To provide a device performing calibration of the heights and the angles of multiple cameras.SOLUTION: A camera calibration device 1 includes a road surface flow extraction part 13 for extracting a flow between frames of a feature point in the road surface region of images captured by multiple cameras 22, a vehicle travel calculation part 11 for calculating vehicle rotation amount and travel between frames in a vehicle coordinate system from the vehicle sensor signal, a homography matrix calculation part 12 for calculating a homography matrix by using camera posture and camera height position of each camera in a vehicle coordinate system obtained by the previous time, and a parameter update part 14 for finding an optimum solution of camera posture, camera height of multiple cameras and vehicle movement parameters, so that the position of the feature point converted by the homography matrix matches the flow of the feature point found in the road surface flow extraction part, in the image of each camera.SELECTED DRAWING: Figure 1

    【課題】複数のカメラの高さおよび角度のキャリブレーションを行う装置を提供する。【解決手段】カメラキャリブレーション装置1は、複数のカメラ22にて撮影した画像中の路面領域にある特徴点のフレーム間におけるフローを抽出する路面フロー抽出部13と、車両センサ信号から車両座標系におけるフレーム間の車両回転量および移動量を計算する車両移動量計算部11と、車両回転量および移動量を、前時刻までに得られた車両座標系における各カメラのカメラ姿勢およびカメラ高位置を用いて、ホモグラフィー行列を計算するホモグラフィー行列計算部12と、各カメラの画像において、ホモグラフィー行列によって変換される特徴点の位置が路面フロー抽出部で求めた特徴点のフローと整合するように、複数のカメラのカメラ姿勢およびカメラ高さと車両移動パラメータの最適解を求めるパラメータ更新部14とを備える。【選択図】図1


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    Title :

    CAMERA CALIBRATION DEVICE, CAMERA CALIBRATION METHOD, AND PROGRAM


    Additional title:

    カメラキャリブレーション装置、カメラキャリブレーション方法、およびプログラム


    Contributors:

    Publication date :

    2020-07-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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