| 摘要 |
PROBLEM TO BE SOLVED: To estimate unknown internal and external parameters matched with a state of a camera.SOLUTION: A camera parameter estimation apparatus selects one internal parameter from a plurality of internal parameters having respectively different focal distances which are previously estimated to specify an internal parameter of either one of coordinates of an image center and a lens distortion coefficient, updates only an internal parameter concerned with focal distance information by using the selected one internal parameter as an initial value, and estimates an external parameter by using the updated internal parameter and information for estimating the external parameter. When determining that an evaluation index concerned with estimation of the external parameter is converged, whether estimation of camera parameters with repeated updating of the internal parameters and estimation of the external parameter is determined on the basis of a predetermined estimation completion condition. |
