Work apparatus and calibration method for the same

An apparatus comprising a work unit, a distance information obtaining unit configured to move together with the work unit, and an imaging apparatus fixed independently from the work unit, the apparatus comprising:

• an obtaining unit configured to obtain a first position of the work unit when a target point on an image plane in the imaging apparatus matches with a reference point of the work unit on the image plane and obtain a second position of the work unit when the target point on the image plane matches with a position on which a light is projected by the distance information obtaining unit on the image plane;
• and
• a calculation unit configured to calculate a calibration parameter which calculates a position of the reference point relative to the distance information obtaining unit based on the first and second positions of the work unit obtained by the obtaining unit.

A calibration method for an apparatus comprising a work unit, a distance information obtaining unit configured to move together with the work unit, and an imaging apparatus, the method comprising:

• an obtaining step of obtaining a position of the work unit when a target point on an image plane in the imaging apparatus matches with a position on which a light is projected by the distance information obtaining unit on the image plane;
• and
• a calculating step of calculating, a calibration parameter which calibrates a position of a reference point of the work unit relative to the distance information obtaining unit, based on the position of the work unit obtained in the obtaining step and a position of the work unit relative to the imaging apparatus, which is known.