JP2013173453A - Calibration processing device, camera calibrating device, camera system and camera calibrating method - Google Patents

Abstract

An operation for calibrating a camera is simplified and the time required for calibration is shortened.
A camera calibration device is attached to a predetermined position of a moving body and captures an image including an index arranged outside the moving body. The image superimposing unit 123 that generates a superimposed image in which a plurality of calibration objects 42 and 43 having the same area are superimposed, and in the superimposed image, the plurality of calibration objects 42 and 43 are moved, and a predetermined plurality of points on the index 41 Based on the positions of the calibration objects 42 and 43 when the calibration objects 42 and 43 overlap with each other, parameters for calibrating the displacement of the mounting position of the camera 11 at the pan angle, the tilt angle, and the roll angle are calculated. And an arithmetic unit 124.
[Selection] Figure 1

Description

  The present invention relates to a calibration processing apparatus, a camera calibration apparatus, a camera system, and a camera calibration method for calibrating an attachment angle of a camera attached to a moving body.

  2. Description of the Related Art Conventionally, a camera system is known in which a camera is attached to the rear of a vehicle and a rear image that is difficult to be seen by a driver can be displayed on a display unit in the vehicle. In such a system, by adjusting the amount of deviation between an assumed image that is assumed when an object having known position information is imaged and an actual image that is actually captured by the camera, A method for acquiring a parameter for calibrating the displacement of the attachment position is known (for example, see Patent Documents 1 and 2).

Japanese Patent Laid-Open No. 10-181447 JP 2000-209577 A

  In the conventional method of acquiring the parameter for calibrating the displacement of the camera mounting position, the assumed image is moved up and down, left and right, and rotated to adjust the amount of deviation between the assumed image and the actual image. Must match the actual image. At this time, even if the assumed image is moved up, down, left, and right to match the position of the actual image to some extent, if the assumed image is subsequently rotated and moved, the two will deviate. It was. Moreover, since the captured image obtained by the camera is distorted toward the end, it is difficult to match the distorted real image with the assumed image without distortion.

  SUMMARY OF THE INVENTION An object of the present invention made in view of such circumstances is a calibration processing device, a camera calibration device, a camera system, and a camera calibration method capable of simplifying an operation when calibrating a camera and reducing the time required for calibration. Is to provide.

  In order to solve the above-described problem, a camera calibration apparatus according to the present invention is attached to a predetermined position of a moving body and captures an image including an index arranged outside the moving body, and an image captured by the camera. An image superimposing unit that generates a superimposed image in which a plurality of calibration objects having a predetermined area are superimposed; and in the superimposed image, the plurality of calibration objects are moved to each of a predetermined plurality of points of the index. A calculation unit that calculates a parameter for calibrating a deviation of the mounting position of the camera at the pan angle, the tilt angle, and the roll angle based on the position of each calibration object when the calibration objects overlap. It is characterized by.

  Furthermore, in the camera calibration device according to the present invention, the moving direction of the calibration object is an up / down / left / right direction.

  Furthermore, in the camera calibration apparatus according to the present invention, each of the plurality of calibration objects has a shape surrounding the region of the predetermined area, and the calculation unit moves the plurality of calibration objects to each region. Is obtained as a positional relationship including a plurality of predetermined points in the index.

  Furthermore, in the camera calibration device according to the present invention, the number of the plurality of calibration objects is two, and the predetermined plural points in the index are one end and the other end of the index.

  Furthermore, in the camera calibration device according to the present invention, when the plurality of calibration objects are independently moved, the moving image of the calibration object is highlighted by the image superimposing unit.

  Furthermore, in the camera calibration apparatus according to the present invention, the captured image from the camera is output after the parameter is calculated by the calculation unit and an amount corresponding to the parameter is offset.

  Furthermore, in the camera calibration device according to the present invention, when the image superimposing unit superimposes and displays a predetermined image on the captured image from the camera, the superimposition position of the parameter calculated by the arithmetic unit is calculated. Is offset by an amount corresponding to.

  In order to solve the above-described problem, a camera calibration method according to the present invention includes a step of capturing an image including an index placed outside a moving body using a camera attached to a predetermined position of the moving body, and the camera. Generating a superimposed image in which a plurality of calibration objects having a predetermined area are superimposed on a captured image; and in the superimposed image, the plurality of calibration objects are moved, and a plurality of predetermined points of the index are Calculating a parameter for calibrating the displacement of the mounting position of the camera at the pan angle, the tilt angle, and the roll angle, based on the position of each calibration object when the calibration objects overlap each other. It is characterized by.

  Furthermore, in the camera calibration method according to the present invention, the moving direction of the calibration object is up and down, left and right.

  Further, in the camera calibration method according to the present invention, each of the plurality of calibration objects has a shape surrounding the region of the predetermined area, and in the step of calculating the parameter, the plurality of calibration objects are moved. The position coordinates of each calibration object are obtained when each region has a positional relationship including a plurality of predetermined points in the index.

  Furthermore, in the camera calibration method according to the present invention, the number of the plurality of calibration objects is two, and the predetermined plurality of points in the index are one end and the other end of the index.

  Furthermore, the camera calibration method according to the present invention further includes a step of highlighting the moving calibration object when the plurality of calibration objects are independently moved.

  In order to solve the above-described problem, a calibration processing apparatus according to the present invention uses a captured image from a camera that captures an image including an index that is attached to a predetermined position of a moving body and arranged outside the moving body. A calibration processing apparatus that calibrates the displacement of the mounting position in the pan angle, tilt angle, and roll angle of the camera, wherein a plurality of calibration objects having a predetermined area are superimposed on a captured image by the camera In the image superimposing unit that generates an image and the superimposed image, the plurality of calibration objects are moved, and the position of each calibration object when each calibration object overlaps each of the predetermined plurality of points of the index And a calculation unit that calculates a parameter for calibrating the displacement of the mounting position of the camera.

  In order to solve the above-described problem, a camera system according to the present invention is attached to a predetermined position of a moving body and captures an image including an index arranged outside the moving body, and an image captured by the camera. An image superimposing unit that generates a superimposed image by superimposing a plurality of calibration objects having a predetermined area, a display unit provided in the moving body and displaying the superimposed image, and the plurality of the superimposed images An instruction unit for instructing the calibration object to move its display position, and the position of each calibration object when each calibration object overlaps each of the predetermined plurality of points of the index. A calculation unit that calculates a parameter for calibrating a shift in the mounting position of the camera at an angle, a tilt angle, and a roll angle.

  According to the present invention, the operation for calibrating the camera is simplified, and the time required for calibration can be shortened.

It is a block diagram which shows the structural example of the system carrying the camera system of one Embodiment by this invention. It is a block diagram which shows an example of the image displayed on the display part in the camera system of one Embodiment by this invention. It is a block diagram which shows an example of the external view of the instruction | indication part in the camera system of one Embodiment by this invention. It is a flowchart which shows the camera calibration operation | movement by the camera system of one Embodiment by this invention. It is a figure which shows the image displayed on a display part at the time of the camera calibration operation | movement by the camera system of one Embodiment by this invention. It is a flowchart which shows operation | movement of CPU at the time of the camera calibration operation | movement by the camera system of one Embodiment by this invention. It is a figure explaining the calculation method of the calibration parameter in the camera calibration operation | movement by the camera system of one Embodiment by this invention. It is a figure which shows the rotational movement of a world coordinate system. It is a figure which shows the camera image by the camera system of one Embodiment by this invention. It is a figure which shows the coordinate of the both ends of the parameter | index in a camera coordinate system. It is a figure which shows the example of the object for a calibration. It is a figure which shows the moving body to which the camera was attached.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration example of a system when a camera system according to an embodiment of the present invention is mounted on a moving body (for example, a vehicle). As shown in FIG. 1, the mobile system includes a camera system 1, a CPU 2 that controls the operation of the entire system, a bus 3, an instruction unit 5, and a sensor 6. The camera system 1 includes a camera calibration device 10 and a display unit 4. The camera calibration device 10 includes a camera 11 and a calibration processing device 12. The calibration processing apparatus 12 includes an image processing unit 121, an image superimposing unit 122, an image output unit 123, a CPU 124, and a storage unit 125.

  The camera 11 has an image sensor such as a CMOS or CCD, converts subject light incident through the lens into an electrical signal, and generates a captured image of the subject. The camera 11 is attached to a predetermined position of the moving body. FIG. 12 is a diagram illustrating a moving body to which the camera 11 is attached. In the present embodiment, as shown in FIG. 12, the camera 11 is attached in the vicinity of the bumper 44 at the rear of the moving body 100 and takes an image of the rear of the moving body 100. A region A in the figure is a region where a video is taken by the camera 11.

  The display unit 4 displays the video generated by the camera system 1 when the parking mode is instructed by the user. The parking mode is a mode for helping smooth parking by causing the display unit 4 to display an image in the area A behind the moving body 100 that is difficult for the user who drives the moving body 100 to view. Further, the predicted trajectory through which the moving body 100 passes can be superimposed on the video in the area A behind the moving body 100 so that parking can be performed more smoothly.

  In addition, even when the camera calibration mode is instructed by the user, the video generated by the camera system 1 is displayed. In the camera calibration mode, an object or figure as an index is arranged in the area A behind the moving body 100, and the user uses the image of the index obtained by the camera 11 to calibrate the mounting position of the camera 11. Mode. This camera calibration mode is used when the camera 11 is attached to the moving body 100 on the production line of the moving body 100 or when the position of the camera 11 is shifted due to vibration applied to the moving body 100 or the like. A specific calibration method will be described later.

  The display unit 4 displays the route guide map to the destination obtained by the navigation system when the navigation mode is instructed by the user, and by the television receiver when the TV mode is instructed. It is also possible to display the obtained television image.

  The instruction unit 5 is a user interface for adjusting the position of the calibration object superimposed on the display unit 4. By operating the instruction unit 5, the position of the calibration object can be moved vertically and horizontally. . The instruction unit 5 outputs an object movement signal obtained by a user operation to the CPU 124 via the bus 3. When the adjustment operation is completed, the instruction unit 5 outputs an adjustment end signal to the CPU 124 via the bus 3.

  The sensor 6 includes a vehicle speed sensor that detects the vehicle speed, a gear sensor that detects the position of the shift lever, a steering angle sensor that detects the steering angle of the steering, and the like. The sensor 6 outputs sensor signals obtained from various sensors to the CPU 124 and the CPU 2 via the bus 3.

  The storage unit 125 stores the position coordinates of the camera 11 and the position coordinates of the index that are known values.

  The CPU 124 determines the display position of the calibration object based on the object movement signal obtained by the instruction unit 5 and instructs the image superimposing unit 122 to superimpose. In addition, when receiving an instruction to end calibration from the instruction unit 5, the CPU 124 acquires the position coordinates of the calibration object at the time of completion of calibration, and also stores the position coordinates of the camera 11 and the position of the index stored in the storage unit 125. The coordinates are acquired, and calibration parameters (pan angle, tilt angle, and roll angle) for calibrating the displacement of the mounting position of the camera 11 are calculated based on these position coordinates. Further, the CPU 124 determines the display position of the predicted trajectory of the moving body 100 based on the sensor signal obtained by the sensor 6 and instructs the image superimposing unit 122 to superimpose.

  The image processing unit 121 performs A / D conversion, noise reduction processing, image processing, and the like on the captured image generated by the camera 11, generates a digital image, and outputs the digital image to the image superimposing unit 122.

  Based on an instruction from the CPU 124, the image superimposing unit 122 generates a superimposed image by superimposing an image on a predetermined position on the digital image generated by the image processing unit 121, and outputs the superimposed image to the image output unit 123. The image to be superimposed indicates a plurality of calibration objects used when calibrating the mounting position of the camera 11, or an expected region through which the moving body 100 passes when moving backward, and is a predicted trajectory used for parking support. .

  The plurality of calibration objects can be moved independently of each other. In order to clearly indicate the calibration object to be moved and improve the operability for the user, it is preferable that the image superimposing unit 122 highlights the calibration object being moved (selected state). The highlighting method may be any method that can be distinguished from other calibration objects that are not moving (non-selected state), such as blinking display, changing color or thickness, and the like.

  The image output unit 123 converts the superimposed image generated by the image superimposing unit 122 into a format (for example, NTSC) suitable for the display device of the display unit 4 and outputs the converted image to the display unit 4.

  FIG. 2 is a diagram illustrating an example of an image displayed on the display unit 4 when the parking mode is instructed by the user. The image superimposing unit 122 can display a plurality of calibration objects. Hereinafter, a case where the number of calibration objects is two will be described. On the display unit 4, an index 41, a first calibration object 42, and a second calibration object 43 are displayed. When the camera 11 is mounted near the bumper 44 as shown in FIG. 12, the end of the bumper 44 is also displayed.

  The index 41 is an object or a figure arranged at a predetermined distance (for example, 1 m) from the rear end of the moving body 100 when the moving body 100 is accurately stopped at a predetermined stop position. It is a white line drawn on the board or road surface. That is, if the mounting angle of the camera 11 is accurate, the positional relationship between the moving body 100 and the index 41 is specified, and thus the index 41 photographed by the camera 11 is always reflected at a specific position on the screen of the display unit 4. It will be. If the index 41 appears in a position deviated from the specific position, the instruction unit 5 moves the first calibration object 42 to one end of the index 41 and moves the second calibration object 43 to the other position of the index 41. By moving to the end, it is possible to acquire a calibration parameter that specifies the deviation of the camera mounting angle of the camera 11.

  FIG. 3 is a diagram illustrating an example of an external view of the instruction unit 5. As illustrated in FIG. 2, the instruction unit 5 includes an upper instruction unit 51, a left instruction unit 52, a lower instruction unit 53, and a right instruction unit 54. The upper instruction unit 51, the left instruction unit 52, the lower instruction unit 53, and the right instruction unit 54 may be mechanical switches provided in the vicinity of the display unit 4 in the vehicle, or a touch panel arranged on the display unit 4. It may be an object displayed above. The upper instruction unit 51 is used when the calibration object is moved upward. The left instruction unit 52 is used when the calibration object to be moved is determined as the first calibration object 42 arranged on the left side and when the calibration object is moved in the left direction. The lower instruction unit 53 is used when the calibration object is moved downward. The right instruction unit 54 is used when the calibration object to be moved is determined as the second object 43 arranged on the right side and when the calibration object is moved in the right direction.

  Here, when an offset of 0.5 degrees, for example, is associated with a single press of the left instruction unit 52 or the right instruction unit 54, when the left instruction unit 52 or the right instruction unit 54 is pressed once, the camera 11 The calibration object 42 is moved by the number of pixels equal to the amount of movement of the photographed image that occurs when the direction of the image pickup is changed by 0.5 degrees in the pan (left / right) direction. The same applies to the vertical (tilt) direction.

  Next, a camera calibration operation by the camera system 1 will be described. FIG. 4 is a flowchart showing a camera calibration operation by the camera system 1. FIG. 5 is a diagram illustrating an image displayed on the display unit 4 during the camera calibration operation. First, the instruction unit 5 selects a calibration object to be moved from among the first calibration object 42 and the second calibration object 43 displayed on the display unit 4 (step S101). For example, when the left instruction unit 52 is pressed, the first calibration object 42 is determined as a movement target calibration object, and when the right instruction unit 54 is pressed, the second calibration object 43 is moved as a calibration object. And decide. Here, it is assumed that the first calibration object 42 is selected.

  When the first calibration object 42 is selected in step S101, the image superimposing unit 122 emphasizes the first calibration object 42 that is the movement target so that it can be distinguished from the second calibration object that is not the movement target. Displayed (step S102). When the calibration object is highlighted, it can be moved in the vertical and horizontal directions by the instruction unit 5. FIG. 5A shows a state in which the left instruction unit 52 is pressed and the first calibration object 42 is blinked (highlighted).

  The user moves the first calibration object 42 to be moved to the left end of the index 41 by moving the first calibration object 42 in the left-right direction and moving in the up-down direction (step S102, 103). FIG. 5B shows a state where the left instruction unit 52 is pressed and the first calibration object 42 has moved leftward. FIG. 5C shows that the upper instruction unit 51 is pressed and One calibration object 42 is moved upward.

  When the user moves the first calibration object 42 to be moved to the left end of the index 41, the first calibration object 42 is obtained by, for example, long-pressing or double-clicking the left instruction unit 52 (double-clicking). Is instructed to end the registration processing (step S105). An end instruction key may be added to the instruction unit 5. When the camera system 1 receives an instruction to end the alignment process from the instruction unit 5, the image superimposing unit 122 ends the highlighting (step S <b> 106).

  Next, the user presses the right instruction unit 54 to select the second calibration object 43 displayed on the display unit 4 as a calibration object to be moved (step S107). Alternatively, calibration may be performed so that the second calibration object 43 is selected immediately upon receiving an instruction to end the alignment process from the instruction unit 5.

  When the second calibration object 43 is selected in step S107, the image superimposing unit 122 emphasizes the second calibration object 43 that is the movement target so that it can be distinguished from the first calibration object that is not the movement target. It is displayed (step S108). FIG. 5D shows a state in which the right instruction unit 54 is pressed and the second calibration object 43 is blinked (highlighted).

  The user moves the second calibration object 43 to be moved in the left-right direction and also in the vertical direction, thereby moving the second calibration object 43 to the right end of the index 41 (step S109, 110). FIG. 5E shows a state in which the left instruction unit 52 has been pressed and the second calibration object 43 has moved leftward. FIG. 5F shows that the upper instruction unit 51 has been pressed and 2 shows a state in which the second calibration object 43 has moved upward.

  When the user moves the second calibration object 43 to be moved to the right end of the index 41, the user instructs the end of the alignment process of the second calibration object 43 (step S111). When the camera system 1 receives an instruction to end the alignment process from the instruction unit 5, the image superimposing unit 122 ends the highlight display (step S <b> 112). The end of the alignment process may be instructed by long-pressing or double-pressing the left instructing unit 52, or a key for instructing end may be added.

  FIG. 6 is a flowchart showing the operation of the CPU 124 during the calibration operation of the camera 11. When the CPU 124 receives the object movement signal from the instruction unit 5 (step S201—Yes), the CPU 124 instructs the image superimposing unit 122 to superimpose (step S202). When the CPU 124 does not receive the object movement signal from the instruction unit 5 (step S201-No), the CPU 124 accepts the movement instruction from the instruction unit 5 until the calibration end signal is received from the instruction unit 5 (step S203-No). ). When the adjustment end signal is received from the instruction unit 5 (step S203—Yes), calibration parameters (pan angle, tilt angle, and roll angle) are calculated (step S204).

Next, the calibration parameter calculation method in step S204 will be described. FIG. 7 is a diagram for explaining a calibration parameter calculation method, and shows the positional relationship between the camera 11 and the index 41 installed on the moving body 100. The points at both ends of the index 41 are P ₁ and P ₂ , respectively. The position of the camera 11 (the origin of the camera coordinates) is expressed as (tx, ty, tz) in world coordinates. Further, the relative positional relationship seen from the camera 11 can be expressed in the camera coordinate system with the position of the camera 11 as a reference. The camera coordinate system can be expressed by translation and rotation with respect to the world coordinate system.

FIG. 8 is a diagram showing the rotational movement of the world coordinate system. As shown in FIG. 8 (a), rotation around Zw is a pan, rotation around Yw is a roll as shown in FIG. 8 (b), and Xw is an axis as shown in FIG. 8 (c). This rotation is referred to as tilt. When the rotation angle (pan angle) α of the pan, the rotation angle (roll angle) β of the roll, and the rotation angle (tilt angle) γ of the roll, they are represented by the coordinates (xw ₁ , yw ₁ , zw ₁ ) of the world coordinate system. The point P ₁ can be represented by the equation (1) in the camera coordinate system.

FIG. 9 is a diagram showing a display on the display unit 4 when the calibration objects 42 and 43 are adjusted. The coordinates of the index 41 can be obtained by moving the calibration object as described above. When the position of the one end P ₁ of the index 41 is set to (x _i , z _i ) with the center point of the camera image as the origin, the image height h on the sensor surface of the camera 11 is the pixel pitch d of the sensor. And is represented by Formula (2).

Further, the relationship between the incident angle θ _{i of the} lens and the image height h on the sensor surface can be expressed by Expression (3) using the focal length f of the lens and the distortion dist of the lens.

FIG. 10 is a diagram illustrating the coordinates of both ends P ₁ and P ₂ of the index 41 in the camera coordinate system. An incident angle θ _i of the camera 11 with respect to the point P ₁ is expressed by Expression (4).

Since the distance s from the camera 11 to the point P ₁ , that is, the distance from the camera coordinate origin to the point P _{1 of the} index 41 is known, the angle θ _i obtained from the equations (2) and (3) and the equation (5) (Xc ₁ , yc ₁ , zc ₁ ) can be calculated by equations (6), (7), and (8) using the angle φ _i represented by

Similarly, the relationship of formula (9) is also calculated point P _2.

  By arranging the index 41 at a predetermined distance from the rear end of the moving body 100 so as to be parallel to the rear end of the moving body 100 and making the thickness of the index 41 constant, the following equations (10) and (11) are obtained. To establish.

yw ₁ = yw ₂ (10)
zw ₁ = zw ₂ (11)

  Since the coordinates of the calibration point in the world coordinate system are known, if the coordinates on the image of the two calibration points input by the calibration instruction device are determined, the equations (1), (9), (10), (11) Thus, the pan angle α, the roll angle β, and the tilt angle γ can be calculated.

  That is, by satisfying the conditions of the expressions (10) and (11), the CPU 124 can calculate the calibration parameters by acquiring the coordinates of the two calibration objects. Therefore, the number of calibration objects is preferably two.

  The captured image from the camera 11 is output after offsetting the amount corresponding to the calibration parameter after the CPU 124 calculates the calibration parameter. As a result, when the image superimposing unit 122 generates a superimposed image by superimposing an image such as a predicted trajectory on the digital image generated by the image processing unit 121, the superimposition before the calibration parameter is calculated. Since the position is superimposed with an offset from the position, for example, a highly accurate vehicle passage prediction trajectory can be displayed during parking.

As described above, the calibration parameters of the camera 11 can be calculated by matching the calibration objects 42 and 43 with both ends P ₁ and P ₂ of the index 41. However, it takes time to make the calibration objects 42 and 43 exactly match both ends P ₁ and P ₂ of the index 41, and the calibration objects 42 and 43 and P ₁ and P ₂ completely match. Not having any effect on the acquisition of calibration parameters. Therefore, the calibration objects 42 and 43 are shaped so as to surround the predetermined area, and the CPU 124 positions the calibration objects 42 and 43 when the predetermined areas of the calibration objects 42 and 43 include P ₁ and P _2. It is preferable to obtain the coordinates. FIG. 11 is a diagram illustrating an example of a calibration object. Each of the calibration objects shown in FIGS. 11A to 11D has a shape surrounding a predetermined area.

As described above, the CPU 124 moves the calibration objects 42 and 43 in the superimposed image based on the positions of the calibration objects 42 and 43 when the calibration objects 42 and 43 substantially coincide with the predetermined points P ₁ and P _{2 of the} index 41. Thus, the calibration parameters of the camera 11 at the pan angle, tilt angle, and roll angle are calculated. For this reason, according to the calibration processing device 12, the camera calibration device 10, the camera system 1, and the camera calibration method according to the present invention, the operation for calibrating the camera 11 becomes simple and the time required for calibration can be shortened. . In addition, since the number of calibration objects is plural, the calibration object can be moved only in the vertical and horizontal directions, and movement in the rotation direction can be eliminated. Thus, the calibration operation can be simplified, the risk of erroneous operation can be reduced, and the time required for calibration can be shortened.

  Although the above embodiments have been described as representative examples, it will be apparent to those skilled in the art that many changes and substitutions can be made within the spirit and scope of the invention. Therefore, the present invention should not be construed as being limited by the above-described embodiments, and various modifications and changes can be made without departing from the scope of the claims. For example, in the embodiment described above, the coordinates of the two points of the left end and the right end of the index 41 are acquired, but the acquisition position of the coordinates can be any predetermined point of the index 41.

1 Camera system 2 CPU
3 Bus 4 Display Unit 5 Instruction Unit 6 Sensor 10 Camera Calibration Device 11 Camera 12 Calibration Processing Device 121 Image Processing Unit 122 Image Superimposition Unit 123 Image Output Unit 124 CPU
125 Storage Unit 41 Index 42 First Calibration Object 43 Second Calibration Object 44 Bumper 100 Mobile Object

Claims (14)

A camera that is attached to a predetermined position of the moving body and captures an image including an index placed outside the moving body;
An image superimposing unit that generates a superimposed image in which a plurality of calibration objects having a predetermined area are superimposed on an image captured by the camera;
In the superimposed image, the plurality of calibration objects are moved, and based on the position of each calibration object when each calibration object overlaps each of the predetermined plurality of points of the index, the pan angle, the tilt angle, and A calculation unit for calculating a parameter for calibrating the deviation of the mounting position of the camera at a roll angle;
A camera calibration device comprising:   The camera calibration apparatus according to claim 1, wherein a moving direction of the calibration object is an up / down / left / right direction. Each of the plurality of calibration objects has a shape surrounding the area of the predetermined area,
The calculation unit acquires position coordinates of each calibration object when the plurality of calibration objects are moved and each region has a positional relationship including a plurality of predetermined points in the index. The camera calibration device according to claim 1 or 2. The number of the plurality of calibration objects is two;
4. The camera calibration apparatus according to claim 1, wherein the predetermined plurality of points in the index are one end and the other end of the index. 5. 5. The moving calibration object is highlighted by the image superimposing unit when the plurality of calibration objects are moved independently of each other. 5. Camera calibration device. 6. The captured image from the camera is output by offsetting an amount corresponding to the parameter after the parameter is calculated by the arithmetic unit. 6. The camera calibration device described. The image superimposing unit offsets a superimposition position by an amount corresponding to the parameter calculated by the arithmetic unit when displaying a predetermined image superimposed on a captured image from the camera. The camera calibration device according to any one of claims 1 to 5. Capturing an image including an index placed outside the moving body with a camera attached to a predetermined position of the moving body;
Generating a superimposed image in which a plurality of calibration objects having a predetermined area are superimposed on an image captured by the camera;
In the superimposed image, the plurality of calibration objects are moved, and based on the position of each calibration object when each calibration object overlaps each of the predetermined plurality of points of the index, the pan angle, the tilt angle, and Calculating a parameter for calibrating a displacement of the mounting position of the camera at a roll angle;
A camera calibration method comprising:   The camera calibration method according to claim 8, wherein the moving direction of the calibration object is an up / down / left / right direction. Each of the plurality of calibration objects has a shape surrounding the area of the predetermined area,
The step of calculating the parameter includes obtaining the position coordinates of each calibration object when the plurality of calibration objects are moved and each region has a positional relationship including a plurality of predetermined points in the index. 10. The camera calibration method according to claim 8, wherein the camera calibration method is characterized. The number of the plurality of calibration objects is two;
The camera calibration method according to claim 8, wherein the predetermined plurality of points in the index are one end and the other end of the index. 12. The method according to claim 8, further comprising: highlighting the moving calibration object when the plurality of calibration objects are independently moved. 12. Camera calibration method. By using a captured image from a camera that captures an image including an index that is attached at a predetermined position of the moving body and arranged outside the moving body, the mounting position shift in the pan angle, tilt angle, and roll angle of the camera A calibration processing device for calibrating,
An image superimposing unit that generates a superimposed image in which a plurality of calibration objects having a predetermined area are superimposed on an image captured by the camera;
In the superimposed image, the plurality of calibration objects are moved, and based on the position of each calibration object when each calibration object overlaps each of the predetermined plurality of points of the index, A calculation unit for calculating a parameter for calibrating the deviation;
A calibration processing apparatus comprising: A camera that is attached to a predetermined position of the moving body and captures an image including an index placed outside the moving body;
An image superimposing unit that generates a superimposed image in which a plurality of calibration objects having a predetermined area are superimposed on an image captured by the camera;
A display unit provided in the moving body and displaying the superimposed image;
An instruction unit for giving an instruction to move the display position of the plurality of calibration objects in the superimposed image;
Parameters for calibrating the displacement of the camera mounting position in the pan angle, tilt angle, and roll angle based on the position of each calibration object when each calibration object overlaps each of the predetermined plurality of points of the index A computing unit to calculate,
A camera system comprising:

Images