Image processing device and image processing method for camera calibration

摘要

In a calibration device, an image-integration averaging processing unit integrates/averages an image so as to generate an integrated and averaged image, and an edge extracting unit extracts the edges from the integrated and averaged image. A vanishing-point extracting unit calculates vanishing lines by using the edges and identifies the coordinates of the intersection point of the vanishing lines as the coordinates of the vanishing point. An error determining unit compares the coordinates of the current vanishing point with the coordinates of the previous vanishing point so as to determine whether a parameter of the camera needs correcting. In accordance with the result of the determination, a correction processing unit corrects a parameter of the camera.

主权项

1. An image processing device comprising:
an integrating unit configured to acquire, from a camera installed on a movable body, images that are captured by the camera while the movable body is moving and integrates the acquired images so as to generate an integrated image; a vanishing-point identifying unit configured to extract brightness edges from the integrated image and identifies an intersection point of lines determined by using the brightness edges as a vanishing point; a determining unit configured to determine whether a parameter of the camera has an appropriate value by using coordinates of the vanishing point identified and reference coordinates, the reference coordinates being coordinates of a reference vanishing point stored; and a correcting unit configured to correct the parameter of the camera in accordance with a difference between the coordinates of the vanishing point identified and the reference coordinates.