| 摘要 |
The present invention eliminates the need for achieving relative positioning accuracy between a vehicle and a calibration index and simplifies the preparation for laying down a calibration index. A camera calibration method is provided for calibrating a plurality of cameras (1, 2, 3, 4) using a plurality of images generated by imaging a peripheral area of a vehicle by the plurality of cameras (1, 2, 3, 4), wherein the peripheral area of a vehicle includes a calibration index pre-set on a road surface where the vehicle is positioned, the plurality of cameras (1, 2, 3, 4) are mounted on the vehicle, and the calibration index includes a plurality of intersections (201, 202, 205, 206 or 209, 210, 213, 214) formed by at least two first parallel straight lines (L1, L2) and two second parallel straight lines (L5, L6 or L7, L8) having different inclination from the two first parallel straight lines (L1, L2). The camera calibration method includes the steps of generating (403) a bird's-eye-view video by viewpoint-converting each of the plurality of images based on a first camera parameter that is stored in advance; recognizing (404) the plurality of intersections from the generated bird's-eye-view video; and calculating (408) a second camera parameter, via which a non-deviated bird's-eye-view video can be generated, based on the plurality of recognized intersections and information on positions and poses of the plurality of cameras (1, 2, 3, 4). |
