CAMERA CALIBRATION METHOD COMPUTER-READABLE STORAGE MEDIUM STORING CAMERA CALIBRATION PROGRAM AND CAMERA CALIBRATION DEVICE

摘要

designated line input unit 210 displays the first road surface image 291, and the user specifies a straight line inside the road surface image 291. Specified line calculation unit 220, a camera attitude angle value data (299), the attitude of the indicating camera measured by the laser scanner using the plurality of three-dimensional coordinate values included in each of the values and 3-D point cloud data 293, the basis for displaying the point cloud projected onto a first plurality of points in a road surface image 291, and the projection to the first road surface image 291, and calculates a point cloud specified line of the coordinate value. The reference image display unit 230 displays the road surface a second image 291 a, by using a specified line of each of the camera position and the road surface to the second projection image 291, the projection line designated as a reference picture. The user first road surface image 291 according to the specified line deviation projected on the straight line and the second road surface image 291 of the internal specify the correction amount to correct the camera position of each value, the camera posture can each value unit ( 240) is modified for each of the camera position, based on the designated correction amount. ;