| 摘要 |
<p>A calibration device (10) for calibrating a range image sensor (20), detecting a distance of each direction within a detection range (V) and generating a range image data, in a state where the range image sensor (20) is attached at a mobile body (40), the calibration device (10) includes a data receiving portion (1) for receiving a calibration-subject data including a calibration target (30), which is set within the detection range (V) and includes a first plane surface (P 1 ) and a second plane surface (P 2 ), from the range image sensor (20), a plane surface specifying portion (3) for specifying each of the first and second plane surfaces (P 1 , P 2 ) in a three-dimensional reference coordinate system, a normal vector calculating portion (4) for three-dimensionally calculating a normal vector of each of the first and second plane surfaces (P 1 , P 2 ), and a rotation calculating portion (5) for three-dimensionally calculating a rotation of the range image sensor (20) on the basis of an already-recognized posture information and the normal vector.</p> |
