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

Claim 4:
5. A calibration method comprising:
an acquisition step of acquiring, by a computer, a plurality of images of a predetermined traffic environment that are sequentially photographed by an imaging sensor;
a generation step of generating, by the computer, an estimated trajectory of a mobile body based on position information of the mobile body detected from the plurality of images;
a calculation step of calculating, by the computer, an amount of positional deviation of the imaging sensor based on a reference trajectory of the mobile body in an image of the traffic environment photographed by the imaging sensor, 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;
a correction step of correcting, by the computer, a reference position in the image by using the amount of positional deviation; and
an update step of updating, by the computer, a position transformation model for transforming a two-dimensional position in the image into a three-dimensional position by using the corrected reference position.