US 7,321,839 B2
Method and apparatus for calibration of camera system, and method of manufacturing camera system
Kenichi Maeda, Kanagawa (Japan); Yasuhiro Taniguchi, Cambridge, Mass. (US); Susumu Kubota, Kanagawa (Japan); and Hiroaki Nakai, Kanagawa (Japan)
Assigned to Kabushiki Kaisha Toshiba, Tokyo (Japan)
Filed on Aug. 28, 2006, as Appl. No. 11/510,583.
Application 11/510583 is a division of application No. 10/704550, filed on Nov. 12, 2003, granted, now 7,124,046.
Claims priority of application No. 2002-346914 (JP), filed on Nov. 29, 2002; and application No. 2003-324615 (JP), filed on Sep. 17, 2003.
Prior Publication US 2007/0005293 A1, Jan. 04, 2007
Int. Cl. G01C 25/00 (2006.01); G01D 18/00 (2006.01)
U.S. Cl. 702—104  [702/152] 21 Claims
OG exemplary drawing
 
1. A method for calibration of a stereo camera system that uses a plurality of cameras, comprising;
disposing a first mirror and a second mirror in such a manner that reflective surfaces of the first mirror and the second mirror face toward each other;
placing at least two marks on a reference plane between the reflective surface of the first mirror and the reflective surface of the second mirror so that a plurality of reflected figures of the each mark are generated by the first mirror and the second mirror, the reference plane used in processes performed by the stereo camera system;
capturing with the cameras an image including the plurality of the reflected figures of the each mark;
determining position of the reflected figures in each of the images, wherein the position of each of the reflected figures is represented by a pair of coordinates; and
calculating projective transformation parameters for planar projection stereopsis method by using the position of the reflected figures.