Camera parameter estimation device, method, and program

A camera parameter estimation method comprising:

• applying a plurality of projection schemes that use the radius of a visual field region of a fisheye-lens camera to an image in which a target including a straight line is imaged by the fisheye-lens camera to generate a plurality of projection images based on a plurality of different projection schemes;
• selecting one of the plurality of projection images being generated based on the plurality of different projection schemes on the basis of the linearity of each of the straight lines included in the projection images;
• determining a projection scheme on the basis of the selected projection image;
• and
• outputting an internal parameter of the fisheye-lens camera that corresponds to the determined projection scheme,
• wherein the outputting outputs, as the internal parameter of the fisheye-lens camera, the center of the image photographed by the fisheye-lens camera, a distortion of an image sensor of the fisheye-lens camera, the radius of the visual field region, and a projection scheme.

A non-transitory computer readable information recording medium storing a camera parameter estimation program, when executed by a processor, that performs a method for:

• applying a plurality of projection schemes that use the radius of a visual field region of a fisheye-lens camera to an image in which a target including a straight line is imaged by the fisheye-lens camera to generate a plurality of projection images based on a plurality of different projection schemes;
• selecting one of the plurality of projection images being generated based on the plurality of different projection schemes on the basis of the linearity of each of the straight lines included in the projection images;
• determining a projection scheme on the basis of the selected projection image;
• and
• outputting an internal parameter of the fisheye-lens camera that corresponds to the determined projection scheme,
• wherein the outputting outputs, as the internal parameter of the fisheye-lens camera, the center of the image photographed by the fisheye-lens camera, a distortion of an image sensor of the fisheye-lens camera, the radius of the visual field region, and a projection scheme.