Method of estimating internal parameters of fisheye camera, estimation device, and estimation program

摘要

PROBLEM TO BE SOLVED: To provide an estimation method, estimation device and estimation program for internal parameters of a fish-eye camera that can simply and accurately estimate the internal parameters of the fish-eye camera.SOLUTION: The present invention relates to an estimation method for internal parameters of a fish-eye camera including a fish-eye lens, and the estimation method includes: an imaging step of capturing a plurality of fish-eye images by capturing images of a plurality of characteristic points at each of a plurality of different timings with the fish-eye camera while the fish-eye camera 10 passes through an interior of the fish-eye camera in a space containing a plurality of visual characteristic points, and is rotated around a rotation axis line extending almost vertically to an optical axis of the fish-eye camera; a trajectory image generation step of generating a trajectory image containing a trajectory obtained from a set of observation points in each fish-eye image corresponding to each characteristic point; and an estimation step of estimating the internal parameters of the fish-eye camera on the basis of the trajectory image.SELECTED DRAWING: Figure 1