| 摘要 |
PROBLEM TO BE SOLVED: To provide a camera calibration device for calibrating a camera by a marker on a negligible position of a relative position relation in a horizontal direction with a vehicle. SOLUTION: This device includes a common marker camera parameter optimization means 300 described as follows: by using one dimensional value of a position coordinate of a common marker 200 in a world coordinate system in a three-dimensional space as a known value, two unknown residual dimensional values of the position coordinate of the common marker are calculated from an image coordinate of the common marker 200 when being imaged by the camera A, a known dimensional value of the position coordinate, and a camera parameter applied to the camera A; an image coordinate of the camera B of the common marker 200 is calculated from the calculated position coordinate of the common marker 200 and a camera parameter of the camera B; and each camera parameter of the two cameras is adjusted so that a distance between the calculated image coordinate of the camera B of the common marker 200 and the image coordinate of the common marker 200 when being imaged by the camera B becomes shorter than a threshold. COPYRIGHT: (C)2009,JPO&INPIT
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