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US 2022/0189066 A1Published application
Camera calibration apparatus, camera calibration method, and non-transitory computer readable medium storing program
AssigneeNEC Corporation
InventorGaku NAKANO
Life of this patent
Estimating the term…
Abstract
In a camera calibration apparatus (10), an acquisition unit (11) acquires a first normal vector in an image plane and a second normal vector in the image plane respectively corresponding to a first normal vector in a world coordinate space and a second normal vector in the world coordinate space which are normal vectors with respect to a reference plane in the world coordinate space and have the same length. A projective depth calculation unit (12) calculates a projective depth vector having, as vector elements, four projective depths respectively corresponding to a start point and an end point of the first normal vector in the image plane and a start point and a end point of the second normal vector in the image plane.
Claims10
An information processing apparatus comprising:
- at least one memory storing instructions;
- and
- at least one processor configured to execute the instructions to:
- acquire, in an image plane of an image obtained by photographing a world coordinate space using a camera, a first vector in the image plane and a second vector in the image plane,
- wherein the first vector corresponds to a first vector in the world coordinate space,
- wherein the second vector corresponds to a second vector in the world coordinate space,
- wherein the first vector in the world coordinate space and the second vector in the world coordinate space are vectors with respect to a reference plane in the world coordinate space and have the same length,
- wherein the first vector and the second vector point upward from the image plain, and
- wherein the image plain indicates a ground of the world coordinate space;
- calculate a projective depth vector having, as vector elements, four projective depths respectively corresponding to a first start point of the first vector in the image plane, a first end point of the first vector in the image plane, a second start point of the second vector in the image plane, and a second end point of the second vector in the image plane;
- and
- calculate at least an internal parameter of the camera using the calculated projective depth vector, a first start point vector in the image plane, a first end point vector in the image plane, a second start point vector in the image plane, and a second end point vector in the image plane,
- wherein the first start point vector in the image plane corresponds to the first start point,
- wherein the first end point vector in the image plane corresponds to the first end point,
- wherein the second start point vector in the image plane corresponds to the second start point, and
- wherein the second end point vector in the image plane corresponds to the second end point.
13 more elements
An information processing method comprising:
- acquiring, in an image plane of an image obtained by photographing a world coordinate space using a camera, a first vector in the image plane and a second vector in the image plane,
- wherein the first vector corresponds to a first vector in the world coordinate space,
- wherein the second vector corresponds to a second vector in the world coordinate space,
- wherein the first vector in the world coordinate space and the second vector in the world coordinate space are vectors with respect to a reference plane in the world coordinate space and have the same length,
- wherein the first vector and the second vector point upward from the image plain, and
- wherein the image plain indicates a ground of the world coordinate space;
- calculating a projective depth vector having, as vector elements, four projective depths respectively corresponding to a first start point of the first vector in the image plane, a first end point of the first vector in the image plane, a second start point of the second vector in the image plane, and a second end point of the second vector in the image plane;
- and
- calculating at least an internal parameter of the camera using the calculated projective depth vector, a first start point vector in the image plane, a first end point vector in the image plane, a second start point vector in the image plane, and a second end point vector in the image plane,
- wherein the first start point vector in the image plane corresponds to the first start point,
- wherein the first end point vector in the image plane corresponds to the first end point,
- wherein the second start point vector in the image plane corresponds to the second start point, and
- wherein the second end point vector in the image plane corresponds to the second end point.
10 more elements
A non-transitory computer readable recording medium having recorded thereon instructions executable by a processor to perform an information processing method comprising:
- acquiring, in an image plane of an image obtained by photographing a world coordinate space using a camera, a first vector in the image plane and a second vector in the image plane,
- wherein the first vector corresponds to a first vector in the world coordinate space,
- wherein the second vector corresponds to a second vector in the world coordinate space,
- wherein the first vector in the world coordinate space and the second vector in the world coordinate space are vectors with respect to a reference plane in the world coordinate space and have the same length,
- wherein the first vector and the second vector point upward from the image plain, and
- wherein the image plain indicates a ground of the world coordinate space;
- calculating a projective depth vector having, as vector elements, four projective depths respectively corresponding to a first start point of the first vector in the image plane, a first end point of the first vector in the image plane, a second start point of the second vector in the image plane, and a second end point of the second vector in the image plane;
- and
- calculating at least an internal parameter of the camera using the calculated projective depth vector, a first start point vector in the image plane, a first end point vector in the image plane, a second start point vector in the image plane, and a second end point vector in the image plane,
- wherein the first start point vector in the image plane corresponds to the first start point,
- wherein the first end point vector in the image plane corresponds to the first end point,
- wherein the second start point vector in the image plane corresponds to the second start point, and
- wherein the second end point vector in the image plane corresponds to the second end point.
10 more elements
Dependencies are inferred from the claim text.