| 摘要 |
PROBLEM TO BE SOLVED: To provide a method capable of quickly acquiring a camera parameter. SOLUTION: A calibration pattern of a quadrilateral having a plurality of marker patterns arranged so as not to have rotational symmetry is photographed, a calibration pattern area is extracted from the photographed image of the calibration pattern, image coordinates of four corners of the calibration pattern are found, a projective transformation matrix from a plane image of an original calibration pattern into a calibration pattern in a camera image is calculated on the basis of the image coordinates at the corners of the calibration pattern area and the coordinates at the corners in the plane image of the original calibration pattern, the projective transformation matrix is used to calculate a correspondence relation between the coordinates of the markers in the original calibration pattern plane image and the coordinates of the markers on the photographed image, and a camera parameter is obtained on the basis of the correspondence relation.
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