Calibration apparatus, calibration method, program for calibration, and calibration jig

A calibration apparatus which estimates calibration parameters of a plurality of image acquisition apparatus, comprising:

• a calibration jig which includes at least two planes and in which calibration markers having known three-dimensional positions are arranged in each plane based on a predetermined rule;
• a calibration marker recognition section configured to measure and number in-image positions of the calibration markers in at least one image obtained by photographing the calibration jig by the plurality of image acquisition apparatus from different positions;
• and
• a parameter estimate section configured to estimate the calibration parameters of the plurality of image acquisition apparatus by the use of the three-dimensional position and the in-image position of the calibration markers numbered by the calibration marker recognition section.

A calibration apparatus which estimates calibration parameters of an image acquisition apparatus including a stereo adapter, comprising:

• a calibration jig which includes at least two planes and in which calibration markers having known three-dimensional positions are arranged in each plane based on a predetermined rule;
• a calibration marker recognition section configured to measure and number in-image positions of the calibration markers in at least one image obtained by photographing the calibration jig from different positions via the stereo adapter by the image acquisition apparatus including the stereo adapter;
• and
• a parameter estimate section configured to estimate the calibration parameters of the image acquisition apparatus including the stereo adapter by the use of the three-dimensional position and the in-image position of the calibration markers numbered by the calibration marker recognition section.

A calibration apparatus which estimates a calibration parameter of an image acquisition apparatus, comprising:

• an image input section configured to input an image obtained by photographing a calibration jig including at least two planes and including calibration markers having known three-dimensional positions and arranged in each plane based on a predetermined rule by the image acquisition apparatus;
• a calibration marker recognition section configured to measure and number in-image positions of the calibration markers in at least one image photographed by the image acquisition apparatus and inputted by the image input section;
• and
• a parameter estimate section configured to estimate the calibration parameters of the image acquisition apparatus by the use of the three-dimensional position and the in-image position of the calibration markers numbered by the calibration marker recognition section.

A calibration method in which a calibration parameter of an image acquisition apparatus is estimated, comprising:

• inputting an image obtained by photographing a calibration jig including at least two planes and including calibration markers having known three-dimensional positions and arranged in each plane based on a predetermined rule by the image acquisition apparatus;
• measuring and numbering in-image positions of the calibration markers in at least one inputted image photographed by the image acquisition apparatus;
• and
• estimating the calibration parameter of the image acquisition apparatus by the use of the three-dimensional position and the in-image position of the numbered calibration markers.

A program for calibration which allows a computer to realize the following function in order to estimate a calibration parameter of an image acquisition apparatus, wherein the function comprises:

• inputting an image obtained by photographing a calibration jig including at least two planes and including calibration markers having known three-dimensional positions and arranged in each plane based on a predetermined rule by the image acquisition apparatus;
• measuring and numbering in-image positions of the calibration markers in at least one inputted image photographed by the image acquisition apparatus;
• and
• estimating the calibration parameter of the image acquisition apparatus by the use of the three-dimensional position and the in-image position of the numbered calibration markers.

A calibration apparatus which estimates a calibration parameter of image acquisition means, comprising:

• a calibration jig which includes at least two planes and in which calibration markers having known three-dimensional positions are arranged in each plane based on a predetermined rule;
• calibration marker recognition section for measuring and numbering in-image positions of the calibration markers in at least one image obtained by photographing the calibration jig by the image acquisition means;
• and
• parameter estimate means for estimating the calibration parameters of the image acquisition means by the use of the three-dimensional position and the in-image position of the calibration markers numbered by the calibration marker recognition section.

A calibration apparatus which estimates calibration parameters of a plurality of image acquisition means, comprising:

• a calibration jig which includes at least two planes and in which calibration markers having known three-dimensional positions are arranged in each plane based on a predetermined rule;
• calibration marker recognition means for measuring and numbering in-image positions of the calibration markers in at least one image obtained by photographing the calibration jig by the plurality of image acquisition means from different positions;
• and
• parameter estimate means for estimating the calibration parameters of the plurality of image acquisition means by the use of the three-dimensional position and the in-image position of the calibration markers numbered by the calibration marker recognition means.

A calibration apparatus which estimates calibration parameters of image acquisition means including a stereo adapter, comprising:

• a calibration jig which includes at least two planes and in which calibration markers having known three-dimensional positions are arranged in each plane based on a predetermined rule;
• calibration marker recognition means for measuring and numbering in-image positions of the calibration markers in at least one image obtained by photographing the calibration jig from different positions via the stereo adapter by the image acquisition means including the stereo adapter;
• and
• parameter estimate means for estimating the calibration parameters of the image acquisition means including the stereo adapter by the use of the three-dimensional position and the in-image position of the calibration markers numbered by the calibration marker recognition means.

A calibration apparatus which estimates a calibration parameter of image acquisition means, comprising:

• image input means for inputting an image obtained by photographing a calibration jig including at least two planes and including calibration markers having known three-dimensional positions and arranged in each plane based on a predetermined rule by the image acquisition means;
• calibration marker recognition means for measuring and numbering in-image positions of the calibration markers in at least one image photographed by the image acquisition means and inputted by the image input means;
• and
• parameter estimate means for estimating the calibration parameters of the image acquisition means by the use of the three-dimensional position and the in-image position of the calibration markers numbered by the calibration marker recognition means.