Calibration apparatus and calibration method
A calibration apparatus for executing a camera calibration for each of a plurality of cameras mounted on an object so that image capturing ranges of two of the plurality of cameras overlap each other, the calibration apparatus includes an image obtaining unit configured to obtain first and second images captured by the two cameras, a temporary link structure forming unit configured to form a temporary link structure by using the first and second images including images of markers sets, a link angle determining unit configured to determine an effective link angle to form an effective link structure from the temporary link structure, and a parameter determining unit configured to determine a parameter for positioning at least one of the cameras on the basis of the effective link angle.
1. A calibration apparatus comprising:
a memory; and
a processor coupled to the memory, the processor configured to:
obtain first and second images captured by two cameras of a plurality of cameras mounted on an object, the first image including images of a first marker set and a second marker set, the second image including images of a first marker set and a third marker set, each of the first, second and third marker sets including a plurality of markers,
form a closed-link structure based on a first representative point of the first marker set and a second representative point of the second marker set in the first image, and a first representative point of the first marker set and a third representative point of the third marker set in the obtained second image, the first representative points in the first and second images being matched each other in the closed-link structure,
determine a link angle of the closed-link structure when a difference representing a distance between the images of the same marker of the first marker set in the first and second images satisfy a given condition, and
determine a parameter for positioning at least one of the plurality of cameras based on the determined link angle, wherein
the processor is further configured to form the closed-link structure by detecting the image of the first marker set of the first image and the image of the first marker set of the second image,
forming a first line connecting the first representative point which is at a given position in the image of the first marker set and the second representative point which is at a given position in the image of the second marker set in the first image,
forming a second line connecting the first representative point which is at a given position in the image of the first marker set and the third representative point which is at a given position in the image of the third marker set in the second image,
arranging the lines so that the first representative points in the first and second images are matched with each other, and
forming the closed-link structure including the first and second lines through the matched first representative point, the link angle of the closed-link structure being specified by an angle between the first and second lines.
2. The calibration apparatus according to claim 1 , wherein the processor is further configured to determine the link angle by using a function derived from the difference representing the distance between the images of the same marker of the first marker set in the first and second images.
3. The calibration apparatus according to claim 1 , wherein the parameter includes at least one of a camera pan angle, an x-axis coordinate, and a y-axis coordinate.
4. The calibration apparatus according to claim 1 , wherein
the processor is further configured to determine the link angle when the difference representing the distance between the images of the same marker of the first marker set in the arranged first and second images is at a minimum.
5. The calibration apparatus according to claim 1 , wherein
the processor is further configured to determine the parameter for each of the plurality of cameras so that image capturing ranges of two of the plurality of cameras overlap each other.
6. The calibration apparatus according to claim 1 , wherein
the closed-link structure is a structure in which links form a closed chain in which mobility is constrained.
7. A calibration method comprising:
obtaining first and second images captured by two cameras of a plurality of cameras mounted on an object, the first image including images of a first marker set and a second marker set, the second image including images of a first marker set and a third marker set, each of the first, second and third marker sets including a plurality of markers;
forming a closed-link structure based on a first representative point of the first marker set and a second representative point of the second marker set in the first image, and a first representative point of the first marker set and a third representative point of the third marker set in the obtained second image, the first representative points in the first and second images being matched each other in the closed-link structure;
determining, with a processor, a link angle of the closed-link structure when a difference representing a distance between the images of the same marker of the first marker set in the first and second images satisfy a given condition; and
determining a parameter for positioning at least one of the plurality of cameras based on the determined link angle, wherein
the forming includes
detecting the image of the first marker set of the first image and the image of the first marker set of the second image,
forming a first line connecting the first representative point which is at a given position in the image of the first marker set and the second representative point which is at a given position in the image of the second marker set in the first image,
forming a second line connecting the first representative point which is at a given position in the image of the first marker set and the third representative point which is at a given position in the image of the third marker set in the second image,
arranging the lines so that the first representative points in the first and second images are matched with each other, and
forming the closed-link structure including the first and second lines through the matched first representative point, the link angle of the closed-link structure being specified by an angle between the first and second lines.
8. The calibration method according to claim 7 , wherein the determining determines the link angle by using a function derived from the difference representing the distance between the images of the same marker of the first marker set in the first and second images.
9. The calibration method according to claim 7 , wherein the parameter includes at least one of a camera pan angle, an x-axis coordinate, and a y-axis coordinate.
10. The calibration method according to claim 7 , wherein
the determining the link angle includes determining the link angle when the difference representing the distance between the images of the same marker of the first marker set in the arranged first and second images is at a minimum.
11. The calibration method according to claim 7 , wherein
the determining the parameter includes determining the parameter for each of the plurality of cameras so that image capturing ranges of two of the plurality of cameras overlap each other.
12. A non-transitory computer readable storage medium storing a calibration program allowing a processor to execute an operation, the operation comprising:
obtaining first and second images captured by two cameras of a plurality of cameras mounted on an object, the first image including images of a first marker set and a second marker set, the second image including images of a first marker set and a third marker set, each of the first, second and third marker sets including a plurality of markers;
forming a closed-link structure based on a first representative point of the first marker set and a second representative point of the second marker set in the first image, and a first representative point of the first marker set and a third representative point of the third marker set in the obtained second image, the first representative points in the first and second images being matched each other in the closed-link structure;
determining a link angle of the closed-link structure when a difference representing a distance between the images of the same marker of the first marker set in the first and second images satisfy a given condition; and
determining a parameter for positioning at least one of the plurality of cameras based on the determined link angle, wherein
the forming includes
detecting the image of the first marker set of the first image and the image of the first marker set of the second image,
forming a first line connecting the first representative point which is at a given position in the image of the first marker set and the second representative point which is at a given position in the image of the second marker set in the first image,
forming a second line connecting the first representative point which is at a given position in the image of the first marker set and the third representative point which is at a given position in the image of the third marker set in the second image,
arranging the lines so that the first representative points in the first and second images are matched with each other, and
forming the closed-link structure including the first and second lines through the matched first representative point, the link angle of the closed-link structure being specified by an angle between the first and second lines.
13. The non-transitory computer readable storage medium according to claim 12 , wherein the determining determines the link angle by using a function derived from the difference representing the distance between the images of the same marker of the first marker set in the first and second images.
14. The non-transitory computer readable storage medium according to claim 12 , wherein the parameter includes at least one of a camera pan angle, an x-axis coordinate, and a y-axis coordinate.
15. The non-transitory computer readable storage medium according to claim 12 , wherein
the determining the link angle includes determining the link angle when the difference representing the distance between the images of the same marker of the first marker set in the arranged first and second images is at a minimum.
16. The non-transitory computer readable storage medium according to claim 12 , wherein
the determining the parameter includes determining the parameter for each of the plurality of cameras so that image capturing ranges of two of the plurality of cameras overlap each other.