CAMERA PARAMETER ESTIMATION DEVICE, CAMERA PARAMETER ESTIMATION UNIT, AND COMPUTER-READABLE RECORDING MEDIUM

摘要

A camera parameter estimation device 10 estimates camera parameters when an object is photographed by a camera. The camera parameter estimation device 10 is provided with: a parameter calculation unit 20 which divides an error function representing a transformation between six or more sets of three-dimensional points relating to the object and two-dimensional points on an image that correspond to the respective three-dimensional points into a plurality of subproblems on the basis of dependency among the camera parameters and the flatness of distribution of the three-dimensional points, and calculates optimal solution candidates in the respective subproblems; and a parameter optimization unit 30 which, with the optimal solution candidates as initial values, finds an optimal solution for minimizing an error obtained by the error function, and outputs the found optimal solution as an optimal camera parameter.