CROSS REFERENCE TO RELATED APPLICATION

This application claims priority to and the benefit of Japanese Patent Application No. 2018-062998 filed on Mar. 28, 2018, the entire disclosure of which is incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to an imaging apparatus, a moveable body, and an imaging method.

BACKGROUND

It is conventionally known to correct deviation of an image caused by deviation of the installation position or posture of a camera. For example, a technique of changing an area of a captured image, which is generated by imaging a subject as an index by a camera, so as to make an image of the index in the captured image coincide with a calibration object is proposed (for example, see JP 2000-209577 A (PTL 1)).

CITATION LIST

Patent Literature

PTL 1: JP 2000-209577 A

SUMMARY

An imaging apparatus according to one of the disclosed embodiment comprises a camera and a controller. The camera is configured to generate a captured image. The controller is configured to superimpose a calibration object movable by translation or rotation in the captured image, and, in a case where a plurality of indexes located at positions determined with respect to a moveable body comprising the camera mounted therein are subjected to imaging, move the calibration object so that a first corresponding portion of the calibration object superimposed on the captured image coincides with an image of a first index of the plurality of indexes included in the captured image, and perform distortion correction on an area in the captured image determined based on a position of the image of the first index and a position of an image of a second index other than the first index in the captured image and a position at which the calibration object is superimposed on the captured image so that the image of the second index coincides with a second corresponding portion of the calibration object.

A moveable body according to one of the disclosed embodiments comprises an imaging apparatus. The imaging apparatus includes a camera and a controller. The camera is configured to generate a captured image. The controller is configured to superimpose a calibration object movable by translation or rotation in the captured image, and, in a case where a plurality of indexes located at positions determined with respect to a moveable body comprising the camera mounted therein are subjected to imaging, move the calibration object so that a first corresponding portion of the calibration object superimposed on the captured image coincides with an image of a first index of the plurality of indexes included in the captured image, and perform distortion correction on an area in the captured image determined based on a position of the image of the first index and a position of an image of a second index other than the first index in the captured image and a position at which the calibration object is superimposed on the captured image so that the image of the second index coincides with a second corresponding portion of the calibration object.

An imaging method according to one of the disclosed embodiments is executed by an imaging apparatus. The imaging apparatus generates a captured image. The imaging apparatus superimposes a calibration object movable by translation or rotation in the captured image. The imaging apparatus, in a case where a plurality of indexes located at positions determined with respect to a moveable body comprising a camera generating the captured image mounted therein are subjected to imaging, moves the calibration object so that a first corresponding portion of the calibration object superimposed on the captured image coincides with an image of a first index of the plurality of indexes included in the captured image, and performs distortion correction on an area in the captured image determined based on a position of the image of the first index and a position of an image of a second index other than the first index in the captured image and a position at which the calibration object is superimposed on the captured image so that the image of the second index coincides with a second corresponding portion of the calibration object.

