Title:
キャリブレーション装置、キャリブレーション方法
Document Type and Number:
Japanese Patent JP7217577
Kind Code:
B2
Abstract:
High precision calibration of external parameters is possible even when the surrounding road surface is configured from a plurality of flat surfaces. Specifically, provided is a calibration device comprising a camera to be mounted on a vehicle traveling on a road surface; a characteristic point extraction unit which extracts characteristic points from a captured image obtained by being captured with the camera; a tracking unit which tracks the characteristic points extracted with the characteristic point extraction unit; a storage unit which stores a trajectory of the characteristic points obtained by tracking the characteristic points; a road surface estimation unit which estimates a flat surface on which the vehicle is traveling by using the trajectory of the characteristic points; a calculation unit which calculates a calibration trajectory, which is a trajectory of the characteristic points, for use in calibration based on the estimated flat surface; and an external parameter estimation unit which executes calibration of an external parameter of the camera by using the calibration trajectory.
Inventors:
Kawabe Manabu
Morihiko Sakano
Nobuyuki Matsuyama
Morihiko Sakano
Nobuyuki Matsuyama
Application Number:
JP2019052738A
Publication Date:
February 03, 2023
Filing Date:
March 20, 2019
Export Citation:
Assignee:
Forsia Clarion Electronics Co., Ltd.
International Classes:
G06T7/80; G06T7/00; H04N7/18; H04N23/60
Domestic Patent References:
| JP2014101075A | ||||
| JP2019028665A | ||||
| JP2015060595A | ||||
| JP2018032253A |
Foreign References:
| US20150049193 | ||||
| WO2012145818A1 |
Attorney, Agent or Firm:
Patent Attorney Corporation Sunnext International Patent Office