PROBLEM TO BE SOLVED: To highly accurately achieve calibration processing of a parameter of a rotational angle around one shaft in an imaging surface in a short time.SOLUTION: A calibration device 116 which performs calibration of a camera that is mounted on a vehicle and photographs the periphery of the vehicle includes: a feature point extraction section 117 which extracts a feature point of the photographed image from a plurality of frames obtained by photographing at time intervals; a steering angle acquisition section 119 which acquires a steering angle of the vehicle; a feature point sequence calculation section 120 which calculates a length of a feature point sequence that is a straight line obtained by displacement of the feature point between a set of frames of the time intervals, when it is determined that the vehicle is travelling straight based on the steering angle acquired by the steering angle acquisition section 119; and a rotational angle calibration section 122 which calibrates a parameter of a rotational angle around one shaft in an imaging surface so that ratios of travelling distances in which the vehicle has traveled between one set of the frames to the length of the feature point sequence calculated by the feature point sequence calculation section 120 coincide each other between different sets of frames.SELECTED DRAWING: Figure 2


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    Title :

    キャリブレーション装置


    Publication date :

    2020-10-14


    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 / 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