Intersection point detecting device, camera calibration system, intersection detection method, camera calibration method, program and recording medium

摘要

PROBLEM TO BE SOLVED: To provide an intersection detection device capable of improving detection accuracy of an intersection of a checker pattern.SOLUTION: An intersection detection device 101 includes a memory 103, and an intersection detection section 106 which reads out an image of at least a part of photographic images as a rectangular image from the memory 103, and detects an intersection of two boarder lines in a checker pattern displayed on the rectangular image. The intersection detection section 106 determines a plurality of parameters of a function model for optimizing an evaluation value based on a difference between each pixel value expressed by a functional model with a two-dimensional image coordinate as a variable and each pixel value of the rectangular image, and calculates a position of an intersection between two straight lines expressed by the plurality of determined parameters to detect the intersection with sub-pixel accuracy. The functional model represents a pixel value at each position on the two-dimensional coordinate system in a boundary between a black region and a white region with a curve that is differentiable at least once.SELECTED DRAWING: Figure 1