In-vehicle camera calibration device, control device, and pattern with beacon

A control device that is mounted on a vehicle and calibrates a camera mounted on the vehicle in cooperation with a pattern-with-a-beacon to be installed outside the vehicle, comprising:

• a calibration position acquirer that acquires a calibration position of the vehicle suitable for calibration of the camera;
• a route calculator that calculates an access route from a current position of the vehicle to the calibration position;
• and
• a vehicle controller that causes the vehicle to travel from the current position to the calibration position along the access route,
• wherein
• the pattern-with-a-beacon includes:
• a calibration pattern captured by a camera mounted on the vehicle at a time of calibration;
• and
• a beacon that transmits beacon information by wireless communication,
• wherein the control device calibrates the camera based on a pattern image being an image of the calibration pattern acquired from the camera and the beacon information received through a receiving antenna mounted on the vehicle.

A pattern-with-a-beacon to be installed outside a vehicle, the pattern-with-a-beacon comprising:

• a calibration pattern to be captured by a camera mounted on the vehicle;
• and
• a beacon configured to transmit, by wireless communication, beacon information to be used by a control device mounted on the vehicle at a time of calibration of the camera,
• wherein the control device calibrates the camera based on a pattern image being an image of the calibration pattern acquired from the camera and the beacon information received through a receiving antenna mounted on the vehicle,
• wherein the control device includes:
• a pattern information acquirer that acquires pattern information included in the beacon information,
• an image corrector that corrects an image of the camera and outputs a corrected image, and
• a camera calibrator that calibrates an image correction value of the image corrector, and
• wherein:
• the pattern information includes information on a position of the calibration pattern, and
• the camera calibrator calibrates the image correction value based on the pattern information acquired from the pattern information acquirer and the pattern image included in the corrected image acquired from the image corrector.