標を小さくするように、カメラ2の搭載位置および搭載角度を6軸調整する較正値を算出する。【選択図】図1


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    Title :

    CALIBRATION APPARATUS, CALIBRATION SYSTEM, CAMERA, MOVABLE BODY, AND CALIBRATION VALUE ADJUSTMENT METHOD


    Additional title:

    較正装置、較正システム、カメラ、移動体および較正値調整方法


    Contributors:

    Publication date :

    2020-04-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / G03B APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM , Geräte oder Anordnungen zum Aufnehmen, Projizieren oder Betrachten von Fotografien



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