The present invention calibrates parameters indicating an orientation of a camera even if a road surface on which a vehicle travels is not flat.A calibration device 100 is installed in a self-vehicle 1A, and includes a feature point extraction unit 154 configured to extract, from a captured image of a camera 4 installed in the self-vehicle 1A, a feature point included in a region of the captured image in which a road surface around the self-vehicle 1A is captured; a self-vehicle body recognition unit 153 configured to extract, from the captured image, a vehicle body feature point included in a region of the captured image in which a vehicle body 10 of the self-vehicle 1A is captured; and an external parameter estimation unit 158 configured to calibrate, based on the feature point extracted by the feature point extraction unit 154 and the vehicle body feature point extracted by the self-vehicle body recognition unit 153, external parameters 125 indicating a mounting state of the camera 4 relative to the self-vehicle 1A.
キャリブレーション装置及びキャリブレーション方法
2024-06-25
Patent
Electronic Resource
Japanese
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 |