To provide a device for calibrating positions and postures of a plurality of cameras.SOLUTION: A camera calibration device 1 includes a road surface flow extraction unit 10, a road surface corresponding point extraction unit 11, and a parameter update unit 13 for obtaining an optimum solution for positions and angles of cameras 30. The parameter update unit 13 generates homography matrices for performing image transform between frames by using rotation amounts and movement amounts in a vehicle coordinate system and camera postures and heights in the vehicle coordinate system, generates homography matrices for transforming road surface regions between the cameras by using the postures and the positions of the cameras in the vehicle coordinate system, and obtains the optimum solution for the positions and the postures of the plurality of cameras by using error functions that include errors between road surface flows of feature points and positions of the feature points obtained by the homography matrices and errors between positions of road surface corresponding points obtained by the road surface corresponding point extraction unit 11 and positions of the road surface corresponding points obtained by using the homography matrices.SELECTED DRAWING: Figure 1
【課題】複数のカメラの位置および姿勢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、路面フロー抽出部10と、路面対応点抽出部11と、カメラ30の位置および角度の最適解を求めるパラメータ更新部13と、を備える。パラメータ更新部13は、車両座標系における回転量および移動量と車両座標系におけるカメラ姿勢および高さを用いて、フレーム間の画像変換を行うホモグラフィー行列を生成し、車両座標系におけるカメラの姿勢および位置を用いてカメラ間の路面領域を変換するホモグラフィー行列を生成し、特徴点の路面フローとホモグラフィー行列によって求められる特徴点の位置との誤差と、路面対応点抽出部11で求めた路面対応点の位置とホモグラフィー行列を用いて求められる路面対応点の位置との誤差とを含む誤差関数を用いて、複数のカメラの位置と姿勢の最適解を求める。【選択図】図1
CAMERA CALIBRATION DEVICE, CAMERA CALIBRATION METHOD, AND PROGRAM
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
2021-09-16
Patent
Electronic Resource
Japanese
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 / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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