CALIBRATION DEVICE, CALIBRATION METHOD, PROGRAM FOR CALIBRATION, AND CALIBRATION MENDING TOOL

摘要

PROBLEM TO BE SOLVED: To accurately fix markers to be used for calibration to a robust even in various environments where an image photographing device is set, and to easily and accurately recognize those calibration markers from the image even when the optical distortion of the image photographing device is large, and to calculate a much more precise calibration parameter.

SOLUTION: A calibration jig 2 having at least two faces which are respectively arranged with calibration markers whose three-dimensional positions are already known based on a predetermined rule is photographed by an image photographing device 1. The in-image positions of the calibration markers are measured in one or more photographed images and numbered by an arithmetic unit 4, and the calibration parameter of the image photographing device 1 is estimated by using the three-dimensional positions and in-image positions of the numbered calibration markers.

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