Radiation distortion correction device, road environment recognition device, radial distortion correction method, and program

摘要

PROBLEM TO BE SOLVED: To easily and automatically correct radial distortion of a camera without using an especial calibration device such as a checker board.SOLUTION: A radial distortion correction device includes: image input means 11 which inputs a captured image photographed by an imaging device being an object of radial distortion correction; temporary distortion correction means 12 which supposes two or more distortion correction parameters for the input captured image to generate corresponding temporary distortion corrected images; local gradient direction histogram calculation means 13 which calculates a local gradient direction histogram for each of the generated temporary distortion corrected images; bias calculation means 14 which calculates a degree of bias in local gradient directions in each of the temporary distortion corrected images on the basis of the local gradient direction histogram; distortion corrected image selection means 15 which selects one distortion corrected image from the temporary distortion corrected images on the basis of degrees of bias in local gradient directions in respective temporary distortion corrected images.