| 摘要 |
In the present invention, an image, in which a reference figure of a known shape is captured, is converted to a birds-eye view image, and on the basis of the shape of the reference figure in the birds-eye view image, the angle of an onboard camera with respect to the reference figure is determined for the pitch direction, roll direction, and yaw direction. Further, the angle of the yaw direction of the vehicle with respect to the reference figure is determined from the movement direction of the reference figure in birds-eye view images which are captured before and after the forward movement of the vehicle being made to move forward. On the basis of the angle of the on-board camera with respect to the reference figure and the angle of the vehicle with respect to the reference figure, the attachment angle of the on-board camera with respect to the vehicle is adjusted. Due to this configuration, the attachment angle of an on-board camera can be adjusted even for a vehicle that is not equipped with on-board cameras in all four directions. |
