To automatically correct the positional deviation between an index and a vehicle to perform calibration of an on-vehicle camera.SOLUTION: A calibration device of the present disclosure comprises an acquisition unit and a processor. The acquisition unit can acquire images obtained by picking up images of first and second indices and a third index with a camera. The first and second indices are arranged at predetermined different positions having at least one feature point at which image recognition can be performed. The third index is arranged between the first and second indices and has a plurality of feature points at which image recognition can be performed. The processor calculates a first calibration value for the position and posture of the camera based on the positions of the plurality of feature points of the third index on the image and the installation position of the third index in a real space. The processor converts the feature points into real space coordinates and corrects an installation error of the third index. The processor calculates a second correction value for the position and posture of the camera by using the installation position of the third index in the corrected real space.SELECTED DRAWING: Figure 1

    【課題】指標と車両との間の位置ずれを自動で補正し車載カメラの較正を行う。【解決手段】本開示の較正装置は、取得部と、プロセッサとを備える。取得部は、第1及び第2の指標と、第3の指標とをカメラにより撮像した画像を取得可能に構成される。第1及び第2の指標は、画像認識可能な特徴点を少なくとも一つ有して異なる所定の位置に配置される。第3の指標は、第1及び第2の指標の間に配置され、画像認識可能な複数の特徴点を有する。プロセッサは、第3の指標の複数の特徴点の画像上の位置と、実空間における第3の指標の設置位置とに基づいてカメラの位置及び姿勢の第1の較正値を算出する。プロセッサは、それぞれの特徴点を実空間座標に変換し第3の指標の設置誤差を補正する。プロセッサは、補正した実空間における前記第3の指標の設置位置を用いて、カメラの位置及び姿勢の第2の較正値を算出する。【選択図】図1


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    Title :

    CALIBRATION DEVICE, IMAGING APPARATUS, MOVABLE BODY, AND CALIBRATION METHOD


    Additional title:

    較正装置、撮像装置、移動体及び較正方法


    Contributors:

    Publication date :

    2021-07-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen




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