1. A calibration apparatus comprising: a calibration jig comprising: at least two planes, a plurality of calibration markers having known three-dimensional positions, the plurality of calibration markers being arranged in the at least two planes based on a predetermined rule, and at least one of a plane boundary, a plane boundary group, and a plane boundary curve between the at least two planes in which the calibration markers are arranged, capable of specifying a plane in which a calibration marker is arranged, wherein the at least one of a plane boundary, a plane boundary group, and a plane boundary curve is in a color different from a color of the background of the at least two planes; a calibration marker recognition section configured to recognize in at least one image of the calibration jig obtained by an image acquisition apparatus the at least one of a plane boundary, a plane boundary group, and a plane boundary curve, to recognize in the at least one image different planes in the at least two planes as different regions using the recognized at least one of a plane boundary, a plane boundary group, and a plane boundary curve, and to measure and number in-image positions of the plurality of calibration markers in the at least one image; and a parameter estimate section configured to estimate one or more calibration parameters of the image acquisition apparatus based on the known three-dimensional positions of the plurality of calibration markers and the measured in-image positions of the calibration markers numbered by the calibration marker recognition section.