| 摘要 |
PROBLEM TO BE SOLVED: To detect the deviation of a camera photographing direction at the optional place of a general road or the like and to perform camera correction based on a detected result. SOLUTION: The photographing directions of a left camera and a right camera are not parallel and are shifted for an angleΔθ. At a spot A, a still feature object such as a signal device or the like is extracted from the photographed images of both cameras and the parallax dA of left and right images is obtained. The signal device is tracked within the images while moving from the spot A to the spot B separated for a prescribed distance Z and the parallax dB for the same signal device is obtained at the spot B. The deviation angleΔθof the installation direction of the cameras is obtained from the parallax dA, the parallax dB and a traveling distance Z and the camera calibration is performed by using theΔθ. The feature object present anywhere like the signal device is used for the camera calibration and the limitation of a calibration place is eliminated. |
