JP2007256030A - Calibration system and calibration method for vehicle-mounted camera - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a camera calibration system and calibration method which eliminates the need to provide wide space around a vehicle and can be executed even while the vehicle is traveling. <P>SOLUTION: The calibration system comprises the camera 1 installed in the vehicle 200 for photographing an image including a contour 211 of a rear bumper 210 as an adjustment pattern, a parameter storage memory 3 for storing parameters specifying the installed attitude of the camera 1, a marker generation section 21 for generating an adjustment marker M simulating the contour 211 of the rear bumper 210 with an attitude corresponding to the parameters, a monitor 5 for allowing the image including the adjustment pattern 211 to display the adjustment marker M in a superimposed manner, an external input interface 6 to which instructions for adjusting the display attitude of the adjustment marker M are input, and a parameter calculation section 22 for calculating new parameters corresponding to the input adjustment instructions and allowing them to be stored in the parameter storage memory 3. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an on-vehicle camera calibration device and a calibration method.

  Various technologies have been proposed in which a camera and a monitor are installed in an automobile, and video information based on images around the vehicle photographed by the camera is displayed on a monitor in the passenger compartment to improve convenience during driving operation. .

  Initially, such an in-vehicle camera system was intended only to allow the driver to visually recognize the image of the blind spot area, so the image (actual camera image) captured by the camera was directly monitored. It was only displayed on.

  Thereafter, a distance marker serving as a perspective reference is superimposed and displayed on the raw video of the camera with little distortion, thereby giving a certain sense of distance and further improving convenience.

  In this case, it is necessary to adjust the display position of the actual camera image and the distance marker on the monitor to some extent, but since the distance marker is only a guide for the distance, the approximate display position of the distance marker on the monitor is adjusted to some extent. It was enough to do.

  However, the video captured by the camera is subjected to, for example, a so-called viewpoint conversion process that converts it into a pseudo video viewed from directly above the vehicle, or a plurality of images obtained by a plurality of cameras installed in the vehicle. When performing conversion processing for connecting images, it is necessary to accurately adjust the installation posture of the camera with respect to the vehicle (the angle of the optical axis of the camera around each axis in the vehicle front-rear direction, the width direction, and the vertical direction).

  However, considering the balance between the time and labor required for such precise adjustment and the economic cost, it is difficult to obtain a complete installation posture with no error.

  Therefore, a correction calculation process (calibration) is performed in advance to allow for an error so that an error does not exist on the image displayed on the monitor while allowing a certain error for the actual installation posture. (Patent Document 1).

This calibration is performed by a calculation process for a camera parameter that specifies the installation posture of the camera (Patent Document 2).
JP 2005-77107 A Japanese Patent Application No. 2005-285531 (unpublished)

  However, the techniques according to Patent Documents 1 and 2 require that an adjustment pattern or marker used for calibration is prepared on the ground around the vehicle, and that a wide space for providing the adjustment pattern or the like is provided around the vehicle. It is difficult to secure such a large space in a vehicle assembly line or a repair shop facility.

  In addition, the calibration in the above-described technique can be performed only when the vehicle is stopped. For example, when calibration is necessary while the vehicle is running, the vehicle is temporarily stopped and is placed around the vehicle. It is necessary to perform calibration after securing a predetermined wide space.

  Conventional calibration apparatuses and calibration methods are thus limited in number and have not yet achieved sufficient practicality.

  The present invention has been made in view of the above circumstances, and it is not necessary to secure a wide space around the vehicle, and it is possible to perform calibration even when the vehicle is running, An object is to provide a calibration method.

  In the on-vehicle camera calibration device and calibration method according to the present invention, a part of the surface of the vehicle photographed by the on-vehicle camera is used as a calibration adjustment pattern, and the adjustment pattern is applied to a part of the surface of the vehicle. It is not necessary to secure a large space around the vehicle by adjusting the parameters that define the attitude of the adjustment marker so that the corresponding adjustment markers (reference patterns) are matched, and while driving, Even if it exists, it is possible to execute calibration.

  That is, the in-vehicle camera calibration device according to the present invention stores a camera that is installed in a vehicle and shoots an image including a part of the surface of the vehicle as an adjustment pattern, and a parameter that specifies the installation posture of the camera. Parameter storage means for generating, an adjustment marker that imitates a part of the surface of the vehicle in a posture corresponding to the parameter, and an adjustment marker that is superimposed on an image including the adjustment pattern. In the display means, in the display means, an input means for inputting an instruction to adjust the display posture of the adjustment marker so that the display of the adjustment marker matches the display of the adjustment pattern, and input to the input means A new parameter corresponding to the adjustment instruction is calculated, and the parameter stored in the parameter storage means is changed to the new parameter. Characterized by comprising a parameter calculating means for replacing the data.

  Here, as a part of the surface of the vehicle as the adjustment pattern, for example, when a vehicle rear camera is applied as a camera, the outer contour of the rear bumper of the vehicle is a typical one. The part of the range which can be projected may be sufficient.

  In the case of a vehicle side camera or a front camera, it is possible to apply the outline of the side panel of the vehicle body, the outline of the front bumper, etc. it can.

  Specifically, the parameter for specifying the installation posture of the camera is a rotation angle around a predetermined reference axis, for example, the light of the camera with respect to each axis extending in the front-rear direction, the width direction, and the vertical direction of the vehicle. The angle that the axis makes can be applied.

  The on-vehicle camera calibration method according to the present invention stores a parameter for specifying the installation posture of the camera with respect to the vehicle, and an adjustment marker imitating a part of the surface of the vehicle captured by the camera as the parameter. The adjustment marker is superimposed on the image including a part of the surface of the vehicle generated as the adjustment pattern, and the adjustment marker is displayed, and the adjustment marker is displayed. An instruction to adjust the display posture of the adjustment marker is input so as to match, and a new parameter corresponding to the input adjustment instruction is calculated, and the parameter stored in the parameter storage means is used as the new parameter. The camera is calibrated instead of the above.

  According to the on-vehicle camera calibration device and the calibration method according to the present invention, since a part of the vehicle body imaged by the camera is to be calibrated, it is necessary to ensure a wide space around the vehicle as in the past. In addition, calibration can be executed even while the vehicle is running.

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a calibration apparatus and a calibration method for an in-vehicle camera according to the present invention will be described below with reference to the drawings. Note that this embodiment can be realized by controlling a microcomputer, various memories, input / output devices, and the like by a program. In this case, various embodiments of hardware and programs can be changed. Therefore, in the following description, virtual circuit blocks that realize the functions of the present invention and the present embodiment are used.
(Outline of the embodiment)
In a camera that is installed in a vehicle and shoots an image including a part of the surface of the vehicle, there are camera parameters that specify an installation state such as an installation position and an installation posture (angle).

  Here, the error of the installation position of the camera with respect to the vehicle body does not greatly affect the position accuracy of each target image portion in the video (each frame constituting the video is referred to as an image) taken by the camera. The error in posture greatly affects the positional accuracy of each target image portion in the captured image. In particular, when image processing related to a position such as viewpoint conversion processing is performed based on this image, the influence becomes significant.

  The calibration apparatus according to the present embodiment calibrates parameters that specify the installation posture.

And the calibration apparatus of this embodiment is the simulation image (adjustment marker) drawn based on the parameter memorize | stored in the adjustment pattern which is a part of vehicle surface among the images image | photographed with the vehicle-mounted camera. Are displayed in a superimposed manner, the parameter is finely adjusted so that the adjustment marker matches the adjustment pattern, and the parameter when the adjustment marker matches the adjustment pattern is set as the latest parameter of the camera.
(Configuration of the embodiment)
FIG. 1 is a block diagram showing a calibration apparatus 100 for an in-vehicle camera according to an embodiment of the present invention.

  The illustrated calibration apparatus 100 is installed at the rear of the vehicle 200 as shown in FIG. 2 and shoots an image P0 including the contour 211 (a part of the surface of the vehicle) of the rear bumper 210 of the vehicle 200 as an adjustment pattern. The adjustment marker M imitating the contour 211 of the rear bumper 210, which is an adjustment pattern, according to the parameters. In the marker generating unit 21 (marker generating unit) generated by the posture, the drawing unit 4 and the monitor 5 (display unit) for displaying the adjustment marker M superimposed on the video P0 including the adjustment pattern 211, and the monitor 5, the adjustment marker Instruction (adjustment) for adjusting the display posture of the adjustment marker M so that the display of M matches the display of the adjustment pattern 211 ) Is input, and a parameter calculation unit 22 (parameter calculation means) that calculates a new parameter corresponding to the adjustment amount input to the external input interface 6 is provided. is there.

  Here, the marker generation unit 21 and the parameter calculation unit 22 are functions realized by a program using a microcomputer, and are included in the control unit 2 of the microcomputer.

  The parameter storage memory 3 has a read-only ROM section that stores default parameters predetermined in design, and a flash memory section that is sequentially replaced with the latest parameters each time calibration processing is performed.

  The external input interface 6 is an interface for a user to perform an adjustment operation.

  FIG. 2 is a schematic diagram illustrating an example of the positional relationship of the camera 1 with respect to the vehicle 200. Here, an arbitrary one point (for example, a point on the ground vertically lowered from the center of the rear shaft) is used as the origin of the spatial coordinates, and for example, the installation posture in which the optical axis direction of the camera 1 is vertically downward is By determining the reference posture, the installation position and installation posture of the camera 1 attached to the vehicle 200 can be specified.

  Therefore, there is no difference in the method for specifying the installation position and the installation posture depending on the installation site of the camera 1 in the vehicle 200 such as the in-vehicle rear camera and the in-vehicle side camera. That is, the camera 1 is not limited to that installed at the rear of the vehicle 200.

  The installation posture of the camera 1 is unambiguously defined by a pitch angle, a roll angle, and a yaw angle (rotation angles θ, φ, and ψ around three independent axes in a three-dimensional space) that correspond to the behavior of the vehicle for simplicity. Therefore, any installation posture of the camera 1 may be expressed by these three rotation angles, and these rotation angles are optimal as parameters for specifying the installation posture.

By utilizing this, even if rotation about any axis is further applied to the camera 1 whose installation posture has already been specified by the arbitrary parameters θ ₀ , φ ₀ , ψ ₀ , a new corresponding to the change is made. A new installation posture can be specified by the parameters θ, φ, and ψ.

  When the marker generating unit 21 captures the contour 211 of the rear bumper 210 whose installation position in the space is known by the camera 1 installed in the design installation posture specified by the parameter input from the parameter storage memory 3 Further, drawing data of the adjustment marker M imitating the adjustment pattern (the contour 211) to be obtained on the monitor 5 is generated.

  In the actual processing of the calibration apparatus 100 according to the present embodiment, the parameter calculation unit 22 described later converts the parameters into a 3 × 3 rotation matrix and outputs the rotation matrix to the marker generation unit 21. The marker generation unit 21 The adjustment marker M is generated based on the 3 × 3 rotation matrix input from the parameter calculation unit 22.

  The parameter calculation unit 22 obtains a 3 × 3 adjustment rotation matrix corresponding to the attitude displacement of the adjustment marker M according to the instruction (adjustment amount) input to the external input interface 6, and the obtained adjustment rotation And a 3 × 3 rotation matrix based on the parameters (default parameters for the first calibration process) stored in the flash memory part (ROM part for the first calibration process) of the parameter storage memory 3 By calculation, a 3 × 3 combined rotation matrix is obtained, and this combined rotation matrix is output to the marker generation unit 21.

  Further, the parameter calculation unit 22 converts the obtained combined rotation matrix into a parameter called a rotation angle corresponding to the combined rotation matrix, and stores it in the flash memory unit of the parameter storage memory 3.

  The drawing unit 4 stores the drawing data memory 41 that stores the drawing data generated in the control unit 2 and the digital drawing data stored in the drawing data memory 41 into an analog actual camera video P0 input from the camera 1. And a drawing block 42 that is superimposed (superimposed) so as to be superimposed.

  The monitor 5 is a vehicle-mounted display device such as an LCD, and displays the video synthesized by the drawing block 42.

  The instruction (adjustment amount) of the attitude displacement of the adjustment marker M input from the external input interface 6 to the parameter calculation unit 22 is converted into the adjustment rotation matrix by the parameter calculation unit 22 in substantially real time. And a 3 × 3 rotation matrix based on the latest parameters (default parameters for the first calibration process) stored in the flash memory section (the ROM section for the first calibration process) of the parameter storage memory 3 And the marker generation unit 21 generates a new posture adjustment marker M based on the composite rotation matrix, and the monitor 5 adjusts the actual camera image P0 and the new posture. Since the marker M is displayed in a superimposed manner, the user sequentially changes the posture of the actual camera image P0 reflected on the monitor 5 That while viewing the superimposed display of the adjustment markers M, to match the adjusted marker M in the adjustment pattern 211 of the real camera image P0, can input an instruction of a change in the posture of the trial and error adjustment marker M.

The external input interface 6 may be a remote controller provided with a switch such as a cross key or a cursor, but may also be used as a monitor 5 having a touch panel function. In this case, the control unit 2 has a function of generating drawing data for operation. For example, it is possible to set so that a predetermined amount of change occurs in the adjustment target by touching a displayed button or arrow.
(Operation of the embodiment)
The processing procedure by the on-vehicle camera calibration device 100 of the present embodiment as described above will be described with reference to the flowchart of FIG.

  First, according to the conventional technique, it is necessary to prepare an adjustment pattern that occupies a large area suitable for executing calibration behind the vehicle 200. For example, the checkered sheet P1 in FIG. The seat P <b> 1 has the same size as the size of the vehicle 200, and a large space for horizontally arranging the seat P <b> 1 is necessary behind the vehicle 200.

  However, since the calibration device 100 of the present embodiment uses the contour 211 of the rear bumper 210 that is a part of the vehicle 200 as an adjustment pattern, it is not necessary to secure a wide space behind the vehicle 200. Note that the spatial coordinates of the contour 211 of the rear bumper 210, which is this adjustment pattern, is known as described above.

  The control unit 2 reads the latest parameter stored in the flash memory unit of the parameter storage memory 3 (S301 (step 301)).

  In the case of the first calibration process or only when the calibration process is performed for the first time after the factory reset, the parameter saving is performed instead of the process of reading the latest parameter stored in the flash memory unit. Assume that the default parameters stored in the ROM section of the memory 3 are read.

  The read parameter (or default parameter) is converted into a 3 × 3 rotation matrix corresponding to this parameter (or default parameter) by the parameter calculation unit 22 of the control unit 2, and the obtained rotation matrix is used to generate a marker. Input to the unit 21.

  The marker generation unit 21 calculates the input rotation matrix and generates an adjustment marker M simulating the adjustment pattern 211 (S302). The generated adjustment marker M is drawn in the drawing data memory 41, and the adjustment marker M is superimposed on the monitor 5 by the drawing block 42 and superimposed on the actual camera image including the adjustment pattern 211 photographed by the camera 1. It is displayed (S303).

  If the actual installation posture of the camera 1 is deviated from the installation posture specified by the parameter, the adjustment marker M is deviated from the adjustment pattern 211 in the actual camera image P0 as shown in FIG. The video is displayed on the monitor 5.

  The user who sees the display on the monitor 5 uses the external input interface 6 to input an instruction (adjustment amount) for changing the posture of the adjustment marker M reflected on the monitor 5 (step 304).

  The instruction input to the external input interface 6 is input to the parameter calculation unit 22, and the parameter calculation unit 22 performs adjustment rotation corresponding to the input attitude displacement instruction (adjustment amount) of the adjustment marker M in substantially real time. The matrix is converted into a matrix (S305), and the rotation matrix for adjustment and the latest parameter stored in the flash memory unit of the parameter storage memory 3 (in the case of the first routine of the first calibration process, stored in the ROM unit). The combined rotation matrix is calculated by calculation with the 3 × 3 rotation matrix based on the default parameter) (S306), and the marker generation unit 21 generates a new posture adjustment marker M based on the combined rotation matrix. (S307), the adjustment marker M of the new posture and the actual position are obtained by the action of the drawing data memory 41 and the drawing block 42 described above. A camera video P0 is superimposed manner on the monitor 5 (S308).

  When the adjustment marker M of the new posture displayed on the monitor 5 and the adjustment pattern 211 in the actual camera image P0 match as shown in FIG. 4B, the user uses the external input interface 6. In step S309, an instruction to end the adjustment of the installation posture is input.

  When an instruction to end adjustment is input, the parameter calculation unit 22 calculates a new parameter (angle after rotation) corresponding to the combined rotation matrix calculated in step 306 (S306) (S310), and the new parameter. Is stored in the flash memory section of the parameter storage memory 3 (S311).

  At this time, the original parameter already stored in the flash memory unit is replaced (overwritten) with a new parameter, and in subsequent calibration processing, unless the storage state of the flash memory unit is initialized (factory) The latest parameters stored in the flash memory unit are read instead of reading the default parameters stored in the ROM unit, including the reading process in step 301 (S301), unless the product is returned to the shipping state. To do.

  When the adjustment marker M of the new posture and the adjustment pattern 211 of the actual camera image P0 do not match in the same manner as in FIG. 4A, from step 304 (S304) to step 309 (S309) until they match. ) Is repeated.

  Thus, the calibration process by the calibration apparatus 100 of this embodiment is performed by sequentially changing the parameters of the camera 1 by trial and error.

  The calibration process described above is performed by calculating a rotation matrix, and a specific method thereof will be described below.

First, rotation angles θ, φ, and ψ according to the parameters of the camera 1 are given, and arbitrary points are mathematically converted after installation posture conversion by calculation of the rotation matrix R shown in the following equations (1) and (2). Get the coordinates. Incidentally, X _in is the coordinate point by installing posture of the pre-rotation, X _out are the coordinates points of the installation position after rotation by parameters.

このように、変換対象に対して、回転行列を左からφ，θ，ψの順に演算している。回転行列Ｒ_Dを計算すると次式（３）に示すものとなる。

Thus, the rotation matrix is calculated in order of φ, θ, and ψ from the left with respect to the conversion target. When the rotation matrix R _D is calculated, the following equation (3) is obtained.

この回転行列に回転角度のパラメータを代入した後、座標に対して演算させることで回転が実行される。

After the rotation angle parameter is substituted into this rotation matrix, the rotation is executed by calculating the coordinates.

  In the calibration process, adjustment is performed by further rotating from this state. For example, when the camera 1 is rotated by Δψ around the ψ axis, the rotation matrix R (Δψ) is set to the left. In addition, the following equation (4) is calculated.

ここで、φ₀，θ₀，ψ₀，Δψは、それぞれ具体的な数値が与えられるため、変数を用いることなく３×３行列によって表すことができる。

Here, since φ ₀ , θ ₀ , ψ ₀ , and Δψ are given specific numerical values, they can be represented by a 3 × 3 matrix without using variables.

In addition, since any installation posture conversion can be expressed by arbitrary φ, θ, ψ, when R _Da = R _D , the posture of the adjusted camera 1 is also φ, θ , Ψ. Actually, the following expression (5) is obtained.

ここで、Ｒ_Da＝Ｒ_Dから必要部分だけ切り出すと、次式（６）の恒等式が与えられる。

Here, when only a necessary part is cut out from R _Da = R _D , the identity of the following equation (6) is given.

なお、sinθ＝０の場合は、sinθ≠０の場合と比べて、下記式（７）に示すように、変数の値を簡単化することができる。

In the case of sin θ = 0, the value of the variable can be simplified as shown in the following formula (7), compared to the case of sin θ ≠ 0.

ここで、カメラ１の設置姿勢の基本的な条件が、０°≦θ＜９０°、−９０°＜φ＜９０°、−９０°＜ψ＜９０°であることを利用して計算を進めると、次式（８）となる。

Here, the calculation is advanced using the fact that the basic conditions of the installation posture of the camera 1 are 0 ° ≦ θ <90 °, −90 ° <φ <90 °, and −90 ° <ψ <90 °. Then, the following equation (8) is obtained.

  In this example, the camera 1 is a rear camera. In the case of a side camera, the range of ψ changes, but the angle adjustment width itself does not increase.

上式（８）により得られたカメラ１の設置姿勢の角度を、パラメータと置き換える。これにより、１つの角度の調整が終了するか、または、いずれかの外部入力インタフェース６を１回操作した際の調整として反映される。

The angle of the installation posture of the camera 1 obtained by the above equation (8) is replaced with a parameter. As a result, the adjustment of one angle is completed or reflected as an adjustment when one of the external input interfaces 6 is operated once.

  By repeating this operation, it is possible to always achieve alignment from the latest state while looking at the monitor 5. Finally, in the monitor 5, the parameter when the adjustment pattern M overlaps the contour 211 of the rear bumper 210 that is the adjustment pattern is the angle of the actual installation posture of the camera 1 installed in the vehicle 200.

The final angle of the installation posture of the camera 1 is stored in the default parameter storage memory 3 and is used as a parameter (rotation angle) of the installation posture of the camera 1 to complete the calibration.
(Effect of embodiment)
According to the on-vehicle camera calibration device 100 according to the present embodiment and the on-vehicle camera calibration method according to the embodiment of the present invention, which can be grasped as the operation of the calibration device 100, the image is displayed by the camera 1. Since the contour 211 of the rear bumper 210, which is a part of the surface of the vehicle 200, is to be calibrated, a wide space (a space corresponding to the width of the seat P1 in FIG. 4) around the vehicle 200 as in the past. The calibration process can be performed with only a minimum space in which the vehicle 200 itself can be arranged without being secured.

  Therefore, the calibration process can be easily performed even in a place where it is difficult to ensure a wide space such as on the assembly line of the vehicle 200 or in a repair shop.

  Moreover, according to the on-vehicle camera calibration device 100 and the calibration method according to the present embodiment, the calibration can be executed even while the vehicle 200 is traveling, which greatly improves the usability in practical use. be able to.

  In addition, according to the on-vehicle camera calibration device 100 and the calibration method according to the present embodiment, the adjustment pattern 211 captured by the camera 1 and the adjustment marker M generated based on the parameters are displayed on the monitor 5. By adjusting with the external input interface 6 so as to match, the parameters can be obtained with high accuracy, so that the accuracy of the video obtained by performing image processing on the video obtained by the camera 1 can be improved. it can.

  Therefore, for example, when using the calibration apparatus 100 of the present embodiment and displaying the marker of the safe inter-vehicle distance line on the head-up display (monitor 5) on the image obtained by the camera 1, The marker of the safe inter-vehicle distance line can be displayed with high accuracy, and the driver can be easily recognized and can be simply alerted without being disturbed in the field of view. Thereby, favorable driving assistance can be performed.

  In the initial state, adjustment is performed using parameters, the adjustment result is stored, and this is used as the next parameter, so that calibration using the latest parameter can always be performed.

  Further, the parameter storage memory 3 stores default parameters predetermined in design, and is stored in a non-rewritable ROM section. Therefore, the calibration apparatus 100 is initialized as necessary. Thus, it is possible to easily return to the initial calibration process starting from the default parameter.

  Furthermore, by using the roll angle, the yaw angle, and the pitch angle, it is possible to efficiently calculate parameters that can uniquely specify the installation posture of the camera 1.

  The on-vehicle camera calibration device according to the present invention is not limited to the above-described embodiment.

  That is, the number, type, specification, standard, and the like of the cameras and monitors to be used are arbitrary, and the installation position and installation angle of the cameras and monitors are also arbitrary.

  The aspect of the adjustment pattern 211 is not limited to the contour 211 of the rear bumper 210 exemplified in the above embodiment, and may be a part of the surface of the vehicle 200 integrated with the vehicle 200. The adjustment marker M May be determined according to the adjustment pattern 211.

  Any input means that can be input by the user may be used. Therefore, the displayed adjustment mark M itself may be touched for adjustment.

  The in-vehicle camera calibration apparatus according to the present invention may be configured as a part of an in-vehicle computer (such as a navigation system or a function as an audio device).

  The on-vehicle camera calibration device according to the present invention is applicable to any vehicle.

  Furthermore, the in-vehicle camera calibration apparatus according to the present invention may be configured as a program that causes a computer to execute the above-described calibration processing, or a computer-readable storage medium that records such a program.

It is a block diagram which shows the structure of the calibration apparatus of the vehicle-mounted camera which concerns on embodiment of this invention. It is a schematic diagram which shows the example of installation of the camera of the calibration apparatus shown in FIG. It is a flowchart which shows the calibration process sequence by the calibration apparatus shown in FIG. In the display of a monitor, it is a figure which respectively shows (a) a mode that the adjustment marker has shifted | deviated with respect to the adjustment pattern, and (b) a mode that the adjustment marker has corresponded with respect to the adjustment pattern.

Explanation of symbols

1 Camera 2 Control unit 3 Parameter storage memory (parameter storage means)
4 Drawing part (display means)
5 Monitor (display means)
6 External input interface (input means)
21 Marker generator (marker generator)
22 Parameter calculation unit (parameter calculation means)
41 Drawing data memory 42 Drawing block M Adjustment marker

Claims (4)

A camera that is installed in a vehicle and shoots an image including a part of the surface of the vehicle as an adjustment pattern;
Parameter storage means for storing parameters for specifying the installation posture of the camera;
Marker generating means for generating an adjustment marker that imitates a part of the surface of the vehicle in a posture according to the parameter;
Display means for displaying the adjustment marker in a superimposed manner on an image including the adjustment pattern;
In the display means, an input means for inputting an instruction to adjust the display posture of the adjustment marker so that the display of the adjustment marker matches the display of the adjustment pattern;
A vehicle-mounted camera comprising: a parameter calculation unit that calculates a new parameter corresponding to an adjustment instruction input to the input unit and replaces the parameter stored in the parameter storage unit with the new parameter Calibration equipment.   The in-vehicle camera calibration device according to claim 1, wherein the parameter calculation unit specifies the parameter by each rotation angle about three independent axes in a three-dimensional space. Memorize the parameters that specify the installation posture of the camera with respect to the vehicle,
An adjustment marker imitating a part of the surface of the vehicle photographed by the camera is generated with a posture corresponding to the parameter,
The adjustment marker is displayed in a superimposed manner on an image captured by the camera and including a part of the surface of the vehicle as an adjustment pattern,
Input an instruction to adjust the display posture of the adjustment marker so that the display of the adjustment marker matches the display of the adjustment pattern,
In-vehicle camera calibration characterized by calculating a new parameter corresponding to the input adjustment instruction and calibrating the camera by replacing the parameter stored in the parameter storage means with the new parameter Method. 4. The on-vehicle camera calibration method according to claim 3, wherein the parameter is specified by each rotation angle around three independent axes in a three-dimensional space.

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