US 12,462,422 B2
Calibration method and calibration apparatus
Masaki Fukuda, Osaka (JP); Toshiyasu Sugio, Osaka (JP); Toru Matsunobu, Osaka (JP); Satoshi Yoshikawa, Hyogo (JP); and Tatsuya Koyama, Kyoto (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Jul. 8, 2021, as Appl. No. 17/370,402.
Application 17/370,402 is a continuation of application No. PCT/JP2020/001553, filed on Jan. 17, 2020.
Claims priority of application No. 2019-010376 (JP), filed on Jan. 24, 2019.
Prior Publication US 2021/0335010 A1, Oct. 28, 2021
Int. Cl. G06T 7/73 (2017.01); G06T 7/00 (2017.01); G06T 7/80 (2017.01); G06V 10/147 (2022.01); G06V 10/46 (2022.01); G06V 10/50 (2022.01); G06V 10/75 (2022.01); G06V 20/52 (2022.01)
CPC G06T 7/73 (2017.01) [G06T 7/80 (2017.01); G06T 7/97 (2017.01); G06V 10/147 (2022.01); G06V 10/462 (2022.01); G06V 10/50 (2022.01); G06V 10/757 (2022.01); G06V 20/52 (2022.01)] 9 Claims
OG exemplary drawing
 
1. A calibration method of calibrating, using a processor, parameters of a plurality of imaging apparatuses that capture a common three-dimensional space, the calibration method comprising:
obtaining images captured by the plurality of imaging apparatuses;
obtaining the parameters of the plurality of imaging apparatuses;
for each of the images obtained, generating at least one search window using the parameter of one of the plurality of imaging apparatuses that has obtained the image and the parameter of another imaging apparatus that has not obtained the image, to extract a plurality of feature points of the image;
for each of the images obtained, extracting the plurality of feature points from an inside of the at least one search window generated;
performing feature point matching between the images using the plurality of feature points extracted for each of the images; and
calibrating the parameters based on a plurality of matching results obtained by the feature point matching,
wherein each of the parameters indicates a position and orientation of a corresponding imaging apparatus that corresponds to the parameter.