Patent ID: 6792370
Filing Date: 2004-09-14
Classification: G06T

Abstract:
A sensor calibration method for calculating calibration information of a position/posture sensor used to measure a position and posture of an image sensing device, said method comprising:a sensor measured value input step of inputting measured values of the position/posture sensor obtained when the image sensing device is located at a plurality of image sensing positions and postures; an image coordinate position input step of inputting values of image coordinate positions of a plurality of feature points on captured images sensed by the image sensing device at the plurality of image sensing positions and postures; a world coordinate position input step of inputting values of world coordinate positions of the plurality of feature points on a world coordinate system; a calibration information calculation step of calculating the calibration information on the basis of the sensor measured values, actually measured values of the image coordinate positions of the feature points, and the world coordinate positions of the feature points; an image coordinate position calculation step of calculating theoretical values of the image coordinate positions of the feature points on the basis of the sensor measured values, the calibration information, and the world coordinate positions of the feature points; and an error calculation step of calculating errors between the theoretical values of the image coordinate positions of the feature points calculated in said image coordinate position calculation step, and the image coordinate positions of the feature points inputted in said image coordinate position input step, wherein said calibration information calculation step includes calculating the calibration information using the errors calculated in said error calculation step as evaluation values of precision of the calibration information.