To solve such a problem that: when performing camera calibration, a reference point needs to be specified manually, causing reduction of accuracy, greatly affecting ground estimation results.SOLUTION: Images of checkerboards in various postures are captured, and external and internal parameters of a camera are determined. After that, based on the external and internal parameters of the camera, a projective transformation matrix from an image plane to a ground plane is calculated, and coordinates of a reference point can be calculated automatically. Therefore, the accuracy of calibration can be significantly improved.SELECTED DRAWING: Figure 1

    【課題】カメラキャリブレーションを実施する時、手動で参照点を指定しなければならないので、精度が低くなり地面推定結果に大きな影響を与えてしまう。【解決手段】様々な姿勢のチェッカーボード図を撮影し、カメラの外部と内部パラメータを確定する。その後、前記のカメラの外部と内部パラメータにより、イメージ平面から地面平面への射影変換マトリックスを計算し、自動的に参照点の座標を算出することができる。このため、キャリブレーションの精度を大幅に向上することができる。【選択図】図1


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    Title :

    METHOD FOR AUTOMATICALLY ESTIMATING GROUND SURFACE BASED ON CAMERA MODULE


    Additional title:

    カメラモジュールに基づいて自動的に地面を推定する方法


    Contributors:
    PAN YAO (author) / ZHONG XIAOXIAO (author) / SUZUKI KENJI (author) / MARUYAMA HIROSHI (author)

    Publication date :

    2021-08-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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