CAMERA CALIBRATING DEVICE, CAMERA CALIBRATION METHOD, CAMERA CALIBRATION PROGRAM, AND RECORDING MEDIUM HAVING THE PROGRAM RECORDED THEREIN

摘要

<P>PROBLEM TO BE SOLVED: To facilitate measurement of internal and external parameters of a camera. Ž<P>SOLUTION: A silhouette image creation means 12 creates a silhouette image resulting from extracting an area of an object from an image inputted from an image acquisition means 11 like a camera. A parameter estimation means 14 selects a preliminarily prepared change type of the object in accordance with an arbitrary probability and generates a state candidate according with the selected change type. A simulation image is created by projecting the silhouette image on a virtual camera having the same camera internal and external parameters as the generated state candidate on the basis of the state candidate and simulating the silhouette image. An evaluation value is obtained which results from product operation between a result of comparison between both images and a determination result of likelihood of the object itself based on prior knowledge. It is determined whether the state candidate can be accepted as the final change state or not in accordance with the evaluation value. Internal and external parameters of the camera are estimated from the accepted change state. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž