| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology capable of efficiently calibrating a camera.SOLUTION: A laser scanner 115, which is fixed to a vehicle 100 and of which external orientation elements are obtained, obtains reference laser scan data by scanning a building 131 with a laser while moving the vehicle 100. At a specific time during the movement, an on-vehicle camera 114 photographs the building 131. Then, based on a track of the moving vehicle 100, reference point group position data is calculated which describes the reference laser scan data in a coordinate system on the vehicle 100 at the specific time. Next, a point, corresponding to a feature point in the reference point group position data and a feature point on an image photographed by the on-vehicle camera 114, is specified. Finally, external orientation elements of a camera 113 are calculated based on a correspondence between reference point group position data and a screen coordinate value on the image at the corresponding point.SELECTED DRAWING: Figure 1 |
