To calibrate a parameter indicating a posture of a camera accurately even if a road surface where a vehicle travels is not flat.SOLUTION: A calibration apparatus 100 includes a feature point extraction unit 154 that is mounted on an own vehicle 1A and extracts a feature point included in a region of a photographed image in which a road surface around the own vehicle 1A is photographed among photographed images of a camera 4 mounted on the own vehicle 1A, an own vehicle body recognition unit 153 that extracts a vehicle body feature point included in a region of a photographed image in which a vehicle body 10 of the own vehicle 1A is photographed among the photographed images, and an external parameter estimation unit 158 that calibrates an external parameter 125 indicating a mounting state of the camera 4 to the own vehicle 1A based on the feature point extracted by the feature point extraction unit 154 and the vehicle body feature point extracted by the own vehicle body recognition unit 153.SELECTED DRAWING: Figure 3

    【課題】車両が走行する路面が平坦でない場合であっても、カメラの姿勢を示すパラメータを高精度に校正する。【解決手段】キャリブレーション装置100は、自車両1Aに搭載され、自車両1Aに搭載されたカメラ4の撮影画像のうち、自車両1Aの周囲の路面が撮影された撮影画像の領域に含まれる特徴点を抽出する特徴点抽出部154と、撮影画像のうち、自車両1Aの車体10が撮影された撮影画像の領域に含まれる車体特徴点を抽出する自車体認識部153と、特徴点抽出部154により抽出された特徴点と、自車体認識部153により抽出された車体特徴点とに基づき、自車両1Aに対するカメラ4の設置状態を示す外部パラメータ125を校正する外部パラメータ推定部158と、を備える。【選択図】図3


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    Titel :

    CALIBRATION APPARATUS AND CALIBRATION METHOD


    Weitere Titelangaben:

    キャリブレーション装置及びキャリブレーション方法


    Beteiligte:
    SAKANO MORIHIKO (Autor:in) / KAWABE MANABU (Autor:in)

    Erscheinungsdatum :

    01.11.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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