Camera calibration device, camera calibration method, and camera calibration program
AssigneeNEC Corporation
InventorHiroo Ikeda
Life of this patent
Estimating the term…
Abstract
There is provided a camera calibration device capable of highly precisely and easily estimating camera parameters without installing a piece of special calibration equipment or measuring 3D coordinates of reference points employed for calibration. A normal vector acquisition means 81 acquires normal vectors perpendicular to a reference horizontal plane from an image of a camera to be calibrated. A rotation matrix estimation means 82 projects the acquired normal vectors on a projection virtual plane perpendicular to the reference horizontal plane and evaluates that the projected normal vectors are perpendicular to the reference horizontal plane thereby to estimate a rotation matrix employed for calibrating the camera.
Claims17
A camera calibration device comprising:
- a normal vector acquisition unit which acquires normal vectors perpendicular to a reference horizontal plane from an image of a camera to be calibrated;
- and
- a rotation matrix estimation unit which projects the acquired normal vectors on a projection virtual plane perpendicular to the reference horizontal plane and evaluates that the projected normal vectors are perpendicular to the reference horizontal plane thereby to estimate a rotation matrix employed for calibrating the camera.
A camera calibration method comprising:
- acquiring normal vectors perpendicular to a reference horizontal plane from an image of a camera to be calibrated;
- projecting the acquired normal vectors on a projection virtual plane perpendicular to the reference horizontal plane;
- and
- evaluating that the projected normal vectors are perpendicular to the reference horizontal plane thereby to estimate a rotation matrix employed for calibrating the camera.
A non-transitory computer readable information recording medium storing a camera calibration program that, when executed by a processor, performs a method for:
- acquiring normal vectors perpendicular to a reference horizontal plane from an image of a camera to be calibrated;
- and
- projecting the acquired normal vectors on a projection virtual plane perpendicular to the reference horizontal plane and evaluating that the projected normal vectors are perpendicular to the reference horizontal plane thereby to estimate a rotation matrix employed for calibrating the camera.
Dependencies are inferred from the claim text.