Calibration device and calibration method

A calibration device which performs a calibration between a plurality of imaging devices, each of which outputs field-of-view information which is information on a field-of-view of the imaging device itself, the field-of-view information including a bitmap image and a range image, the calibration device comprising:

• a state estimation part configured to
• detect, in a field of view of a first imaging device, a single image of a second imaging device, and
• estimate a relative position and a relative attitude of the second imaging device with respect to the first imaging device, solely based on the single detected image;
• a transformation information calculation part configured to calculate transformation information between a coordinate system of the first imaging device and a coordinate system of the second imaging device, based on the estimated relative position and relative attitude, wherein the range image is an image in which range information is added to each pixel of the range image;
• and
• wherein each of the imaging devices is an aerial imaging device without a stationary position;
• and
• wherein each of the imaging devices is capable of measuring a distance between itself and a target and distance between the imaging devices is not known beforehand.