CALIBRATION DEVICE AND CALIBRATION METHOD FOR RANGE IMAGE SENSOR
First Claim
1. A calibration device for a range image sensor, the calibration device being configured so as to calibrate the range image sensor, which is attached at a mobile body, detects a distance of each direction within a detection range and generates a range image data from the detected distance information, in a state where the range image sensor is attached at the mobile body, the calibration device comprising:
- a data receiving portion for receiving a calibration-subject data, which is the range image data including a calibration target, from the range image sensor, the calibration target being set within the detection range and is configured so as to include a first plane surface and a second plane surface, which differs from the first plane surface;
a plane surface specifying portion for specifying each of the first plane surface and the second plane surface in a three-dimensional reference coordinate system on the basis of the calibration-subject data;
a normal vector calculating portion for calculating a normal vector of each of the specified first and second plane surfaces in the three-dimensional reference coordinate system; and
a rotation calculating portion for calculating a rotation of the range image sensor in the three-dimensional reference coordinate system on the basis of a posture information, which has already been recognized, and the normal vector in the three-dimensional coordinate system.
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Accused Products
Abstract
A calibration device for calibrating a range image sensor, detecting a distance of each direction within a detection range and generating a range image data, in a state where the range image sensor is attached at a mobile body, the calibration device includes a data receiving portion for receiving a calibration-subject data including a calibration target, which is set within the detection range and includes a first plane surface and a second plane surface, from the range image sensor, a plane surface specifying portion for specifying each of the first and second plane surfaces in a three-dimensional reference coordinate system, a normal vector calculating portion for three-dimensionally calculating a normal vector of each of the first and second plane surfaces, and a rotation calculating portion for three-dimensionally calculating a rotation of the range image sensor on the basis of an already-recognized posture information and the normal vector.
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Citations
11 Claims
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1. A calibration device for a range image sensor, the calibration device being configured so as to calibrate the range image sensor, which is attached at a mobile body, detects a distance of each direction within a detection range and generates a range image data from the detected distance information, in a state where the range image sensor is attached at the mobile body, the calibration device comprising:
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a data receiving portion for receiving a calibration-subject data, which is the range image data including a calibration target, from the range image sensor, the calibration target being set within the detection range and is configured so as to include a first plane surface and a second plane surface, which differs from the first plane surface; a plane surface specifying portion for specifying each of the first plane surface and the second plane surface in a three-dimensional reference coordinate system on the basis of the calibration-subject data; a normal vector calculating portion for calculating a normal vector of each of the specified first and second plane surfaces in the three-dimensional reference coordinate system; and a rotation calculating portion for calculating a rotation of the range image sensor in the three-dimensional reference coordinate system on the basis of a posture information, which has already been recognized, and the normal vector in the three-dimensional coordinate system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A calibration method for a range image sensor, the calibration method calibrating the range image sensor, which is attached at a mobile body, detects a distance of each direction within a detection range and generates a range image data from the detected distance information, in a state where the range image sensor is attached at the mobile body, the calibration method comprising;
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a mobile body setting process for setting the mobile body at a predetermined position in a three-dimensional reference coordinate system in a stationary state; a calibration target setting process for setting a calibration target within the detection range in a state where a position information of the calibration target relative to the mobile body and a posture information of the calibration target is specified in the three-dimensional reference coordinate system, the calibration target being configured so as to include a first plane surface and a second plane surface, which differs from the first plane surface; a data receiving process for receiving a calibration-subject data from the range image sensor, the calibration-subject data being a range image data generated by the range image sensor in a state where the mobile body is in the stationary state at the predetermined position and including the calibration target; a plane surface specifying process for specifying each of the first and second plane surfaces in the three-dimensional reference coordinate system on the basis of the calibration-subject data; a normal vector calculating process for calculating a normal vector of each of the specified first and second plane surfaces in the three-dimensional reference coordinate system; and a rotation calculating process for calculating a rotation of the range image sensor in the three-dimensional reference coordinate system on the basis of the posture information of the calibration target and the normal vector of each of the specified first and second plane surfaces in the three-dimensional reference coordinate system. - View Dependent Claims (11)
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Specification