Calibration method, calibration device, and computer program product

• US 10,218,961 B2
• Filed: 02/24/2015
• Issued: 02/26/2019
• Est. Priority Date: 03/07/2014
• Status: Active Grant

• Current Assignee: Ricoh Company Limited
• Original Assignee: Ricoh Company Limited
• Inventors: Kishiwada, Jun, Aoki, Shin, Kikuchi, Naoki, Nagao, Kagehiro
• Primary Examiner(s): Hallenbeck-Huber, Jeremiah C
• Application Number:
  US15/123,998
• Publication Number:
  US 20170070725A1
• Time in Patent Office: 1,463 Days
• Field of Search: 348 47
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30208 Marker matrix
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/85 Stereo camera calibration
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/246 Calibration of cameras

Abstract

A calibration method is for a photographic device that photographs an object through a transparent body. The calibration method includes: acquiring a first photographic image by photographing the object without interposing the transparent body; acquiring a second photographic image by photographing the object through the transparent body; calculating an absolute positional deviation that indicates a deviation in coordinates of an image of the object due to the transparent body based on coordinates of an image of the object on the first photographic image and coordinates of an image of the object on the second photographic image; calculating a correction parameter for calibrating the absolute positional deviation; and storing the correction parameter in the photographic device.

Claims

1. A calibration method for a stereo camera including a first camera and a second camera located in a position apart from the first camera by a predetermined distance, and configured to calculate distance information, the calibration method comprising:

calculating a first correction parameter based on a photographic image acquired by photographing an object with the first camera without interposing a first transparent body, and a photographic image acquired by photographing the object through the first transparent body with the first camera;

calculating a second correction parameter based on a photographic image acquired by photographing the object with the second camera without interposing the first transparent body, and a photographic image acquired by photographing the object through the first transparent body with the second camera, in a state where a positional relation between the first camera and the first transparent body is the same as in calculating the first correction parameter, and the first camera and the second camera are apart from each other by the predetermined distance; and

calculating a third correction parameter for correcting a relative positional deviation in a parallax, the relative positional deviation affecting calculation of the distance information, in a state where the first camera and the second camera are apart from each other by the predetermined distance, based on a first corrected image obtained by correcting, with the first correction parameter, a photographic image acquired by photographing an object through a second transparent body with the first camera, and a second corrected image obtained by correcting, with the second correction parameter, a photographic image acquired by photographing the object through the second transparent body with the second camera.

2. The calibration method according to claim 1, wherein

the calculating the first correction parameter includes calculating an absolute positional deviation that indicates a deviation in coordinates of an image of the object due to the first transparent body in the first camera, based on coordinates of an image of the object on a photographic image acquired by photographing through the first transparent body with the first camera and coordinates of an image of the object on a photographic image acquired by photographing with the first camera without interposing the first transparent body, and

the calculating the second correction parameter includes calculating an absolute positional deviation that indicates a deviation in coordinates of an image of the object due to the first transparent body in the second camera, based on coordinates of an image of the object on a photographic image acquired by photographing through the first transparent body with the second camera and coordinates of an image of the object on a photographic image acquired by photographing with the second camera without interposing the first transparent body.

3. The calibration method according to claim 1, further comprising updating the first correction parameter based on the third correction parameter.

4. The calibration method according to claim 1, wherein the second transparent body is a windshield of a vehicle.

5. The calibration method according to claim 1, wherein the object photographed at the calculating the first correction parameter and the object photographed at the calculating the second correction parameter are a calibration tool that has a pattern for facilitating detection of coordinates on a photographic image photographed by the second camera that correspond to coordinates on a photographic image photographed by the first camera.

6. The method of claim 1, further comprising storing the third correction parameter, and correcting an acquired image using the third correction parameter.

7. The method of claim 1, wherein the first transparent body is different from the second transparent body.

8. A calibration system for calibrating a stereo camera including a first camera and a second camera located in a position apart from the first camera by a predetermined distance, and configured to calculate distance information, the calibration system comprising:

processing circuitry configured to;

calculate a first correction parameter based on a photographic image acquired by photographing an object with the first camera without interposing a first transparent body, and a photographic image acquired by photographing the object through the first transparent body with the first camera;

calculate a second correction parameter based on a photographic image acquired by photographing the object with the second camera without interposing the first transparent body, and a photographic image acquired by photographing the object through the first transparent body with the second camera, in a state where a positional relation between the first camera and the first transparent body is the same as in calculating the first correction parameter, and the first camera and the second camera are apart from each other by the predetermined distance; and

calculate a third correction parameter for correcting a relative positional deviation in a parallax, the relative positional deviation affecting calculation of the distance information, in a state where the first camera and the second camera are apart from each other by the predetermined distance, based on a first corrected image obtained by correcting, with the first correction parameter, a photographic image acquired by photographing an object through a second transparent body with the first camera, and a second corrected image obtained by correcting, with the second correction parameter, a photographic image acquired by photographing the object through the second transparent body with the second camera.

9. A non-transitory computer-readable medium storing a program that causes a computer for calibrating a stereo camera including a first camera and a second camera located in a position apart from the first camera by a predetermined distance, and configured to calculate distance information, to perform a method comprising:

calculating a first correction parameter based on a photographic image acquired by photographing an object with the first camera without interposing a first transparent body, and a photographic image acquired by photographing the object through the first transparent body with the first camera;

calculating a second correction parameter based on a photographic image acquired by photographing the object with the second camera without interposing the first transparent body, and a photographic image acquired by photographing the object through the first transparent body with the second camera, in a state where a positional relation between the first camera and the first transparent body is the same as in calculating the first correction parameter, and the first camera and the second camera are apart from each other by the predetermined distance; and

calculating a third correction parameter for correcting a relative positional deviation in a parallax, the relative positional deviation affecting calculation of the distance information, in a state where the first camera and the second camera are apart from each other by the predetermined distance, based on a first corrected image obtained by correcting, with the first correction parameter, a photographic image acquired by photographing an object through a second transparent body with the first camera, and a second corrected image obtained by correcting, with the second correction parameter, a photographic image acquired by photographing the object through the second transparent body with the second camera.