On-vehicle camera calibration device
First Claim
1. A camera calibration device for calibrating an on-vehicle camera based on an object placed in an image picked up by the on-vehicle camera comprising:
- a planar calibration indicator as the object;
displaying means for displaying the image including the planer calibration indicator;
window displaying means for displaying a window on the displaying means;
adjusting means for adjusting a position of the window displaying means within a coordinate of the image picked up by the on-vehicle camera; and
parameter setting means for setting camera parameters such that when the calibration indicator is within the window as a result of the adjusting by the adjusting means, the resultant camera parameters are employed as the camera parameters.
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Accused Products
Abstract
An on-vehicle camera calibration device is provided and a method of calibrating an on-vehicle camera easily is carried out by using a calibration indicator other than a three dimensional one. The calibration indicator makes it possible to set camera parameters to form an image on an arbitrary portion of a screen. The calibration indicator is in the form of a planar calibration indicator TB. A camera picked-up image including the calibration indicator TB is displayed on a screen on which a window is also displayed in superposed fashion. The position of the window is changed in a 2D image coordinate system. The position of the window is adjusted by manipulating an adjust button 7 so that the calibration indicator TB falls within the window. When the calibration indicator TB is placed in the window in coincident fashion, the resultant camera parameters (unknown roll θ r, tilt angle θ t, and pan angle θ p) are set as camera parameters of the camera 17.
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Citations
5 Claims
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1. A camera calibration device for calibrating an on-vehicle camera based on an object placed in an image picked up by the on-vehicle camera comprising:
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a planar calibration indicator as the object;
displaying means for displaying the image including the planer calibration indicator;
window displaying means for displaying a window on the displaying means;
adjusting means for adjusting a position of the window displaying means within a coordinate of the image picked up by the on-vehicle camera; and
parameter setting means for setting camera parameters such that when the calibration indicator is within the window as a result of the adjusting by the adjusting means, the resultant camera parameters are employed as the camera parameters.
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2. A camera calibration method of calibrating an on-vehicle camera based on an object placed in an image picked up by the on-vehicle camera comprising the steps of:
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preparing a planar calibration indicator as the object, displaying means for displaying the image including the planer calibration indicator, window displaying means for displaying a window on the displaying means, and adjusting means for adjusting a position of the window displaying means within a coordinate of the image picked up by the on-vehicle camera;
displaying the planar calibration indicator on the displaying means;
adjusting a related position of the window so as to include the planar calibration indicator therein; and
setting camera parameters when the planar calibration indicator is located in the window. - View Dependent Claims (3)
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- 4. A calibration indicator displayed as a movable image related to vehicular travel on an on-vehicle displaying device in a superposed manner on a picked up scene image of the outside of the vehicle and is displayed and used as an indicator when points in 3D space which correspond to a part of the movable image are employed as camera parameters.
Specification