CALIBRATION METHOD, CALIBRATION DEVICE, AND CALIBRATION SYSTEM HAVING THE DEVICE

摘要

A high-accuracy calibration method for a range finder which captures an image involving much lens aberration.  The calibration method is used for estimating the camera parameter representing the characteristic of each imaging system which a binocular range finer (3) has.  The method includes an imaging step of imaging a reference chart (30) on which a geometric pattern composed of arranged elements is shown and which is disposed in a predetermined position relationship with a binocular range finder (3), an aberration brightness correcting step of correcting the brightness distribution due to the lens aberration in the captured image of the reference chart (30), a feature point position calculating step of calculating the positions of the centers of gravity of the elements shown in the image the brightness distribution of which is corrected as the feature point positions, and a camera parameter estimation calculating step of estimating a camera parameter by using the calculated feature point positions and the actual substantial centers of gravity of the reference chart (30).