Calibration device and calibration method
High precision calibration of external parameters is possible even when the surrounding road surface is configured from a plurality of flat surfaces. Specifically, provided is a calibration device comprising a camera to be mounted on a vehicle traveling on a road surface; a characteristic point extraction unit which extracts characteristic points from a captured image obtained by being captured with the camera; a tracking unit which tracks the characteristic points extracted with the characteristic point extraction unit; a storage unit which stores a trajectory of the characteristic points obtained by tracking the characteristic points; a road surface estimation unit which estimates a flat surface on which the vehicle is traveling by using the trajectory of the characteristic points; a calculation unit which calculates a calibration trajectory, which is a trajectory of the characteristic points, for use in calibration based on the estimated flat surface; and an external parameter estimation unit which executes calibration of an external parameter of the camera by using the calibration trajectory.
1. A calibration device, comprising:
a camera to be mounted on a vehicle traveling on a road surface;
a characteristic point extraction unit configured to extract characteristic points from a captured image obtained by being captured with the camera;
a tracking unit configured to track the characteristic points extracted with the characteristic point extraction unit;
a storage unit configured to store a trajectory of the characteristic points obtained by tracking the characteristic points;
a road surface estimation unit configured to estimate a flat surface on which the vehicle is traveling by using the trajectory of the characteristic points;
a calculation unit configured to calculate a calibration trajectory, which is a trajectory of the characteristic points, for use in calibration based on the estimated flat surface; and
an external parameter estimation unit configured to execute calibration of an external parameter of the camera by using the calibration trajectory.
2. The calibration device according to claim 1 ,
wherein the calculation unit calculates as the calibration trajectory, among trajectories of the characteristic points stored in the storage unit, a trajectory of the characteristic points existing on a same plane as a contact area of the vehicle.
3. The calibration device according to claim 1 ,
wherein the calculation unit calculates the calibration trajectory by correcting coordinates configuring a trajectory of the characteristic points not existing on a same plane as a contact area of the vehicle among trajectories of the characteristic points stored in the storage unit as coordinates on a same plane as a contact area of the vehicle.
4. The calibration device according to claim 3 ,
wherein the calculation unit calculates a plurality of approximation straight lines from a distribution of trajectories of the characteristic points, and calculates, from an intersection point of the plurality of approximation straight lines, an angular difference formed from a first plane as a contact area of the vehicle and a second plane opposite to the first plane relative to the intersection point.
5. The calibration device according to claim 1 ,
wherein the road surface estimation unit estimates a flat surface on which the vehicle is traveling by assuming that a shape of the road surface is a combination of two flat surfaces.
6. The calibration device according to claim 1 ,
wherein the road surface estimation unit estimates a flat surface on which the vehicle is traveling by using a trajectory of the characteristic points in a region where the vehicle is traveling.
7. A calibration method to be executed by a calibration device mounted on a vehicle traveling on a road surface and comprising a camera and a storage unit, comprising the steps of:
extracting characteristic points from a captured image obtained by being captured with the camera and tracking the characteristic points;
storing a trajectory of the characteristic points obtained by tracking the characteristic points in the storage unit;
estimating a flat surface on which the vehicle is traveling by using the trajectory of the characteristic points;
calculating a calibration trajectory, which is a trajectory of the characteristic points, for use in calibration based on the estimated flat surface; and
executing calibration of an external parameter of the camera by using the calibration trajectory.