公开(公告)号：US08792007B2

公开(公告)日：2014-07-29

申请号：US14177130

申请日：2014-02-10

申请人： Kyocera Corporation

发明人： Takeo Oshima ,  Takashi Maekawa ,  Ryuuichi Sawada ,  Haruo Yanagisawa ,  Chinatsu Sakurai ,  Akinori Iwabuchi ,  Shinya Tamizu ,  Takashi Inoue

IPC分类号： H04N17/00 ,  H04N7/18

CPC分类号： B60R1/00 ,  G06T7/80 ,  G06T2207/10004 ,  G06T2207/20092 ,  G06T2207/30244 ,  G06T2207/30252 ,  H04N17/002

摘要： An object of the present invention is to simplify a calibration operation of a camera and to shorten a time necessary for calibration. A camera calibration device 10 is mounted on a predetermined position of a movable object 100 and includes a camera 11 configured to take an image including an index 41 provided outside the movable object 100, an image superimposing unit 122 configured to generate a superimposed image by superimposing a calibration object 42 having a position adjustment part and a rotation adjustment part on the image taken by the camera 11, and a calculation unit 124 configured to calculate, based on a position of the calibration object 42 after being shifted in the superimposed image such that an end or a center of the index 41 meets the position adjustment part and a part of the index other than the end or the center overlaps the rotation adjustment part, parameters relative to a pan angle, a tilt angle and a roll angle for calibration of the camera mounting position.

摘要翻译： 本发明的目的是简化照相机的校准操作并缩短校准所需的时间。 相机校准装置10安装在可移动物体100的预定位置，并且包括被配置为拍摄包括设置在可移动物体100外部的索引41的图像的照相机11，被配置为通过叠加产生叠加图像的图像叠加单元122 在摄像机11拍摄的图像上具有位置调整部和旋转调整部的校准对象42，以及计算部124，其基于校准对象42在叠加图像中移位后的位置， 索引41的端部或中心与位置调整部分相遇，并且除了端部或中心之外的索引的一部分与旋转调节部分重叠，相对于摇摄角度的参数，用于校准的倾斜角度和滚动角度 相机安装位置。