CAMERA PARAMETER ESTIMATION DEVICE, CAMERA PARAMETER ESTIMATION METHOD, CAMERA PARAMETER ESTIMATION PROGRAM AND RECORDING MEDIUM WITH THE PROGRAM RECORDED THEREON

摘要

PROBLEM TO BE SOLVED: To provide a camera parameter estimation device for, when a camera parameter slightly changes, estimating the temporal change amount without using any reference object.;SOLUTION: This camera parameter estimation device is provided with: a gradient coefficient processing part 3 for, when three-dimensional points on an object prepared at a certain position X in a space are projected in an image obtained by a camera, obtaining a change amount on image coordinates to internal information unique to a camera; a spatio-temporal gradient processing part 2 for obtaining spatial gradient in consideration of contrast change on an image at a certain time t in a time series and temporal gradient in consideration of temporal contrast change between the image at the time t and the image at the time t+Δt; and a camera parameter estimation part 4 for casting votes to a place shown by a parameter satisfying the constraints of a voting space with internal variables unique to the camera as a parameter by using the constraints in the time interval Δt satisfied by the spatial gradient and the temporal gradient and the change amount on the image coordinates, and for defining the parameter having the maximum value of votes as the temporal change amount of the internal information unique to the camera.;COPYRIGHT: (C)2010,JPO&INPIT