| 摘要 |
PROBLEM TO BE SOLVED: To correct a temporal position deviation of a stereo camera with high accuracy to perform a distance measurement with higher accuracy.SOLUTION: A calibration device comprises: an image acquisition unit (S50) for receiving inputs of a plurality of pieces of disparity data calculated from positions having a plurality of feature points common in a reference image and a corresponding image for each of spots, by using two reference images taken by one imaging device in two spots and two corresponding images taken by the other imaging device in the two spots; a feature point search unit (S55) for searching for a plurality of feature points common in the two reference images; a coordinate conversion unit (S60) for performing coordinate conversion of two disparity data in each of the feature points of the two reference images, for each of the feature points for which the feature point search unit has searched; and a correction value calculation unit for calculating a correction value of a parameter relating to a position of the imaging device, based on the disparity data that have been output and converted by the coordinate conversion unit. |
