| 摘要 |
<P>PROBLEM TO BE SOLVED: To facilitate calibration of a camera in a short time. <P>SOLUTION: An image acquisition unit 2 is configured to acquire the images of a plurality of mending tools arranged at prescribed positions in the periphery of a vehicle in which the photographic ranges of a plurality of cameras loaded on a vehicle overlap each other, and provided with a plurality of markers whose inter-marker distances are already known by using the plurality of cameras to be calibrated. A link structure formation unit 3 is configured to specify each of the mending tools from each of the acquired images, and to form a virtual link structure in which prescribed representative points which are common to each specified mending tool are overlapped for the same mending tool repeatedly photographed by the plurality of cameras. A rink angle retrieval unit 4 is configured to determine the attitude of the link structure by setting an arbitrary link angle about the formed link structure, and to retrieve a link angle so that the sum of the squares of a difference in a distance between the same vertexes of the same mending tool can be minimized. A parameter calculation unit 5 is configured to calculate a camera pan angle, x axial coordinates, and y axial coordinates by using the link angle. <P>COPYRIGHT: (C)2011,JPO&INPIT |
