Patent ID: 8866904
Filing Date: 2014-10-21
Classification: G06T

Abstract:
1. A calibrating apparatus for an on-board camera mounted to a vehicle, comprising: an electronic control unit including a processor, a program memory, and a parameter memory, the electronic control unit configured to acquire a captured image captured by the on-board camera including, within a field of view, a plurality of calibration markers arranged at a plurality of differing positions in a three-dimensional reference coordinate system; set a calibration point distribution region where initial coordinates of a respective calibration point in each one of the plurality of calibration markers are distributed in a prolecting plane of a three-dimensional camera coordinate system when the on-board camera is mounted at a designed position, wherein at the designed position the on-board camera has been rotated by a predetermined angle about each of three orthogonal axes of the three-dimensional camera coordinate system, respectively, said initial coordinates being coordinates of the calibration points in each one of the plurality of calibration markers which are determined in the projecting plane of the three-dimensional camera coordinate system, based upon an initial value of a camera parameter defining said three-dimensional camera coordinate system relative to said three-dimensional reference coordinate system, detect the respective calibration point in each one of the plurality of calibration markers in the calibration point distribution region included in the captured image corresponding to the projecting plane; automatically adjust the camera parameter of the on-board camera, based on the initial coordinates and actual coordinates, the actual coordinates comprising coordinates of said respective calibration point in each one of the plurality of calibration markers detected on the captured image in the three-dimensional reference coordinate system; continuously, without pausing during a period of the automatic adjustment until an instruction input by a worker is received, cause a display of an image processing target region based on the calibration point distribution region as a region frame in the form of a graphic image, with the image processing target region being superposed on the captured image including the calibration markers to allow the worker to visually confirm during the automatic adjustment of the on-board camera whether or not the electronic control unit is capable of detecting the respective calibration point in each one of the plurality of calibration markers within the image processing target region through image processing; receive an instruction input by the worker to provide an instruction input for interrupting or stopping the automatic adjustment; and interrupt or stop the automatic adjustment.