| 摘要 |
Provided is a calibration method for an automotive camera system that can easily calibrate intrinsic parameters and extrinsic parameters of an image taking unit. A calibration method for an automotive camera system 1 includes: recognizing a recognition target object including a preset straight line portion, from an image taken by each of image taking units 307 to 310, and extracting feature points of the recognition target object from the image; projecting the feature points onto a virtual spherical surface 601, estimating intrinsic parameters of the image taking units 307 to 310 on the basis of a shape of a feature point sequence formed on the virtual spherical surface 601, and calibrating the estimated intrinsic parameters; and calculating an overhead point of view of the image on the basis of the feature points, estimating extrinsic parameters of the image taking units 307 to 310 on the basis of the calculated overhead point of view, and calibrating the estimated extrinsic parameters. |
