CAMERA CALIBRATION APPARATUS OF ONBOARD CAMERA

摘要

PROBLEM TO BE SOLVED: To simply obtain information of inside parameters and outside parameters of an onboard camera without using camera calibration patterns of exclusive use or the like.

SOLUTION: A controller 10 obtains: input images of a road including white lines from the onboard camera 1; correcting the input images on the basis of a plurality of different lens distortion parameters to generate first corrected images respectively; detecting a straight line corresponding to each white line in each first corrected image; calculating evaluated values for evaluating adequacy of correction on the basis of straight line detection result; determining the lens distortion parameters corresponding to the best evaluated value; generating second corrected images corrected from the input images on the basis of determined lens distortion parameters; detecting two straight lines corresponding to each white line in the second corrected images; and determining an intersection point of the detected two straight lines as a disappearance point position.

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