JP2001245326A - Device and method for calibrating on-vehicle camera, and calibration index - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device and method for calibrating an on-vehicle camera by which calibration is conducted by a simple method without using a stereoscopic object in the case of calibration using a calibration index in a vehicle manufacturing shop or the like, and to provide the calibration index capable of setting the camera parameters by which an image can be made in an optional area on a screen. SOLUTION: A planer calibration index TB placed on a plane is used for calibration, a camera image is displayed on a display device including the calibration index TB and a prescribed window WD is displayed on the display device. The position of the window WD is changed by using an image coordinate system having two-dimensional coordinates. An adjustment button 7 adjusts the positional relation so as to put the calibration index TB into the window. Camera parameters (unknown roll, tilt and panning angles θr, θt, and θp) are set for a camera 17 when the calibration index TB is accommodated in the window in a nearly matched state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a calibrating device for calibrating a camera when a vehicle-mounted camera is mounted on a vehicle, or a camera when the mounting position of the vehicle-mounted camera deviates from a prescribed position, and a calibration at that time. Method and calibration index.

[0002]

2. Description of the Related Art Conventionally, various companies and research institutes have studied algorithms for calibrating a camera. One of the methods is a three-dimensional object having a shape known in advance and having a characteristic. Is placed in a three-dimensional space as an index for calibration, and a camera parameter is calculated based on how the feature points of the three-dimensional object are displayed in a camera image coordinate system.
For example, the method of setting camera parameters in this way is INRIA Camera Calibration without Feature Extra
ction Research Report No. 2204 (Feb. 1994) 1
The correction method disclosed on page 21 calculates camera parameters having 11 degrees of freedom using a characteristic solid object calibration index.

[0003] The camera further includes a camera for capturing an image of the rear of the vehicle and a signal generating device for generating figures and characters on the distance scale. The distance scale can be arbitrarily moved up and down in the rear view projected on the monitor. Japanese Patent Application Laid-Open No. 4-103444 discloses calibration of an in-vehicle camera for adjusting the position of an on-screen camera to an accurate position.

[0004]

In the camera calibration method shown in the former, in order to determine camera parameters, a characteristic three-dimensional object is placed at a position where the camera can capture an image.
In the image coordinate system of the camera, a method is employed in which a point at which a three-dimensional object is displayed is geometrically calculated, and camera parameters are determined from a three-dimensional space. As described above, when the camera is calibrated after the camera is mounted on the vehicle, when the object to be calibrated is the camera mounted on the vehicle, the calibration is performed on a vehicle assembly line such as a factory. In such a production site, good workability is a condition. At the production site, if a method is used in which a three-dimensional object is placed and calibrated, it is inefficient to place a three-dimensional object as a calibration index each time, and from the standpoint of disaster prevention, It is desirable that a calibration index for calibrating the camera be an index that can be stepped on by an operator, such as a pattern drawn on the floor of a factory, avoiding placing a three-dimensional solid object.

[0005] In the latter calibration method, the distance scale is moved up and down arbitrarily in the rear scene displayed on the monitor to adjust the distance scale to an accurate position on the actual screen, thereby increasing the sense of distance behind the vehicle. This is to be grasped, and the camera parameters are not set. Therefore, on the monitor screen imaged by the camera of the vehicle, when the predicted trajectory for assisting the driver's operation during the parking operation is electrically superimposed on the rear image so that the trajectory can be variably displayed by the steering operation, Since the camera parameters have not been determined, it is impossible to draw the predicted travel locus at an arbitrary position on the display screen.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above-mentioned problems, and provides an apparatus and a method capable of performing calibration by a simple method even when calibrating a camera at a vehicle manufacturing site or the like. It is a technical object to provide a calibration index capable of setting camera parameters so that drawing can be performed at an arbitrary point on a screen.

[0007]

A first technical means taken to solve the above-mentioned problem is to calibrate a camera attached to a vehicle at a fixed position in a camera image picked up by the camera. In a calibrating device for a vehicle-mounted camera that performs calibration based on the placed calibration index, a planar calibration index is arranged on a plane, and display means capable of displaying the camera image including the calibration index is provided on the display means. Window display means for displaying a window, adjustment means for changing the position of the window display means within the coordinates of an image picked up by the camera, and adjustment means for adjusting the calibration index into the window by the adjustment means. A parameter setting for adjusting a positional relationship and setting a camera parameter when the calibration index falls within the window as a camera parameter of the camera. Is that comprising a means.

According to the first technical means, for calibration, a planar calibration index arranged on a plane (for example, the ground or floor) is used, and a camera image including the calibration index is displayed on the display means. Then, a predetermined window is displayed there. The position of the window is changed within the image coordinates captured by the camera, the positional relationship is adjusted by the adjusting means so that the calibration index falls within the window, and the camera parameters when the calibration index falls within the window are adjusted by the camera camera. Since the parameters are set as parameters, camera parameters can be set only by adjusting the adjusting means.
In this case, since the calibration index is planar, the calibration index is placed on the floor surface or pasted on it and does not disturb the calibration when it is performed. Provided is a device capable of calibrating.

Further, a second technical means taken to solve the above-mentioned problem is that a calibration of a camera mounted on a vehicle is performed by correcting a calibration at a fixed position in a camera image picked up by the camera. In the method of calibrating an in-vehicle camera performed based on an index, a planar calibration index is arranged on a plane, a display unit capable of displaying the camera image including the calibration index, and a predetermined window is displayed on the display unit. Window display means, and adjusting means for changing the position of the window display means within the image coordinates captured by the camera, display the calibration index on the display means, the calibration index is in the window The position of the window is adjusted so as to enter the window, and a camera parameter when the calibration index enters the window is set as a camera parameter of the camera. Is that the.

According to the second technical means, for calibration, a planar calibration index arranged on a plane is used, a camera image including the calibration index is displayed on the display means, and a predetermined window is displayed there. . Change the position of the window in the image coordinate system projected on the camera, adjust the positional relationship by the adjustment means so that the calibration index is within the window, the camera parameters when the calibration index is within the window,
By setting as camera parameters of the camera,
The setting of the camera parameters can be made only by the adjustment means. In this case, since the calibration index is planar, when calibration is performed, it may be fixed or attached to the floor surface in a factory or the like, and since it is not a three-dimensional object as in the past, it may be in the way of the operator. However, the camera can be calibrated by a simple method at a vehicle manufacturing site or the like.

In this case, if the adjusting means rotates or moves the window displayed on the camera image with respect to the calibration index to perform the adjustment, the position of the window is rotated or moved by adjusting the adjusting means. Camera parameters can be set by a simple method. Therefore, since the camera parameters can be set, drawing can be performed at an arbitrary point on the screen.

On the other hand, a movable image relating to the traveling of the vehicle is superimposed and displayed on a display means which is mounted on the vehicle and captures and displays one direction of the vehicle, and a three-dimensional space corresponding to a part of the movable image is displayed. If a point is used as an index (arrangement position) for setting camera parameters, it is not necessary to place a calibration index in a three-dimensional space imaged by a camera.

Further, if the movable image is an expected traveling locus that changes according to the steering angle, the camera parameters can be obtained from a part of the expected traveling locus, and it is confirmed whether the camera parameters are set correctly. You can do it instantly.

In this case, it is preferable that the predicted travel locus is displayed in a ladder shape, and distance lines are displayed at predetermined distance intervals.

[0015]

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a device for assisting parking in a vehicle using the calibration device of the present invention (hereinafter referred to as a parking assist device).
FIG. The present device 1 electrically superimposes and displays a predicted traveling trajectory 20 that the vehicle will pass when the driver intends to perform a parking operation (at the time of parking operation) on a display in a back view on a display. The controller 16 includes a CCD camera (hereinafter, referred to as a camera) 17 for photographing the rear of the vehicle, a steering sensor 2 for detecting a steering angle of a steering wheel (hereinafter, referred to as a steering) 21, and a reverse (reverse) of a transmission shift lever. Signals from a shift lever reverse switch 3 for detecting a state, a parking switch 4 for operating a parking assist function at the time of a parking operation, and wheel speed sensors 5 and 6 for detecting left and right wheel speeds of driven wheels are input. On the basis of these signals, the controller 16 displays the rear image of the vehicle and the predicted travel locus 20 on the display 13 so as to be electrically superimposed. The controller 16 further includes an external controller for correcting the camera position at the time of manufacture and shipment of the vehicle, and for correcting the position of the camera 17 from the normal position due to a vehicle collision or vibration during traveling of the vehicle. A connector 8 is provided so that calibration can be performed by attaching an external device. By connecting the adjustment button 7 to the connector 8 from the outside and operating the adjustment button 7, the camera 17 can be calibrated by changing a preset camera parameter value at a normal position of the camera 17. It is possible.

A CPU 1 for controlling the inside of the controller
1. A graphics drawing circuit 12 for drawing graphics on a display 13, a superimposing circuit 9 for superimposing a graphics signal and a rear image from a camera 17, and a synchronizing signal extracted from a camera image to the graphics drawing circuit 12. It is provided with a synchronization separation circuit 10 for supplying.

FIG. 2 is a mounting diagram when the device 1 is mounted on a vehicle. The camera 17 for imaging the rear is mounted at a position slightly deviated from the center on the license plate behind the vehicle, is installed with the optical axis directed downward, and mounted downward (about 30 degrees) at the center behind the vehicle. In addition, the camera itself secures a field of view of 113 degrees left and right in the horizontal direction by a wide-angle lens, and can capture an area up to about 8 m behind.

In the cabin of the vehicle, the center console is provided with a display 13 on the panel surface at an angle which is easy for the driver to see, and a controller 16 is mounted above the glove box. Further, the parking switch 4 for requesting the parking assistance at the time of the parking operation is provided near the center console which is easy for the driver to operate.

The parking assist device 1 is configured such that when the shift reverse switch 3 is in the reverse state, the driver presses the parking switch 4 for assisting parking (in the case where the driver intends to park, When parking assist is required), a neutral point of the steering angle is obtained based on information from the right wheel speed sensor 5 and the left wheel speed sensor 6, and the neutral point is used as a steering angle reference point. The amount of turning of the steering wheel 21 to the left is detected based on the pulse signal from the steering sensor 2 based on information, and the amount of turning is detected. The predicted trajectory 20 of the likely vehicle is superimposed on the display in accordance with the rear image. The predicted travel locus 20 is a movable image, and a distance line is displayed in a ladder shape at a display width and a predetermined distance behind (for example, a position 0.5, 1, 3 m behind the vehicle) based on the vehicle data ( The display of the trajectory moves according to the steering direction and the amount of steering according to the steering angle. When the parking switch 4 is pressed by the predicted traveling locus 20, even a driver unfamiliar with parking, the locus 20 indicating which locus the vehicle follows during the parking operation is displayed, and the distance interval is known, so that the parking operation is facilitated. . In addition, this travel prediction locus 2
A display method and a display mode of “0” are known (for example,
1-334470), which can be calculated and displayed by a geometrical operation, and the detailed description thereof is omitted here.

As described above, the predicted traveling locus 20 displayed when assisting the parking operation is for the driver to grasp the sense of distance behind, but the predicted traveling locus is accurately displayed on the display screen. Camera 1
Calibration of the camera 17 is necessary due to the mounting error of the camera 7.

Next, the calibration of the camera 17 will be described. The calibration of the camera 17 is performed at a repair shop when the camera 17 is attached to the vehicle on a production line or the like, or when the mounting position of the camera 17 is deviated from a normal position due to a collision or vibration during traveling of the vehicle. It is.

Hereinafter, a method of calibrating the camera 17 on a production line in a factory will be described as an example. The production line is performed in a state where the vehicle is stopped at a predetermined position (specified position). When stopping the vehicle at a predetermined position, the vehicle can be stopped at an accurate position by moving the vehicle backward or forward so that the wheels fit into the tire grooves. In this way, with the vehicle stopped at a predetermined position, the vehicle is behind (for example, 1 m behind the bumper of the vehicle).
A flat adjustment target bar (calibration index) T serving as an index at the time of camera calibration so as to be substantially parallel to the vehicle width at the position
B is previously fixed or affixed to the flat floor surface of the production line. The adjustment target bar (hereinafter, referred to as a target bar) TB may be directly disposed on the ground without taking the method of being fixed to the floor of the production line, and the fixing method is not limited to this. The target bar TB used in the present embodiment has a size of, for example, 200 cm.
A white plastic plate of 5 cm x 0.2 cm is used, and the thickness is not so large that there is no problem when handled in a two-dimensional space. Therefore, since the target bar TB is not a three-dimensional object, it does not hinder a worker on the production line performing the calibration, and there is no problem even if the target bar TB is stepped on during the work.

Regarding the calibration of the camera 17, a perspective projection transformation for transforming a world coordinate system into a camera coordinate system and an image coordinate system will be described with reference to FIG. In this diagram, the general public space is defined in the world coordinate system: (X,
Y, Z), the coordinate system at the camera mounting position is the camera coordinate system: (X ′, Y ′, Z ′), and the coordinate system at which the camera image is captured on the display screen is the image coordinate system: (x, y) Then, the correspondence between the image coordinate system (image space) and the three-dimensional coordinate system (three-dimensional space) can be expressed by the following equation.

[0025]

(Equation 1) This equation is specifically expressed as follows.

[0026]

(Equation 2) Since Pp is a homogeneous matrix, it has an indeterminacy of a constant multiple, and the number of parameters (this is a camera parameter in the present embodiment) is 12, but the degree of freedom is 11. Also, Pp
Is

(Equation 3) Then, the perspective projection transformation will be described, for example, (T
x, Ty, Tz), then rotate around the Y axis by θy (pan angle), then around the X axis, θx (tilt angle),
Assuming that the image is sequentially rotated by θz (roll angle) around the Z axis, the components of each translation and rotation conversion are expressed as follows.

[0027]

(Equation 4)

(Equation 5) On the other hand, the camera coordinate system with respect to the world coordinate system (X, Y, Z)
(X ', Y', Z ') is expressed by the following equation.

[0028]

(Equation 6)

(Equation 7) Further, [R] is expressed by Expression (8), and [EXT] is expressed by Expression (9).

[0029]

(Equation 8)

(Equation 9) Therefore, this expression is the first determinant on the right side of Expression 10.

[0030]

(Equation 10) These parameters (P ₁₁ , P ₁₂ , P ₁₃ ... P
₃₄ ), the specific calculation method differs depending on how much is to be calibrated as unknown. However, in order to calibrate all 12 parameter elements as unknown, 1
One or more simultaneous equations may be solved.

However, in practice, some of them may be treated as known, or a predetermined number n of parameters may be unknown and a simultaneous equation having n or more elements may be solved with respect to the equation (2).

Actually, to calibrate the camera, a matrix is calculated from a plurality of known three-dimensional positions and a group of points on the image corresponding to each of the positions. At this time, for the plurality of sample points, the correspondence between the three-dimensional coordinates in the world coordinate system and the camera coordinate system and the two-dimensional image coordinates in the image coordinate system can be obtained, and the elements can be obtained by solving simultaneous equations. Hereinafter, three-dimensional points: three-dimensional points, two-dimensional image points: image points.

The correspondence between the three-dimensional point Xi and the image point Xi is as follows:

[Equation 11] , And two linear equations are obtained from one corresponding point. Therefore, by solving a simultaneous equation relating to six or more corresponding points with respect to an unknown number of P (= 11): unknown, all parameters can be obtained and the camera 17 is calibrated. Therefore, the camera 17
Once the camera to be used is determined, the internal parameter C of the camera is known if it is measured before mounting on the vehicle, and the translation component T is known if the design value is used depending on the camera mounting position of the vehicle. Therefore, if the roll angle θr, the tilt angle θt, and the pan angle θp are known, the camera 1
7 can be performed. That is, if two corresponding points are obtained from the equation (11) to obtain the unknown roll angle θr, tilt angle θt, and pan angle θp, calibration of unknown parameters can be performed.

The procedure for calibrating the in-vehicle camera 17 in the vehicle will now be described. In the present embodiment, the target bar TB is arranged at a designated position on the floor. Two points at both ends of the target bar TB are important for calibration.

In the calibration, as shown in FIG. 3, the target bar TB is placed at a predetermined position behind the vehicle (for example, at a position 1 m away from the rear end of the bumper) at the vehicle main axis (a longitudinal axis passing through the center of the vehicle). Calibration is started from a state in which it is symmetrical and vertical.

In this case, the adjustment button 7 is connected to the signal input terminal of the CPU 11 via the connector 8 at the time of calibration. The adjustment button 7 has the configuration shown in FIG. 5 and includes three buttons: an A button 7a, a B button 7b, and a C button 7c. The A button 7a is connected to the signal terminals FCS1 and FCS of the B buttons 7b and C7c via the diodes D1 and D2.
2, and one end is grounded in common with GND. The other end of the adjustment button 7 is connected to the CPU 1
1 are input to the input terminals of FCS1 and SCF2. For example, when the A button 7a is pressed, both FCS1 and FCS2 become low potential (Lo). On the other hand, when only the B button 7b is pressed, the FCS1 becomes low potential.
CS2 becomes low potential. Note that the A button 7a does not necessarily need to have a wired OR configuration.

By pressing the A button 7a, a window WD (one of WDr, WDt, WDp) is displayed on the screen of the display 13, as shown in FIGS. 6A to 6C. . This window WD is electrically superimposed and displayed on the rear image in such a size that the target bar TB enters. The mode can be switched by the A button 7a, and the A button 7a is pressed for a predetermined time (for example, 0.
The state is shifted to the roll angle adjustment mode, the tilt angle adjustment mode, the pan angle adjustment mode, and the adjustment end mode. On the other hand, the B button 7b and the C button 7c are displayed in the displayed window WD (WDr,
WDt, WDp) buttons for adjusting the position.

In this embodiment, the tilt angle <± 5.5.
If the angle, pan angle <± 5.5 degrees, and roll angle <± 6.0 degrees, the target bar TB is set to be completely contained in the window.

FIG. 7 illustrates the adjustment method. In the roll angle adjustment mode, which is the first mode, every time the B button 7b is pressed once, the window WD shown in FIG.
r (display color: yellow, size in x direction: (xrb-xr
s) Dot, size in y direction: (yrb-yrs) dot) is rotated counterclockwise by a predetermined angle (for example, 0.5 degrees) with respect to the image center, and each time the C button 7c is pressed once, the window WDr Is rotated clockwise to a predetermined angle (for example, 0.5 degrees) with respect to the center of the image.

Here, the B button 7b or the C button 7c
The roll button is moved by 0.5 degrees for each operation, and the B button 7b (for left rotation) until the window WDr at the time of roll angle adjustment is parallel to the target bar TB,
Operate the C button 7c (for right rotation). In this mode, the size of the window WDr has some margin with respect to the target bar TB.

When the window WDr is rotated in parallel with the target bar TB, the A button 7a
Is pressed for a predetermined time (0.5 sec) to set the tilt angle adjustment mode (see FIG. 6B).

In this mode, a tilt adjustment window WDt (display color: red) is displayed on the display screen. The size of the window WDt in this mode is x
Direction is the same as the window WDr, but is smaller than the roll angle adjustment window WDr in the y direction,
It is displayed in 8 dots so as to include a tolerance of ± 2 cm behind. The same operation is performed in this mode, but this time B
Each time the button 7b and the C button 7c are pressed once, the tilt setting value is changed by a predetermined angle (for example, 0.5 degrees), and the B button 7b (downward direction) is changed until the upper and lower boundaries of the window WDt are substantially circumscribed with the target bar TB. The user operates the C button 7c (for upward movement) and the C button 7c (for upward movement) to move the window WDt in the y direction to perform adjustment.

Thereafter, if the A button 7a is kept pressed for a predetermined time (for example, 0.5 sec), the pan angle adjustment mode is set (see FIG. 6C). In this mode, a window WDp (display color: blue) is displayed. This window WDp has a size in the x direction: a dot (xpb-xrs) whose width is smaller than that of the roll angle adjustment window WDr, and a size in the y direction: 1 m behind and includes a tolerance of ± 3 cm in the left and right direction. Same as for adjustment, but this time B
Each time the button 7b and the C button 7c are operated once, the pan angle setting value is changed by a predetermined angle (0.5 degrees), and the window WD
By operating the B button 7b (for moving in the left direction) and the C button 7c (for moving in the right direction) until the left and right borders of p are substantially circumscribed with the target bar, the window WDp moves in the x direction and both ends of the target bar TB The adjustment is made to the position where is almost circumscribed.

In this manner, the roll angle, the tilt angle, and the pan angle are adjusted, and the target bar TB is moved to the window W.
After the state substantially coincides with Dp, the A button 7a is again pressed.
If the button is continuously pressed for a predetermined time (0.5 sec) or more, the adjustment mode ends, and the angle based on the window state at that time is determined. In this case, the angle information obtained by the adjustment of the three modes is written into the EEPROM inside the CPU as the camera parameters of the camera 17 at that time, and the adjustment mode ends.

When the adjustment is completed by such an adjustment, the predicted travel locus 20 is displayed on the display screen based on the camera parameters set by the adjustment.

In this case, as shown in FIG. 8, the predicted traveling locus 20 may be displayed in a predetermined distance line (a ladder shape at intervals of 0.5, 1, 2, 3 m. For example, one distance line on the locus) If (for example, a line 1 m behind the vehicle) is used as the target bar TB, camera parameters can be obtained from a part of the predicted travel trajectory 20 (points TBR and TBL at both ends of the distance line (1 m)), and accurate Confirmation of whether the camera parameters are set is the same as the predicted travel locus 20
Can be done instantaneously using. On the other hand, when the target bar TB is fixed at a position at a predetermined distance behind, by setting the camera parameters and displaying the predicted travel locus 20,
Whether or not the camera parameters obtained by the calibration are correctly set can be easily confirmed by the distance line (line 1 m behind the vehicle) of the predicted traveling locus 20.

If the camera parameters are set in this way, the predicted travel locus 20 variably displayed on the display at the time of parking operation is not affected by the tolerance of the camera 17 or the mounting tolerance to the vehicle body.

[0048]

According to the present invention, a camera image including the calibration index is displayed on a display using a planar calibration index arranged on a plane for calibration, and a predetermined window is displayed there. The position of the window is changed within the image coordinates captured by the camera, the positional relationship is adjusted by the adjusting means so that the calibration index falls within the window, and the camera parameters when the calibration index falls within the window are adjusted by the camera camera. Since the parameters are set as the parameters, the camera parameters can be set only by adjusting the adjusting means. In this case, since the calibration index is planar, the calibration index is placed on the floor surface or pasted on it and does not disturb the calibration when it is performed. In addition to the provision of an apparatus capable of calibrating the camera, the camera can be easily calibrated.

In this case, by adjusting or rotating the window displayed on the camera image with respect to the calibration index by the adjusting means, the position of the window is rotated or moved by adjusting the adjusting means. Camera parameters can be set by a simple method. Therefore, since the camera parameters can be set, the image can be drawn at an arbitrary point on the screen.

On the other hand, a movable image relating to the running of the vehicle is superimposed and displayed on a display means attached to the vehicle for imaging and displaying one direction of the vehicle, and a three-dimensional space corresponding to a part of the movable image is displayed. If a point is used as an index for setting camera parameters, it is not necessary to place a calibration index in a three-dimensional space imaged by a camera.

Furthermore, if the movable image is an expected travel locus that changes according to the steering angle, camera parameters can be obtained from a part of the expected travel locus, and it is confirmed whether the camera parameters are set correctly. It can be done instantly, making setting easy.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram illustrating a calibration device for a vehicle-mounted camera according to an embodiment of the present invention, taking a parking assist device as an example.

FIG. 2 is a mounting diagram when the parking assist device shown in FIG. 1 is mounted on a vehicle.

FIG. 3 is a diagram showing a relationship between a camera attached to the vehicle shown in FIG. 1 and a target bar.

FIG. 4 is an explanatory diagram for explaining a perspective projection transformation for transforming three-dimensional coordinates (world coordinate system, camera coordinate system) into two-dimensional coordinates (image coordinate system) according to the present invention.

FIG. 5 is a configuration diagram of an adjustment button shown in FIG. 1;

6 is a display screen displayed on the display screen shown in FIG. 1, showing movement of a window with respect to a target bar at the time of calibration, (a) is a roll angle adjustment mode, and (b) is a tilt angle adjustment. (C) shows a display screen in the pan angle adjustment mode.

FIG. 7 is an explanatory diagram showing window movement when a mode transition is made by operating the adjustment button shown in FIG. 1;

FIG. 8 shows an example in which a target bar according to an embodiment of the present invention is set as a part of a predicted traveling trajectory.

[Explanation of symbols]

Reference Signs List 1 parking assist device 7 (7a, 7b, 7c) adjustment button (adjustment means) 9 superimpose circuit 11 CPU 13 display (display means) 20 expected running trajectory (movable image) TB target bar (calibration index) WD (WDr, WDt, WDp) Window (window display means)

Claims (5)

[Claims] 1. A calibration apparatus for a vehicle-mounted camera for calibrating a camera mounted on a vehicle based on a calibration index placed at a fixed position in a camera image picked up by the camera. Is arranged on a plane, a display means capable of displaying the camera image including the calibration index, a window display means for displaying a predetermined window on the display means, and a position of the window display means being imaged by the camera. Adjusting means for changing within the image coordinates, adjusting the positional relationship of the window so that the calibration index is within the window, and adjusting the camera parameters when the calibration index falls within the window, A calibration device for a vehicle-mounted camera, comprising: a parameter setting unit configured to set as a camera parameter of the camera. 2. A method for calibrating an on-vehicle camera, comprising the steps of: calibrating a camera attached to a vehicle based on a calibration index placed at a fixed position in a camera image picked up by the camera; Is arranged on a plane, a display means capable of displaying the camera image including the calibration index, a window display means for displaying a predetermined window on the display means, and a position of the window display means which is imaged by the camera. Adjusting means for changing within the image coordinates, displaying the calibration index on the display means, adjusting the positional relationship of the window so that the calibration index falls within the window, the calibration index is the window A method for calibrating an on-vehicle camera, comprising setting a camera parameter at the time of entering the camera as a camera parameter of the camera. 3. The method for calibrating a vehicle-mounted camera according to claim 2, wherein the adjustment means adjusts the window displayed on the camera image by rotating or moving the window with respect to the calibration index. 4. A display device attached to the vehicle for capturing and displaying one direction of the vehicle, superimposing and displaying a movable image relating to the traveling of the vehicle, and displaying the movable image in a three-dimensional space corresponding to a part of the movable image. A calibration index for a vehicle-mounted camera, wherein a point is used as an index for setting camera parameters. 5. A calibration index for an on-vehicle camera, wherein the movable image is an expected traveling trajectory that changes according to a steering angle.