Calibration with high accuracy can be realized even when performing the calibration while running on the actual road. Specifically, the calibration apparatus is mounted in a vehicle and includes: an image acquisition unit configured to acquire captured images obtained by a camera, which is mounted in the vehicle, capturing images of surroundings of the vehicle; a feature point extraction unit configured to extract a plurality of feature points from the captured images; a tracking unit configured to track the same feature point from a plurality of the captured images captured at different times with respect to each of the plurality of feature points, which are extracted by the feature point extraction unit, and record the tracked feature point as a feature point trajectory, a lane recognition unit configured to recognize an own vehicle's lane which is a driving lane on which the vehicle is running, from the captured images; a sorting unit configured to sort out the feature point trajectory, which is in the same plane as a plane included in the own vehicle's lane recognized by the lane recognition unit, among feature point trajectories tracked and recorded by the tracking unit; and an external parameter estimation unit configured to estimate external parameters for the camera by using the feature point trajectory sorted out by the sorting unit.


    Access

    Download


    Export, share and cite



    Title :

    CALIBRATION APPARATUS AND CALIBRATION METHOD


    Contributors:

    Publication date :

    2022-03-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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 / G06K Erkennen von Daten , RECOGNITION OF DATA / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



    CALIBRATION APPARATUS, CALIBRATION METHOD, AND CALIBRATION PROGRAM

    NAKAI WATARU | European Patent Office | 2019

    Free access

    Calibration apparatus and calibration method

    SAKANO MORIHIKO / KAWABE MANABU / MATSUYAMA NOBUYUKI | European Patent Office | 2023

    Free access

    CALIBRATION APPARATUS AND CALIBRATION METHOD

    SAKANO MORIHIKO / KAWABE MANABU | European Patent Office | 2021

    Free access

    Calibration apparatus and calibration method

    NAKAI WATARU | European Patent Office | 2018

    Free access

    Calibration system, target apparatus and calibration method

    OKAMOTO SHUSAKU / NAKAGAWA MASAMICHI / MORIMURA ATSUSHI | European Patent Office | 2017

    Free access