Calibration system, target apparatus and calibration method

• US 6,542,840 B2
• Filed: 01/25/2001
• Issued: 04/01/2003
• Est. Priority Date: 01/27/2000
• Status: Expired due to Term

• Current Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Nakagawa, Masamichi, Okamoto, Shusaku, Morimura, Atsushi
• Primary Examiner(s): Barlow, John
• Assistant Examiner(s): Washburn, Douglas N.
• Application Number:
  US09/770,038
• Publication Number:
  US 20010012985A1
• Time in Patent Office: 796 Days
• Field of Search: 337/00, 73/10.1, 73/17.5, 73/17.9, 735/14, 224/908, 356/3, 396/419, 702/94, 702/95, 702/105, 702/150, 702/152, 702/153
• US Class Current: 702/94
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

Simple calibration of a camera mounted on a mobile object is implemented. With a joint means, a target apparatus for calibration is physically fixed to the mobile object having a camera mounted thereon. The positional relation between the vehicle and the target apparatus is finely adjusted while visually confirming a target point on the vehicle through a scope means.

Claims

1. A calibration system, comprising:

a mobile object having a camera mounted thereon;

a target apparatus for calibrating the camera; and

a positioning means provided to at least one of the mobile object and the target apparatus for fixing a positional relation between the mobile object and the target apparatus to a prescribed relation;

wherein the positioning means has a joint means for physically fixing the target apparatus to the mobile object.

2. A calibration system, comprising:

a mobile object having a camera mounted thereon;

a target apparatus for calibrating the camera; and

a positioning means provided to at least one of the mobile object and the target apparatus for fixing a positional relation between the mobile object and the target apparatus to a prescribed relation;

wherein the positioning means has a scope means provided to one of the mobile object and the target apparatus for positioning the target apparatus with reference to a target point located on the other.

3. A calibration system, comprising:

a mobile object having a camera mounted thereon;

a target apparatus for calibrating the camera; and

a positioning means provided to at least one of the mobile object and the target apparatus for fixing a positional relation between the mobile object and the target apparatus to a prescribed relation;

wherein the target apparatus has a feature point capable of emitting light under external control, and the mobile object includes a control means for controlling the light emission of the feature point of the target apparatus.

4. A calibration system, comprising:

a mobile object having a camera mounted thereon;

a target apparatus for calibrating the camera; and

a positional-relation estimating means provided to at least one of the mobile object and the target apparatus for obtaining a positional relation between the mobile object and the target apparatus,

wherein the positional-relation estimating means has a target data obtaining means for obtaining a first coordinate value in a first coordinate system based on the target apparatus regarding a target point having a known second coordinate value in a second coordinate system based on the mobile object, and

wherein the positional-relation estimating means obtains the positional relation between the mobile object and the target apparatus on the basis of the first coordinate value obtained by the target data obtaining means and the known second coordinate value.

5. A target apparatus for calibrating a camera mounted on a mobile object, comprising a positioning means for fixing a positional relation between the mobile object and the target apparatus to a prescribed relation.

6. A target apparatus for calibrating a camera mounted on a mobile object, comprising a positional-relation estimating means for obtaining a positional relation between the mobile object and the target apparatus.

7. A method for calibrating a camera mounted on a mobile object, comprising the steps of:

preparing a target apparatus for calibration around the mobile object;

obtaining a positional relation between the target apparatus and the mobile object by using a positional-relation estimating means provided to the target apparatus; and

capturing a feature point of the target apparatus with the camera, wherein

the camera is calibrated based on Image coordinates of the feature point, real-world coordinates of the feature point based on the target apparatus, and the obtained positional relation between the target apparatus and the mobile object.