Patent ID: 11935304
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A calibration system comprising:
a processor configured to:
store a reference trajectory of a mobile body in an image of a predetermined traffic environment photographed by an imaging sensor and a reference position in the image, the reference position being a fixed position in the traffic environment;
acquire a plurality of images of the traffic environment that are sequentially photographed;
generate an estimated trajectory of the mobile body based on position information of the mobile body detected from the plurality of images;
calculate an amount of positional deviation of the imaging sensor based on the reference trajectory, which is captured in a first image where the imaging sensor is in a first position in which the imaging sensor is not deviated from an initial installation position of the imaging sensor, and the estimated trajectory, which is captured in a second image where the imaging sensor is in a second position in which the imaging sensor has a possibility of being deviated from the initial installation position;
correct the reference position by using the amount of positional deviation; and
update a position transformation model for transforming a two-dimensional position in the image into a three-dimensional position by using the corrected reference position.