Patent ID: 7352388

Claim:
A camera calibrating apparatus to be operative in combination with an imaging device which includes a housing unit and an optical section supported by said housing unit to obtain image information through said optical section, and adapted to calibrate optical position information indicative of a position of said optical section, comprising: first housing position information storing means for storing first housing position information indicative of a position of said housing unit in the first coordinate system in which a revising marker is located; second housing position information storing means for storing second housing position information indicative of a position of said housing unit in the second coordinate system in which a calibrating marker is located; first optical position information calculating means for calculating first optical position information indicative of a position of said optical section in said first coordinate system on the basis of said image information of said revising marker obtained by said imaging device; first optical position information storing means for storing said first optical position information produced by said first optical position information producing means; second optical position information calculating means for calculating second optical position information indicative of a position of said optical section to said second coordinate system from said second housing position information stored by said second housing position information storing means on the basis of said first housing position information stored by said first housing position information storing means and said first optical position information stored by said first optical position information storing means; estimated position information calculating means for calculating estimated position information indicative of a position of said calibrating marker to an image coordinate system of said imaging device on the basis of said second optical position information produced by said second optical position information producing means; second optical position information storing means for storing said second optical position information produced by said second optical position information producing means; estimated position information storing means for storing said estimated position information produced by said estimated position information producing means; and calibrating means for calibrating said second optical position information stored by said second optical position information storing means on the basis of said image information of said calibrating marker obtained by said imaging device and said estimated position information stored by said estimated position information storing means.