Camera calibration for 3D charts, how to obtain the calibration parameters of the camera, camera calibration information processing apparatus, and program

摘要

PROBLEM TO BE SOLVED: To provide a stereoscopic chart, a parameter acquisition method, and an information processing device capable of widely correcting a camera with high accuracy. SOLUTION: Unit figures whose sizes are encoded at different ratios are formed on the sides of a stereoscopic chart 2. The ratios of the unit figures are calculated on the basis of the picked-up image of the stereoscopic chart 2, and the calculation result is collated with an actual value by which the position and attitude of an image pickup point are obtained. The moving average of the height of the unit figures is set nearly proportional to a distance from an apex, and a limitation imposed on an image pickup distance can be reduced. A movable camera 11 is mounted on an image pickup camera 13, and the stereoscopic chart 2 is imaged at the same time when the image of an object 30 is picked up. The position and attitude of the camera 11 are obtained on the basis of the image of the chart 2 picked up by the camera 11 through the above procedure, and the position and attitude of the object imaging camera 13 are found on the basis of a positional and attitude relation between the cameras 11 and 13, where the above relation is previously obtained.