Title:
CALIBRATION DEVICE AND CALIBRATION METHOD
Document Type and Number:
WIPO Patent Application WO/2020/188845
Kind Code:
A1
Abstract:
The present invention makes it possible to calibrate external parameters with high accuracy even when a surrounding road surface is composed of a plurality of flat surfaces. Specifically, this calibration device comprises: a camera mounted in a vehicle that travels on a road surface; a feature point extractor for extracting feature points from a captured image that is obtained by imaging using the camera; a tracking unit for tracking the feature points extracted by the feature point extractor; a storage unit for storing a trajectory of the feature points that is obtained by tracking the feature points; a road surface estimation unit for estimating, using the trajectory of the feature points, the flat surface over which the vehicle travels; a calculation unit for calculating a calibration trajectory on the basis of the estimated flat surface, the calibration trajectory being the trajectory of the feature points used for calibration; and an external-parameter estimation unit for calibrating an external parameter of the camera using the calibration trajectory.
Inventors:
KAWABE MANABU (JP)
SAKANO MORIHIKO (JP)
MATSUYAMA NOBUYUKI (JP)
SAKANO MORIHIKO (JP)
MATSUYAMA NOBUYUKI (JP)
Application Number:
PCT/JP2019/030098
Publication Date:
September 24, 2020
Filing Date:
July 31, 2019
Export Citation:
Assignee:
CLARION CO LTD (JP)
International Classes:
G06T7/80; G06T7/00; H04N5/232; H04N7/18; H04N17/00
Foreign References:
| JP2019028665A | 2019-02-21 | |||
| JP2008011174A | 2008-01-17 | |||
| JP2019052738A | 2019-04-04 |
Other References:
See also references of EP 3944193A4
Attorney, Agent or Firm:
SUNNEXT INTERNATIONAL PATENT OFFICE (JP)
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