ON-VEHICLE CAMERA MOUNTING ANGLE DETECTION DEVICE, MOUNTING ANGLE CALIBRATION DEVICE, AND MOUNTING ANGLE DETECTION METHOD

摘要

This mounting angle detection device 100 performs bird's-eye perspective conversion on a captured image of the ground on which a target figure having two straight-line portions that are equal in width and are parallel to each other, and looks for a mounting angle at which the two straight-line portions in the bird's eye image become equal in width and become parallel to each other. Even on a vehicle 1 that is provided with an on-vehicle camera 10 at the front or back thereof, the mounting angle detection device 100 detects an actual mounting angle of the on-vehicle camera 10, and calibrates the mounting angle of the on-vehicle camera 10. The mounting angle detection device 100 detects the mounting angle even by using, as the target figure, a parking space frame T having no transverse lines that intersect with two lateral lines that are equal in width and are parallel to each other, and calibrates the mounting angle of the on-vehicle camera 10 so as to be correct.