JP4454257B2 - In-vehicle camera calibration jig and in-vehicle camera calibration method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an in-vehicle camera calibration jig and an in-vehicle camera calibration method for calibrating an installation position and an installation angle of a camera mounted on a vehicle.
[0002]
[Prior art]
In recent years, in the in-vehicle camera field, there is an increasing need for an in-vehicle camera calibration technique for obtaining an installation position and an installation angle of an in-vehicle camera with respect to a road surface. For example, in order to superimpose a line indicating the distance from the bumper on the camera image behind the vehicle at the time of parking, it is necessary to perform camera calibration in advance. Many proposals have been made for methods of using the camera calibration result in realizing the white line detection function and the obstacle detection function.
[0003]
Here, a conventional in-vehicle camera calibration jig will be described with reference to the drawings. FIG. 7 is a perspective view showing a conventional in-vehicle camera calibration jig and its use state. FIG. 8 is a plan view of the jig.
[0004]
7 and 8, an in-vehicle camera 101 is provided at the rearmost part of the vehicle 100. On the road surface behind the vehicle 100, a calibration imaging object 102 having a plurality of reference position patterns indicating positions serving as calibration references is arranged. The reference position pattern of the calibration imaging target object 102 indicates a reference position for camera calibration, and a pattern in which a feature point can be easily extracted normally is used. In the figure, the checkerboard pattern is different in the color of adjacent squares.
[0005]
As a calibration method for the in-vehicle camera 101, first, the positions of the vehicle 100 and the calibration object 102 are accurately aligned. For example, the centers of the vehicle 100 and the calibration object 102 are aligned. The coordinates are the three-dimensional coordinates of the actual road surface (hereinafter referred to as “world coordinates”). For example, in FIG. 7, the intersection of the rear end of the vehicle 100 and the central axis is the origin, the road surface is the X and Y axes, and the height direction is the Z axis. After positioning the vehicle 100 and the calibration imaging object 102, the calibration imaging object 102 is imaged by the in-vehicle camera 101. The captured image is displayed on a monitor (not shown), and a square vertex on the image is input as a reference position by an input means such as a mouse. The coordinates of the vertex are expressed by two-dimensional coordinates on the xy plane (hereinafter referred to as “image coordinates”). Note that the vertex image coordinates may be automatically obtained by pattern recognition.
[0006]
Thereafter, the correspondence between the image coordinates of the square vertices and the actual world coordinates is performed. Such association between image coordinates and world coordinates is performed for a plurality of vertices, and parameters for camera calibration (hereinafter simply referred to as “camera calibration parameters”) are calculated using these coordinates as input.
[0007]
The details of this processing are described in Non-Patent Document 1, for example.
[0008]
[Non-Patent Document 1]
"A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-the-Shelf TV Cameras and Lenses", Roger Y. Tsai, IEEE Journal of Robotics and automation Vol. RA-3. No.4 August 1987, pp323 -344
[0009]
[Problems to be solved by the invention]
However, in the conventional on-vehicle camera calibration jig, a measuring tool such as a measure is required when aligning the center of the vehicle 100 and the calibration object 102. Even if this measuring tool is used, the vehicle 100 can be easily used. In addition, there is a problem that it is difficult to accurately determine the relative position of the calibration imaging object 102 along the vehicle width direction.
[0010]
Further, in order to increase the calibration accuracy, a larger calibration imaging object 102 is required. However, when the calibration imaging object 102 is enlarged, there arises a problem that it becomes difficult to handle.
[0011]
The present invention has been made in view of the above points, and can easily and accurately determine the relative position of the vehicle and the calibration imaging object along the vehicle width direction without increasing the size of the calibration imaging object. It is an object of the present invention to provide an in-vehicle camera calibration jig and an in-vehicle camera calibration method that can provide high positioning accuracy and can improve calibration accuracy.
[0012]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the in-vehicle camera calibration jig of the invention according to claim 1 is an in-vehicle camera calibration jig for calibrating an installation position and an installation angle with respect to a road surface of a camera mounted on a vehicle. A calibration imaging object having a reference position pattern indicating a calibration reference position, and a scale for relative alignment in the direction along the vehicle width of the calibration imaging object and the vehicle. It is characterized by comprising.
[0013]
According to this configuration, since the relative alignment in the direction along the vehicle width between the calibration imaging object and the vehicle can be performed by the scale, the center of the calibration imaging object is aligned on the center axis in the front-rear direction of the vehicle. be able to. That is, the relative position between the vehicle and the calibration imaging object can be determined easily and accurately. Further, since the positioning can be performed with high accuracy and the calibration accuracy can be improved, the calibration imaging object does not need to be large and is not difficult to handle.
[0014]
The in-vehicle camera calibration jig of the invention according to claim 2 is an in-vehicle camera calibration jig for calibrating an installation position and an installation angle with respect to a road surface of a camera mounted on a vehicle, and serves as a calibration reference. A calibration imaging object having a reference position pattern indicating a position, a first scale for relative alignment along the vehicle width direction of the calibration imaging object and the vehicle, and an installation position of the camera And a second scale for measuring a distance between the calibration imaging object.
[0015]
According to this configuration, the center of the calibration imaging object can be aligned on the center axis in the front-rear direction of the vehicle by the first scale. Further, since the distance between the camera installation position and the calibration imaging object can be measured by the second scale, the camera installation position and the calibration imaging object are not required even if the calibration imaging object is not located directly under the camera. Can be used as a correction value when determining parameters for camera calibration. Furthermore, since the distance between the installation position of the camera and the object to be calibrated can be measured by the second scale, it is not necessary to arrange the first scale directly under the camera, and it can be easily parallel to the vehicle width. Can be arranged between the right and left tires. Further, since the positioning can be performed with high accuracy and the calibration accuracy can be improved, the calibration imaging object does not need to be large and is not difficult to handle.
[0016]
According to a third aspect of the present invention, there is provided an in-vehicle camera calibration jig for calibrating an installation position and an installation angle with respect to a road surface of a camera mounted on a vehicle, and serves as a calibration reference. A first scale for relative alignment in the direction along the vehicle width between the reference position pattern portion indicating the position and the vehicle, and a distance between the installation position of the camera and the reference position pattern portion are measured. And a second scale composed of the reference position pattern portion.
[0017]
According to this configuration, since the second scale has the scale portion for measuring the distance between the installation position of the camera and the reference position pattern portion and the reference position pattern portion, the calibration imaging object can be independently provided. Since there is no need to provide an object, cost reduction and downsizing can be achieved.
[0018]
According to a fourth aspect of the present invention, there is provided an in-vehicle camera calibration method in which an in-vehicle camera is installed on a road surface based on an image obtained by imaging a calibration imaging object having a reference position pattern indicating a position serving as a calibration reference. An in-vehicle camera calibration method for obtaining parameters for calibrating the position and the installation angle, wherein a center axis in the front-rear direction of the vehicle is obtained using a scale with scales symmetrically with respect to the center, and the obtained vehicle front-rear direction The in-vehicle camera calibration is based on an image obtained by imaging the calibration imaging object by arranging the calibration imaging object so that the center of the calibration imaging object coincides with the center axis of the direction. The vehicle-mounted camera is calibrated by obtaining a parameter for use.
[0019]
According to this method, the on-vehicle camera can be calibrated accurately and in a short time.
[0020]
According to a fifth aspect of the present invention, there is provided an in-vehicle camera calibration method according to the fourth aspect of the present invention, wherein the reference position pattern is arranged at a position off from directly below the installation position of the in-vehicle camera. The distance from the installation position of the in-vehicle camera is measured, and the distance measurement result is used as a correction value when obtaining the in-vehicle camera calibration parameter.
[0021]
According to this method, even when the calibration imaging object is not located directly under the in-vehicle camera, the correction value for obtaining the parameter for in-vehicle camera calibration using the distance between the installation position of the in-vehicle camera and the calibration imaging object. Can be used as
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0023]
(Embodiment 1)
FIG. 1 is a perspective view showing an in-vehicle camera calibration jig according to Embodiment 1 of the present invention and a usage state thereof. FIG. 2 is a plan view of the on-vehicle camera calibration jig according to the present embodiment. In addition, the same code | symbol is attached | subjected to the part which is common in FIG.
[0024]
In FIG. 1, the in-vehicle camera calibration jig according to the present embodiment includes a lateral position scale 103 for determining the arrangement of a calibration imaging object 102S that is smaller than the conventional one and the vehicle 100 and the calibration imaging object 102S. And. On the horizontal position scale 103, as shown in FIG. 2, scales (0 to 100) are drawn symmetrically with respect to the center. The in-vehicle camera 101 is provided in the bumper at the rearmost part of the vehicle 100.
[0025]
Next, an in-vehicle camera calibration method using the in-vehicle camera calibration jig according to the present embodiment will be described. First, the horizontal position scale 103 is disposed immediately below the rearmost part of the vehicle 100 and along the vehicle width direction. That is, it arrange | positions just under a bumper and along the length direction of a bumper. At this time, as shown in FIG. 2, the bumpers are arranged so that both ends of the bumper are on the same scale (“100” in FIG. 2) of the horizontal position scale 103. By arranging the horizontal position scale 103 in this way, the center axis in the front-rear direction of the vehicle 100 is positioned on the scale “0” of the horizontal position scale 103.
[0026]
After the horizontal position scale 103 is arranged, the calibration imaging object 102S is in a direction perpendicular to the length direction of the horizontal position scale 103, and the center of the calibration imaging object 102S is a scale “0” of the horizontal position scale 103. Arrange to come up. By arranging the calibration imaging object 102S in this way, the center of the calibration imaging object 102S is positioned on the central axis in the length direction of the vehicle 100.
[0027]
After the horizontal position scale 103 and the calibration object 102S are arranged, the in-vehicle camera 101 images the calibration object 102S. At this time, since the relative position between the calibration imaging object 102S and the vehicle 100 is accurately determined, the world coordinates of the feature points of the calibration imaging object 102S can be accurately determined. Then, after determining the world coordinates of the feature points of the calibration imaging object 102S, the image coordinates on the image corresponding to the world coordinates are obtained. Then, camera external parameters (camera calibration parameters) are obtained by the same method as the conventional method based on the obtained feature point coordinates.
[0028]
As described above, the in-vehicle camera calibration jig according to the present embodiment includes the horizontal position scale 103 in which the scale is drawn symmetrically with respect to the center in addition to the calibration imaging object 102S that is smaller than the conventional one. Then, this horizontal position scale 103 is arranged so that both ends of the bumper are positioned symmetrically from the center of the scale, and then the calibration imaging object 102S has a scale “0” at the center of the horizontal position scale 103. The relative position between the vehicle 100 and the calibration imaging object 102S is accurately determined. And since high calibration accuracy is obtained, it is not necessary to enlarge the imaging object 102S for calibration. As a result, the calibration object 102S does not become difficult to handle.
[0029]
In the present embodiment, the horizontal position scale 103 and the calibration imaging object 102S are separated, but may be integrated. In the present embodiment, the in-vehicle camera 101 that images the rear of the vehicle is calibrated. However, when there is an in-vehicle camera that images the front and sides of the vehicle, the same calibration is performed for the in-vehicle camera. It can be performed. In this case, a lateral position scale having a scale corresponding to the length of the vehicle may be prepared for the in-vehicle camera that images the side of the vehicle.
[0030]
(Embodiment 2)
FIG. 3 is a perspective view showing an in-vehicle camera calibration jig according to Embodiment 2 of the present invention and its usage state. FIG. 4 is a plan view of the in-vehicle camera calibration jig according to the present embodiment. In FIGS. 3 and 4, the same reference numerals are given to the portions common to FIGS. 1 and 2 described above.
[0031]
The in-vehicle camera calibration jig according to the present embodiment includes a vertical position scale 104 for measuring the distance between the rearmost part of the vehicle 100 and the calibration object 102S in addition to the horizontal position scale 103. Yes. Here, in the vehicle-mounted camera calibration jig according to the first embodiment described above, it is necessary to arrange the horizontal position scale 103 in parallel with the bumper along the length direction of the bumper of the vehicle 100. It will take some time to take. In the present embodiment, the horizontal position scale 103 is applied to the left and right rear wheel tires 100R, 100L, so that the horizontal position scale 103 can be arranged in parallel with the bumper in a very short time.
[0032]
However, since the horizontal position scale 103 falls under the vehicle 100 by applying the horizontal position scale 103 to the left and right rear tires 100R and 100L, the calibration imaging object 102S also depends on its size. All or a part of it will enter under the vehicle 100. For this reason, the in-vehicle camera 101 cannot capture an image as it is. Therefore, the vertical position scale 104 is arranged at a right angle to the length direction of the horizontal position scale 103, and the distance (indicated by “D” in the figure) from the rear bumper of the vehicle 100 to the calibration imaging object 102S. By measuring, the vehicle-mounted camera 101 can be calibrated. The calculated distance D is used as a correction value when obtaining the world coordinates.
[0033]
Next, a vehicle-mounted camera calibration method using the vehicle-mounted camera calibration jig according to the present embodiment will be described. First, the horizontal position scale 103 is disposed so as to be applied to the left and right rear tires 100R, 100L of the vehicle 100. At this time, as shown in FIG. 4, the bumpers at the rear of the vehicle are arranged so that both ends of the bumper are on the same scale on the horizontal position scale 103. By arranging the horizontal position scale 103 in this way, the center axis in the front-rear direction of the vehicle 100 is positioned on the scale “0” of the horizontal position scale 103.
[0034]
After the horizontal position scale 103 is arranged, the vertical position scale 104 is set in a direction perpendicular to the length direction of the horizontal position scale 103 and the central axis in the length direction of the vertical position scale 104 is a scale “0”. "Place it to be on top." By arranging the vertical position scale 104 in this way, the central axis in the length direction of the vertical position scale 104 is positioned on the central axis in the length direction of the vehicle 100. After the vertical position scale 104 is arranged, the calibration imaging object 102S is arranged so that the center thereof is on the central axis in the length direction of the vertical position scale 104. After the calibration imaging object 102S is disposed, the distance D between the rear bumper of the vehicle 100 and the calibration imaging object 102S is measured by the vertical position scale 104.
[0035]
After measuring the distance D between the rear bumper of the vehicle 100 and the calibration imaging object 102S, the in-vehicle camera 101 images the calibration imaging object 102S. Since the relative positional relationship between the vehicle 100 and the calibration imaging object 102S is determined, the corrected world coordinates are obtained by adding the distance D to the Y-axis value of the world coordinates of the feature point of the calibration imaging object 102S. . Based on the coordinates of the feature points, camera external parameters are obtained by a method similar to the conventional method.
[0036]
As described above, according to the vehicle-mounted camera calibration jig according to the present embodiment, in addition to the calibration object 102S that is smaller than the conventional one, the horizontal position scale 103 in which the scale is drawn symmetrically with respect to the center, A vertical position scale 104 having a scale drawn along the length direction, and the horizontal position scale 103 is arranged so as to be applied to the left and right rear tires 100R and 100L, and then the vertical position scale 104 is arranged in the length direction. Is arranged so that the center axis thereof is aligned with the scale “0” of the horizontal position scale 103, and in this state, the calibration imaging object 102 </ b> S is arranged so that the center thereof is on the central axis in the length direction of the vertical position scale 104. As a result, the relative position between the vehicle 100 and the calibration object 102S is accurately determined. And since high calibration accuracy is obtained, it is not necessary to enlarge the imaging object 102S for calibration. As a result, the calibration object 102S does not become difficult to handle. Furthermore, the horizontal position scale 103 can be arranged in parallel to the width direction of the vehicle 100 simply by applying the horizontal position scale 103 to the left and right rear tires 100R, 100L.
[0037]
In the present embodiment, the horizontal position scale 103 and the vertical position scale 104 are separated, but they may be integrated. The horizontal position scale 103 and the vertical position scale 104 are somewhat difficult to handle, but the longitudinal axis of the vertical position scale 104 is aligned with the scale “0” of the horizontal position scale 103. The trouble of arranging can be saved.
[0038]
In the present embodiment, the horizontal position scale 103 is brought into contact with the left and right tires 100R and 100L so as to be parallel to the rear bumper of the vehicle 100. However, when the thickness of the horizontal position scale 103 is reduced. Depending on the difference between the wear conditions of the left and right tires 100R, 100L, there is a possibility that a difference occurs in the gap between the tires 100R, 100L and the road surface, and the lateral position scale 103 cannot be arranged in parallel with the bumper. Can be considered. This problem is not a problem because all tires are new for a vehicle before shipment from the factory, but it can be a problem at the time of inspection after a certain amount of time has elapsed since the vehicle was delivered. Therefore, it is preferable that the horizontal position scale 103 has a certain thickness so that such a problem does not occur.
[0039]
(Embodiment 3)
FIG. 5 is a perspective view showing an in-vehicle camera calibration jig according to Embodiment 3 of the present invention and its usage state. FIG. 6 is a plan view of the in-vehicle camera calibration jig according to the present embodiment. In FIGS. 5 and 6, the same reference numerals are given to the portions common to FIGS. 3 and 4 described above.
[0040]
The in-vehicle camera calibration jig according to the present embodiment includes, in addition to the horizontal position scale 103, between two calibration imaging object combined vertical position scales 105A and 105B and a calibration imaging object combined vertical position scale 105A and 105B. And a vertical position scale support 106 that keeps the arrangement. Each of the calibration imaging object combined vertical position scales 105A and 105B has a scale portion in which a scale is drawn along the length direction, and black and white two-color coating (because only black is used if the base is white). In this case, it is composed of a reference position pattern portion for calibration that is painted with one color. As shown in FIG. 6, the calibration-purpose imaging target / vertical position scales 105 </ b> A and 105 </ b> B are at right angles to the length direction of the horizontal position scale 103 and symmetrically with respect to the center of the horizontal position scale 103. Spaced apart. The scale part of the calibration imaging object combined vertical position scale 105A measures the distance between the rearmost right part of the vehicle and the calibration imaging object combined vertical position scale 105A calibration reference position pattern part, The scale part of the calibration imaging object combined vertical position scale 105B measures the distance between the rearmost left part of the vehicle and the calibration reference position pattern part of the calibration imaging object combined vertical position scale 105B. Actually, since both are the same distance, only one side may be measured.
[0041]
Next, a vehicle-mounted camera calibration method using the vehicle-mounted camera calibration jig according to the present embodiment will be described. First, as in the second embodiment, the lateral position scale 103 is arranged on the vehicle 100 in a direction along both the wheels 100R and 100L. Then, after the horizontal position scale 103 is arranged, the calibration-purpose imaging target / vertical position scales 105A and 105B are symmetric with respect to the length direction of the horizontal position scale 103 and with the center of the horizontal position scale 103 as a reference. To place. Next, the vertical position scale support 106 is arranged in a direction perpendicular to the two vertical position scales 105A and 105B for both the imaging object for calibration, and the vertical position scales 105A and 105B for both the image capturing object for calibration are kept in parallel. . After the vertical position scale support 106 is arranged, at the scale portion of the calibration-purpose imaging object / vertical position scale 105A, the rightmost rear part of the vehicle and the calibration reference position pattern portion of the calibration-purpose imaging object / vertical position scale 105A (The distance between the rearmost left portion of the vehicle and the calibration reference position pattern portion of the calibration imaging object combined vertical position scale 105B in the scale section of the calibration imaging object combined vertical position scale 105B). May be measured). Let D be the distance in this case.
[0042]
After measuring the distance D between the rearmost part of the vehicle 100 and the calibration reference position pattern portion of the calibration imaging object combined vertical position scale 105A, 105B, the on-vehicle camera 101 uses the calibration imaging object combined vertical position scale 105A. , 105B. Since the relative positional relationship between the vehicle 100 and the vertical position scales 105A and 105B for calibration imaging object is determined, the Y-axis value of the world coordinates of the characteristic points of the vertical scales 105A and 105B for calibration imaging object is determined. The distance D is subtracted to obtain world coordinates. Based on the coordinates of the feature points, camera external parameters are obtained by a method similar to the conventional method. For example, the feature points of the calibration imaging object combined vertical position scales 105A and 105B are assumed to be the vertices of rectangles whose colors are separated on the surface.
[0043]
Thus, according to the vehicle-mounted camera calibration jig according to the present embodiment, the horizontal position scale 103 in which the scale is drawn symmetrically with respect to the center, and the scale portion in which the scale is drawn along the length direction, respectively. And the vertical position scales 105A and 105B for both the calibration imaging object and the calibration reference position pattern portions painted in two colors of black and white and the vertical scales 105A and 105B for the calibration imaging object are parallel to each other. The vertical position scale support 106 is held on the left and right tires 100R and 100L, and the horizontal position scale 103 is placed in the horizontal position. The vehicle 1 is arranged at right angles to the length direction of the scale 103 and symmetrically with respect to the center of the horizontal position scale 103 as a reference. 0. calibration captured object combined vertical position scale 105A, can determine the relative position of 105B accurately. Since high calibration accuracy can be obtained, it is not necessary to increase the size of the calibration-purpose imaging object-use vertical position scales 105A and 105B, and these do not become difficult to handle. Furthermore, the horizontal position scale 103 can be arranged in parallel to the width direction of the vehicle 100 simply by applying the horizontal position scale 103 to the left and right rear tires 100R, 100L.
[0044]
In the present embodiment, the vertical scales 105A and 105B for both calibration and imaging object are separated from the vertical scale support 106, but they may be integrated. Although it is somewhat difficult to handle by integrating, the vertical scales 105A and 105B that are also used as calibration imaging objects are easy to be parallel.
[0045]
【The invention's effect】
As described above, according to the present invention, since the relative alignment in the direction along the vehicle width of the calibration imaging object and the vehicle can be performed by the scale, the calibration imaging is performed on the center axis in the longitudinal direction of the vehicle. The center of the object can be adjusted. Further, since the positioning can be performed with high accuracy and the calibration accuracy can be improved, the calibration imaging object does not need to be large and is not difficult to handle.
[0046]
Further, according to the present invention, since the distance between the camera installation position and the calibration imaging object can be measured by the second scale, the camera installation position can be obtained even if the calibration imaging object is not located directly under the camera. And the distance between the calibration object and the imaging object for calibration can be used as a correction value when obtaining a parameter for camera calibration. Furthermore, since the distance between the installation position of the camera and the object to be calibrated can be measured by the second scale, it is not necessary to arrange the first scale directly under the camera, and it can be easily parallel to the vehicle width. Can be arranged between the right and left tires.
[0047]
According to the present invention, the second scale is provided with the scale portion for measuring the distance between the camera installation position and the reference position pattern portion and the reference position pattern portion. Since there is no need to provide an imaging object, cost reduction and downsizing can be achieved.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an in-vehicle camera calibration jig according to a first embodiment of the present invention and a usage state thereof.
FIG. 2 is a plan view for explaining an in-vehicle camera calibration method by the in-vehicle camera calibration jig according to Embodiment 1 of the present invention.
FIG. 3 is a perspective view showing an in-vehicle camera calibration jig according to Embodiment 2 of the present invention and a usage state thereof.
FIG. 4 is a plan view for explaining an in-vehicle camera calibration method using an in-vehicle camera calibration jig according to Embodiment 2 of the present invention.
FIG. 5 is a perspective view showing an in-vehicle camera calibration jig according to Embodiment 3 of the present invention and a usage state thereof.
FIG. 6 is a plan view for explaining an in-vehicle camera calibration method using an in-vehicle camera calibration jig according to Embodiment 3 of the present invention.
FIG. 7 is a perspective view showing a conventional in-vehicle camera calibration jig and its use state.
FIG. 8 is a plan view for explaining a vehicle-mounted camera calibration method using a conventional vehicle-mounted camera calibration jig.
[Explanation of symbols]
100 Vehicle 100R, 100L Tire 101 Car-mounted camera 102S Imaging object for calibration 103 Horizontal position scale 104 Vertical position scales 105A and 105B Vertical object scale 106 for both calibration and imaging object Vertical position scale support

Claims (2)

An in-vehicle camera calibration jig for calibrating an installation position and an installation angle with respect to a road surface of a camera mounted on a vehicle,
A first scale disposed along two tires and having a symmetrical scale disposed in the middle of the two tires;
A second scale that is arranged perpendicular to the first scale starting from the center or a specific position of the first scale and that can measure a relative position with respect to the two tires or a relative position from a bumper; And the scale of
A reference position pattern portion arranged in contact with the second scale and indicating a position serving as a reference for calibration;
An on-vehicle camera calibration jig characterized by comprising: An in-vehicle camera calibration jig for calibrating an installation position and an installation angle with respect to a road surface of a camera mounted on a vehicle,
A first scale disposed along two tires and having a symmetrical scale disposed in the middle of the two tires;
Starting from the specific position of the first scale, the scale is arranged perpendicular to the first scale, and the portion close to the vehicle can measure the relative position to the two tires or the relative position from the bumper. A second plurality of scales in which a color or a pattern capable of recognizing a specific position from an image captured by a camera is drawn at regular intervals,
A scale support that holds the second plurality of scales in parallel;
An on-vehicle camera calibration jig characterized by comprising:

Images