Patent attributes
This camera calibration device is provided with: an image acquisition unit into which a plurality of images captured at different times by a camera mounted to a vehicle are inputted; a feature point extraction unit which extracts features points from each of the images inputted into the image acquisition unit; a feature point tracking unit which tracks the feature points between the plurality of images; a vehicle movement acquisition unit which acquires information related to the movement of the vehicle; a trajectory estimation unit which, on the basis of the information acquired by the vehicle movement acquisition unit, estimates the trajectory of the feature points corresponding to the movement of the vehicle; and an internal parameter estimation unit which estimates internal parameters of the camera on the basis of the trajectory of the feature points tracked by the feature point tracking unit, and the trajectory of the feature points estimated by the trajectory estimation unit.
