Camera parameter calculation apparatus based on the average pixel values

A camera parameter calculation apparatus, comprising:

• a point group obtainer that obtains three-dimensional point group data indicating three-dimensional coordinates of a plurality of three-dimensional points included in a common imaging space of one or more cameras;
• a camera parameter calculator that (i) calculates image coordinates of corresponding points, for each of the plurality of three-dimensional points, in one or more images captured using the one or more cameras, based on the three-dimensional point group data and one or more initial camera parameters of the one or more cameras, and (ii) calculates one or more camera parameters of the one or more cameras, based on pixel values, included in the one or more images, at the image coordinates;
• and
• a camera parameter outputter that outputs the one or more camera parameters,
• wherein the one or more cameras and the one or more initial camera parameters are in one-to-one relationship, the one or more cameras and the one or more images are in one-to-one relationship, and the one or more cameras and the one or more camera parameters are in one-to-one relationship, and
• wherein the one or more cameras are two or more cameras,
• the camera parameter calculator calculates the one or more camera parameters on the basis of a plurality of differences, and
• each of the plurality of differences is a difference between:
• one pixel value from among pixel values at corresponding points, for one three-dimensional point from among the plurality of three-dimensional points, in individual images captured by the two or more cameras;
• and
• an average value for said pixel values.