Crossing point detector, camera calibration system, crossing point detection method, camera calibration method, and recording medium

A crossing point detector includes memory and a crossing point detection unit that reads out a square image from a captured image in the memory, and detects a crossing point of two boundary lines in a checker pattern depicted in the square image. The crossing point detection unit decides multiple pa...

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Bibliographische Detailangaben
Hauptverfasser: Sato, Satoshi, Maruyama, Ayako, Wakai, Nobuhiko, Nobori, Kunio, Azuma, Takeo
Format: Patent
Sprache:eng
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Zusammenfassung:A crossing point detector includes memory and a crossing point detection unit that reads out a square image from a captured image in the memory, and detects a crossing point of two boundary lines in a checker pattern depicted in the square image. The crossing point detection unit decides multiple parameters of a function model treating two-dimensional image coordinates as variables, the parameters optimizing an evaluation value based on a difference between corresponding pixel values represented by the function model and the square image, respectively, and computes the position of a crossing point of two straight lines expressed by the decided multiple parameters to thereby detect the crossing point with subpixel precision. The function model uses a curved surface that is at least first-order differentiable to express pixel values at respective positions in a two-dimensional coordinate system at the boundary between black and white regions.