JP2001245326A5

JP2001245326A5 -

Info

Publication number: JP2001245326A5
Application number: JP2000392787A
Authority: JP
Filing date: 2000-12-25
Publication date: 2004-10-28
Anticipated expiration: 2020-12-25

Description

【０００７】
【課題を解決するための手段】
上記の課題を解決するために講じた第１の技術的手段は、車両に取付けられたカメラの校正を、前記カメラで撮像されるカメラ画像内の定位置に置かれた校正指標を基にして行う車載カメラの校正装置において、平面状の校正指標を平面に配置して、該校正指標を含む前記カメラ画像を表示可能な表示手段と、該表示手段に所定のウィンドウを表示するウィンドウ表示手段と、該ウィンドウ表示手段の位置を前記カメラによって撮像される画像座標内で変化させる調整手段と、該調整手段により前記校正指標の２点が前記ウィンドウ内に入るよう前記ウィンドウの位置関係を調整し、前記校正指標が前記ウィンドウ内に収まったときのカメラパラメータを、前記カメラのカメラパラメータとして設定するパラメータ設定手段と、を備えたことである。[0007]
[Means for Solving the Problems]
The first technical means taken to solve the above problems is based on calibration of a camera mounted on a vehicle based on a calibration index placed at a fixed position in a camera image captured by the camera. In the on-vehicle camera calibration device, a flat calibration index is disposed on a flat surface, a display unit capable of displaying the camera image including the calibration index, and a window display unit for displaying a predetermined window on the display unit. Adjustment means for changing the position of the window display means in the image coordinates captured by the camera, and the adjustment means adjust the positional relationship of the window so that two points of the calibration index fall within the window. And a parameter setting unit configured to set a camera parameter when the calibration index falls within the window as a camera parameter of the camera. A.

【０００８】
第１の技術的手段によれば、校正には平面（例えば、地面または床面）に配置した平面状の校正指標を用いて、その校正指標の２点を含むカメラ画像を表示手段に表示させ、そこに所定のウィンドウを表示させる。ウィンドウの位置をカメラによって撮像される画像座標内で変化させ、校正指標の２点がウィンドウ内に入るよう位置関係を調整手段により調整し、校正指標がウィンドウ内に収まったときのカメラパラメータを、カメラのカメラパラメータとして設定するようにしたので、カメラパラメータの設定は調整手段の調整だけで設定が可能となる。この場合、校正指標は平面状であることから、校正指標は床面に置くか貼り付ければ校正を行う場合にあっては邪魔にならず、車両の製造現場等においても、簡単な方法でカメラの校正が行える装置が提供される。[0008]
According to the first technical means, calibration is performed by using a flat calibration index disposed on a plane (for example, the ground or floor) for displaying a camera image including two points of the calibration index on the display , To display a predetermined window there. The position of the window is changed within the image coordinates captured by the camera, the positional relationship is adjusted by the adjustment means so that the two points of the calibration index fall within the window, and the camera parameters when the calibration index falls within the window are Since the setting is made as the camera parameter of the camera, the setting of the camera parameter can be set only by the adjustment of the adjusting means. In this case, since the calibration index is flat, the calibration index does not become an obstacle in the case of calibration if it is placed or attached to the floor, and a camera can be used by a simple method even at a vehicle manufacturing site or the like. An apparatus capable of performing calibration of

【０００９】
また、上記の課題を解決するために講じた第２の技術的手段は、車両に取付けられたカメラの校正を、前記カメラで撮像されるカメラ画像内の定位置に置かれた校正指標を基にして行う車載カメラの校正方法において、
平面状の校正指標を平面に配置して、該校正指標を含む前記カメラ画像を表示可能な表示手段と、該表示手段に所定のウィンドウを表示するウィンドウ表示手段と、該ウィンドウ表示手段の位置を前記カメラによって撮像される画像座標内で変化させる調整手段とを備え、
前記表示手段に前記校正指標を表示させ、前記校正指標の２点が前記ウィンドウ内に入るように前記ウィンドウの位置関係を調整し、前記校正指標が前記ウィンドウ中に入ったときのカメラパラメータを、前記カメラのカメラパラメータとして設定したことである。[0009]
Further, a second technical means taken to solve the above-mentioned problems is characterized in that calibration of a camera mounted on a vehicle is based on a calibration index placed at a fixed position in a camera image captured by the camera. In the on-vehicle camera calibration method,
A flat calibration index is disposed on a flat surface, display means capable of displaying the camera image including the calibration index, window display means for displaying a predetermined window on the display means, and the position of the window display means Adjusting means for changing in image coordinates captured by the camera;
The display means displays the calibration index, adjusts the positional relationship of the window so that the two points of the calibration index fall within the window, and the camera parameters when the calibration index enters the window, It is setting as a camera parameter of the camera.

【００１０】
第２の技術的手段によれば、校正には平面に配置した平面状の校正指標を用い、その校正指標を含むカメラ画像を表示手段に表示させ、そこに所定のウィンドウを表示させる。ウィンドウの位置をカメラに投影される画像座標系で変化させ、校正指標の２点がウィンドウ内に入るよう位置関係を調整手段により調整し、校正指標ウィンドウ内に収まったときのカメラパラメータを、カメラのカメラパラメータとして設定することにより、カメラパラメータの設定は調整手段による調整だけで可能となる。この場合、校正指標は平面状であることから、校正を行う場合、工場等においては床面に固定されるか、貼り付ければ良く、従来の如く立体物ではないことから、作業者の邪魔にはならず、車両の製造現場等において、簡単な方法でカメラの校正が行える。[0010]
According to the second technical means, the calibration is performed using a flat calibration index arranged in a plane for calibration, a camera image including the calibration index is displayed on the display means, and a predetermined window is displayed there. The position of the window is changed in the image coordinate system projected to the camera, the positional relationship is adjusted by the adjustment means so that the two points of the calibration index fall within the window, and the camera parameters when the calibration index window falls within the camera By setting it as the camera parameter of (1), the setting of the camera parameter can be performed only by the adjustment means. In this case, since the calibration index is flat, when calibration is performed, it may be fixed or affixed to a floor surface in a factory etc., and since it is not a three-dimensional object as in the past, it may However, it is possible to calibrate the camera by a simple method at a vehicle manufacturing site or the like.

【００１２】
一方、車両に取付けられて車両の一方向を撮像して表示する表示手段に、車両の走行に係る可動画像を重畳表示させ、該可動画像の一部である３次元空間上の２点を、カメラパラメータを設定するための指標（配置位置）とすれば、カメラで撮像する３次元空間内に校正指標を置かなくて良い。[0012]
On the other hand, a movable image relating to the traveling of the vehicle is superimposed and displayed on display means attached to the vehicle and imaging and displaying one direction of the vehicle, and two points on a three-dimensional space which is a part of the movable image If it is an index (arrangement position) for setting a camera parameter, it is not necessary to place a calibration index in a three-dimensional space imaged by the camera.

【００４８】
【効果】
本発明によれば、校正に平面に配置した平面状の校正指標を用いて、その校正指標を含むカメラ画像をディスプレィ上に表示させ、そこに所定のウィンドウを表示させる。ウィンドウの位置をカメラによって撮像される画像座標内で変化させ、校正指標の２点がウィンドウ内に入るよう位置関係を調整手段により調整し、校正指標がウィンドウ内に収まったときのカメラパラメータを、カメラのカメラパラメータとして設定するようにしたので、カメラパラメータの設定は調整手段の調整だけで設定できる。この場合、校正指標は平面状であることから、校正指標は床面に置くか貼り付ければ校正を行う場合にあっては邪魔にならず、車両の製造現場等においても、簡単な方法でカメラの校正が行える装置が提供されると共に、カメラの校正が簡単に行える。[0048]
【effect】
According to the present invention, using a flat calibration index placed on a plane for calibration, a camera image including the calibration index is displayed on the display, 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 adjustment means so that the two points of the calibration index fall within the window, and the camera parameters when the calibration index falls within the window are Since the setting is made as the camera parameter of the camera, the setting of the camera parameter can be set only by the adjustment of the adjusting means. In this case, since the calibration index is flat, the calibration index does not become an obstacle in the case of calibration if it is placed or attached to the floor, and a camera can be used by a simple method even at a vehicle manufacturing site or the like. An apparatus capable of performing calibration of the camera is provided, and calibration of the camera can be easily performed.

【００５０】
一方、車両に取付けられて車両の一方向を撮像して表示する表示手段に、車両の走行に係る可動画像を重畳表示させ、該可動画像の一部である３次元空間上の２点を、カメラパラメータを設定するための指標とすれば、カメラで撮像する３次元空間内に校正指標を置かなくて済む。[0050]
On the other hand, a movable image relating to the traveling of the vehicle is superimposed and displayed on display means attached to the vehicle and imaging and displaying one direction of the vehicle, and two points on a three-dimensional space which is a part of the movable image If it is an index for setting camera parameters, it is not necessary to place a calibration index in the three-dimensional space imaged by the camera.

Claims

In a calibration apparatus for an on-vehicle camera, calibration of a camera mounted on a vehicle is performed based on a calibration index placed at a fixed position in a camera image captured by the camera.
A display means capable of displaying the camera image including the calibration index by arranging a flat calibration index on a plane;
Window display means for displaying a predetermined window on the display means;
Adjusting means for changing the position of the window display means within the image coordinates captured by the camera;
The adjustment means adjusts the positional relationship of the window such that two points of the calibration index fall within the window, and sets camera parameters when the calibration index falls within the window as camera parameters of the camera. Parameter setting means,
An on-vehicle camera calibration device comprising:

In a calibration method of an on-vehicle camera, calibration of a camera attached to a vehicle is performed based on a calibration index placed at a fixed position in a camera image captured by the camera.
A flat calibration index is disposed on a flat surface, display means capable of displaying the camera image including the calibration index, window display means for displaying a predetermined window on the display means, and the position of the window display means Adjusting means for changing in image coordinates captured by the camera;
Displaying the calibration index on the display means, adjusting the positional relationship of the window so that the calibration index falls within the window, and setting camera parameters when two points of the calibration index enter the window; A calibration method of a car-mounted camera characterized by setting as a camera parameter of the camera.

3. The on-vehicle camera calibration method according to claim 2, wherein the adjustment is performed by rotating or moving the window displayed in the camera image with respect to the calibration index.

A display means mounted on a vehicle for imaging and displaying one direction of the vehicle superimposes and displays a movable image relating to the traveling of the vehicle , and camera parameters for two points in a three-dimensional space which is a part of the movable image. A calibration index of the on-vehicle camera characterized in that it is an index for setting.

5. The on- vehicle camera calibration index according to claim 4, wherein the movable image is a predicted travel locus that changes according to a steering angle.