Three-dimensional image generation system, method for generating three-dimensional images, method for calibrating a camera, and shooting device.

Abstract

To provide a means to immediately begin filming work without being constrained by the limitations of the filming location. [Solution] If space for setting up the calibration markers 30 cannot be secured at the shooting site 60, a shooting device A consisting of multiple cameras 20, each mounted on a fixing jig 10 with fixed coordinates and orientations, is set up in a space other than the shooting site 60. The calibration markers 30 are then set up so that they fit within the field of view of each camera 20, and the coordinates and orientations of the multiple cameras 20 are calibrated using the images of the calibration markers 30 captured by each camera 20. After that, the shooting device A is brought into the shooting site 60, and shooting is started immediately without performing calibration work at the shooting site 60.

Description

Technical Field

[0001] The present invention relates to a three-dimensional video generation system, a method for generating a three-dimensional video, a method for calibrating a camera, and a photographing apparatus. More specifically, the present invention relates to a three-dimensional video generation system, a method for generating a three-dimensional video, a method for calibrating a camera, and a photographing apparatus that can start photographing work immediately without being restricted by the photographing site.

Background Art

[0002] When performing motion capture, generation of xR video, generation of composite video such as three-dimensional video (volumetric video), etc. using at least one or more cameras, it is necessary to calibrate (also referred to as calibration or bundle adjustment) the coordinates and orientations of each camera in advance. Conventional camera calibration methods include a method (Patent Document 1) in which a detection object whose coordinates and orientation are specified in surveying or the like is photographed by a camera, and the position of the detection object in the photographed image is used as reference information, and a jig provided with a detection object, an acceleration sensor, etc. is held by hand and appropriately moved within the angle of view of the camera, and the movement of the detection object on the photographed video of the camera and the acceleration obtained from the jig are used as reference information (Non-Patent Document 1), etc. are known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Non-Patent Documents

[0004]

Non-Patent Document 1

Summary of the Invention

[0005] However, since each of the calibration methods described above is performed as a final adjustment before the start of shooting, after all cameras have been set up at the shooting site, it may not be possible to perform the calibration work if there is not enough space to set up the detection object at the shooting site.

[0006] Therefore, one of the objectives of the present invention is to provide a means that enables the immediate commencement of filming work without being subject to the constraints of the filming site when generating three-dimensional images. [Means for solving the problem]

[0007] The present invention, made to solve the above problems, is a three-dimensional image generation system comprising at least a portable fixed jig, a plurality of cameras attached to the fixed jig so as to have fixed coordinates and orientations, a calibration marker to be photographed for calibration work of the coordinates and orientations of the plurality of cameras, and an information processing device, wherein the information processing device has at least the function of performing the calibration work of the coordinates and orientations of the plurality of cameras using images of the calibration marker taken by the plurality of cameras in a space other than the shooting site, and the function of generating a three-dimensional image using a plurality of two-dimensional images taken by the calibration plurality of cameras attached to the fixed jig installed at the shooting site. Furthermore, the present invention provides a method for generating a three-dimensional image using at least a fixed jig, a plurality of cameras, calibration markers, and an information processing device, characterized in that, in a space other than the shooting site, calibration markers are set up so as to fit within the field of view of a plurality of cameras that are attached to the fixed jig so as to have fixed coordinates and orientations, the information processing device performs a calibration operation of the coordinates and orientations of the plurality of cameras using images of the calibration markers taken by the plurality of cameras, and generates a three-dimensional image using a plurality of two-dimensional images taken by the calibrated plurality of cameras attached to the fixed jig installed at the shooting site. Furthermore, the present invention provides a camera calibration method before the generation of a composite image, using at least a fixed jig, a plurality of cameras, calibration markers, and an information processing device, characterized in that, in a space other than the shooting site, calibration markers are set up so as to fit within the field of view of a plurality of cameras, each of which is attached to the fixed jig so as to have fixed coordinates and orientations, and the information processing device is used to perform a calibration operation of the coordinates and orientations of the plurality of cameras using images of the calibration markers captured by the plurality of cameras. Furthermore, the present invention is a shooting device for shooting two-dimensional images used to generate three-dimensional images, comprising at least a portable fixed jig and a plurality of cameras attached to the fixed jig such that their coordinates and orientations are fixed, wherein the plurality of cameras have their coordinates and orientations fixed and calibration work performed on the plurality of cameras with their coordinates and orientations fixed, and even after the calibration work, the fixed state to the fixed jig is maintained, and the two-dimensional images can be shot at the shooting site without performing calibration work. [Effects of the Invention]

[0008] According to the present invention, when generating three-dimensional images, shooting can be started immediately without being subject to the constraints of the shooting location. [Brief explanation of the drawing]

[0009] [Figure 1] A schematic plan view showing an overview of the three-dimensional image generation system according to the present invention. [Figure 2] A schematic perspective view showing the overall configuration of the calibration marker. [Figure 3] A diagram showing an example of an identifier. [Figure 4] A schematic plan showing the installation image in a non-photography space. [Figure 5] A schematic plan showing the installation image at the filming location. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. [Examples]

[0011] <1> Overall structure (Figure 1) The three-dimensional video generation system according to the present invention is a system for generating three-dimensional video (volumetric video) by appropriately combining two-dimensional images obtained by shooting objects (subjects) including people, objects, and backgrounds in the shooting location with each camera, based on the coordinates and orientation (sometimes also called posture, rotation posture, or angle) of each camera. As shown in Figure 1, the three-dimensional image generation system according to the present invention comprises at least a fixed jig 10, a plurality of cameras 20, a calibration marker 30, and an information processing device 40. In this invention, the display destination of the three-dimensional image generated by the information processing device 40 is not particularly limited, and can be any known display device, such as a display built into or attached to the information processing device 40, or an HMD (head-mounted display) worn by the user. The details of each component are described below.

[0012] <2> Fixing jig (Figure 1) The fixing jig 10 is a portable component to which the camera 20 can be attached. In this invention, the fixing jig 10 is configured to be able to accommodate multiple cameras 20, and after each camera 20 is attached, it is possible to transport the jig to the shooting site 60 with the relative coordinates and orientations of each camera 20 fixed. In the present invention, the configuration of the fixing jig 10 is not particularly limited, and a desk-like, table-like, frame-like, column-like, tripod-like, or any combination thereof can be used as appropriate. Furthermore, in this invention, the fixing jig 10 may be configured to be self-propelled by providing it with wheels or the like. In Figure 1, a desk-shaped member is used as the fixing jig 10.

[0013] In the present invention, a camera other than the plurality of cameras 20 (a camera not prepared for acquiring a two-dimensional image used for generating a three-dimensional image) may be attached to the fixing jig 10 (not shown in FIG. 1).

[0014] <3>Camera (FIG. 1) The camera 20 is at least installed at the shooting site 60 and is a device for shooting objects (subjects) such as people, objects, and backgrounds in the shooting site 60. In addition, the camera 20 is also used for shooting a calibration marker 30 installed in a space other than the shooting site 60 in order to perform calibration work on its own coordinates and orientation before shooting the above-described object. In the present embodiment shown in FIG. 1, three cameras 20 (20a, 20b, 20c) are attached to the fixing jig 10.

[0015] <3.1>Regarding the type of camera In the present invention, the type of the camera 20 is not particularly limited, and in addition to a general digital camera 20 or a video camera 20 capable of shooting still images and moving images, a depth camera 20 capable of giving depth information to a two-dimensional image can be selected.

[0016] <3.2>Regarding the number of cameras In the present invention, a plurality of cameras 20 are prepared. However, for example, if the number of cameras 20 is too large, it is conceivable that many cameras 20 will be three-dimensionally reflected in the generated three-dimensional image, which may not be preferable from the perspective of the sense of immersion for the user experiencing the three-dimensional image. On the contrary, if the number of cameras 20 is too small, it is conceivable that it will be difficult to obtain a high-quality three-dimensional image that is precisely three-dimensionally reproduced. Therefore, in the present invention, unlike a dedicated shooting studio, using dozens of cameras 20 is not assumed, and considering the selection of the shooting site 60 and the portability in the state of being attached to the fixing jig 10, the number of cameras to be used is set to be 2 or more and 10 or less, more preferably about 3 or more and 5 or less.

[0017] <3.3> Mounting method to the fixing jig Each camera 20 is attached to the aforementioned fixing jig 10 such that its coordinates and orientation are fixed within its own unique coordinate system. In the present invention, the method of attaching each camera 20 to the fixing jig 10 is not particularly limited. For example, a method can be selected in which multiple cameras 20 are attached to the fixing jig 10 via pole members, clamp members, etc., so that each has a different installation height and shooting direction.

[0018] <3.4> About camera coordinates and orientation In this invention, the coordinates and orientations of each camera 20, when all cameras 20 attached to the fixed jig 10 are considered as their own coordinate system, are the subject of calibration work using the calibration markers 30 described later. That is, as shown in Figure 1, when three cameras 20 (20a, 20b, 20c) are attached to the fixed jig 10, the coordinates (Xa~Xc, Ya~Yc, Za~Zc) and orientations (αa~αc, βa~βc, γa~γc) of each camera 20 (20a, 20b, 20c) are the subject of calibration using the calibration markers 30 described later.

[0019] <4> Calibration markers (Figures 1 and 2) The calibration marker 30 is a component that is photographed by multiple cameras 20 in order to calibrate the coordinates and orientations of the multiple cameras 20 used to generate three-dimensional images. Using this calibration marker 30, the camera 20, whose coordinates and orientation have been calibrated, can be used for purposes such as recording the movements of people and objects in a motion capture system, capturing images to be used as composite material for various types of images in xR systems including VR, MR, and AR, or generating composite images such as three-dimensional images (volumetric video). In the present invention, the shape and structure of the calibration marker 30 are not particularly limited and include those having a planar shape, those having a three-dimensional shape, and so on.

[0020] <4.1> Relationship between the filming location and proofreading markers (Figure 1) In this embodiment, it is assumed that there are constraints that make it difficult to install the calibration marker 30 at the shooting site for generating the three-dimensional image. One example of this constraint is that, because the shooting site 60 shown by the dashed line in Figure 1 is a small space, the area where the shooting ranges (angles of view) 21 (21a, 21b, 21c) of the three cameras 20 (20a, 20b, 20c) fixed to the fixing jig 10 all overlap (the total overlapping area 22) is small, and it may not be possible to secure space for installing the calibration marker 30 in this total overlapping area 22.

[0021] <4.2> An example of a calibration marker (Figure 2) The calibration marker 30 in this embodiment will be described below. The calibration marker 30 shown in this embodiment is configured to include at least a frame 31 and four or more detection units 32. The details of each component are described below.

[0022] (1) Frame (Figure 2) The frame 31 is a component that holds the position of each detection unit 32 as a calibration marker 30. In this embodiment, the frame 31 is configured to have four virtual triangular surfaces.

[0023] (1.1) Shape of frame 31 In this invention, the shape of the frame 31 is not particularly limited, but a configuration that is convenient for on-site assembly and installation of the calibration marker 30 is desirable. For example, if it is necessary to assemble the calibration marker 30 on-site, it is desirable to have a configuration in which the number of components constituting the frame 31 is small, or a configuration that makes it easy to hold the four detection units 32 (described later) so that they are not located on the same plane. Furthermore, from the standpoint of ensuring the stability of the calibration marker 30, a configuration that allows for a wide base surface of the frame 31 and a configuration that makes it difficult for the calibration marker 30 to tip over are preferable. The calibration marker 30 shown in Figure 2 has a tetrahedron shape in which the frame 31 is assembled into a three-dimensional frame using multiple wires 311 of equal length as a framework.

[0024] (1.2) Frame material In this invention, the material of the frame 31 is not particularly limited, but from the viewpoint of ensuring portability when disassembling and assembling the frame 31, it is desirable to use a material that is as lightweight as possible.

[0025] (1.3) Presence or absence of facing material In the present invention, there is no particular limitation on whether or not a physical surface material is provided on the frame 31. It can be designed arbitrarily as long as no adverse effects occur, such as the detection unit 32 being obscured by the surface material when the calibration marker 30 is photographed by the camera 20. For example, the frame 31 may be constructed by arranging triangular surface materials made of transparent material in a tetrahedron shape. For example, even if a surface material is used for the bottom portion of frame 31 in Figure 2, it will not adversely affect the calibration work of the camera 20.

[0026] (2) Detection unit (Figures 2 and 3) The detection unit 32 is a component that obtains positional information of the detection unit 32 by image processing performed on the captured image, which is captured by the camera 20. The detection unit 32 can be configured with at least one or more identifiers 321, as shown in Figure 2.

[0027] (2.1) Identifiers (Figures 2 and 3) The identifier 321 can be composed of characters, figures, or light-emitting elements, or a combination thereof, which are known as recognition codes. For example, AR markers or other two-dimensional codes can be used. Figure 3 shows an example of how the identifier 321 is constructed using a geometric shape. This identifier 321 divides the inside of a circle into four sections, leaving one diagonal section blank, and provides corners that radiate outwards at 120° intervals from the outside of the circle. During the calibration of the camera 20, the center point 322 of the identifyer 321 is identified by image processing of the image of the identifyer 321, and the position of the center point 322 is treated as the position of the detection unit 32.

[0028] (2.2) Number and location of detection units (Figure 2) In the calibration marker 30 according to this embodiment, four or more detection units 32 are provided, and the positions of all detection units 32 are held by the frame 31 so that they are not located on the same plane in the spatial coordinate system. This is to ensure that, when photographing the calibration marker 30 with the camera 20, a depth difference is as likely as possible between at least one detection unit 32 and the other detection units 32, regardless of the direction from which the photograph is taken.

[0029] (2.3) Installation location of the detection unit relative to the frame (Figure 2) In the calibration marker 30 according to this embodiment, the installation location of the detection unit 32 on the frame 31 is not particularly limited and can be set as appropriate, such as the ends or middle parts of the wires 311 that make up the frame 31, the corners formed between the wires 311, or the surface of the facing material that makes up the frame 31. For example, in the frame 31 shown in Figure 2, the detection unit 32 is installed at the top of a tetrahedron-shaped three-dimensional frame formed by connecting the ends of the wires 311.

[0030] (2.4) Number and orientation of the identifiers (Figure 2) In the calibration marker 30 according to this embodiment, each detection unit 32 may be configured by providing multiple identifiers 321 as described above, so that each identifier 321 faces a different direction. This is because, for example, if there are multiple cameras 20 to be calibrated, and one of the identifying objects 321 is difficult to capture from the shooting direction of one of the cameras 20, it increases the possibility of capturing the other identifying object 321 which is facing a different direction.

[0031] (2.5) Size of the identifier (not shown) In the calibration marker 30 according to this embodiment, the sizes of each detection unit 32 and each identifier 321 do not need to be the same. For example, for the identification object 321 located inside the frame 31 of the detection unit 32 located furthest from the camera 20 (for example, the detection unit 32d as seen from the camera 20 positioned towards the front of the page in Figure 2), the size of the shape may be made slightly larger than that of the other identification objects 321 in order to suppress a decrease in detection accuracy.

[0032] (2.6) Relative coordinates and separation distance between detection units (Figure 2) With the above configuration, when the calibration marker 30 is viewed as having its own coordinate system, the relative coordinates (X1~X4, Y1~Y4, Z1~Z4) between each detection unit 32 (identifier 321) are predetermined, with a certain point within the calibration marker 30 as the origin.

[0033] <5> Information processing device (Figure 1) The information processing device 40 is a device that has at least two functions: a function to perform calibration work on the coordinates and orientations of each camera 20 using images of the calibration markers 30 captured by each camera 20 (calibration function), and a function to generate a three-dimensional image using multiple two-dimensional images captured by each camera 20 (three-dimensional image generation function).

[0034] <5.1> Overview of Calibration Function In the present invention, the processing for realizing the calibration function by the information processing device 40 can be appropriately designed according to the structure of the calibration marker 30 used, and is not particularly limited. Furthermore, when using the calibration marker 30 described in section <4.2> above, four triangles with the detection unit 32 as vertices are extracted from the image obtained by photographing the calibration marker 30 with the camera 20, and the coordinates and orientation of the camera 20 in the coordinate system of the calibration marker 30 are determined in the manner of triangulation using the relative coordinates of each detection unit 32 on the triangular face corresponding to the triangle selected as the calculation target from among the extracted triangles. Furthermore, if multiple triangles are selected from the four types of triangles for calculation, the system may be configured to take the average of the coordinates and orientation of camera 20 obtained for each triangle to determine the final coordinates and orientation of camera 20.

[0035] <5.2> Timing of proofreading work The calibration work performed by the information processing device 40 on multiple cameras 20 only needs to be completed so that the coordinates and orientations of all cameras 20 are ultimately calibrated. That is, the coordinates and orientations of all cameras 20 may be calibrated in a single calibration operation, or the calibration of at least two or more cameras 20 may be divided into two or more operations.

[0036] <5.3> Preferred method when proofreading work is divided into two or more stages When performing calibration in two or more stages, it is preferable to use at least one camera that was used in the previous calibration stage. Here, "one calibration operation" means performing calibration of the coordinates and orientation of the cameras by placing a calibration marker 30 at a specific position (a calibrated position) within the entire overlapping area 22 formed by the overlapping shooting ranges 21 of at least two cameras 20 that are the subject of the calibration operation.

[0037] <5.3.1>Procedure Example 1 (When there are 5 cameras) For example, let's consider the case where there are a total of five cameras 20 to be calibrated. When calibrating the coordinates and orientations of five cameras 20 (20a, 20b, 20c, 20d, 20e), the calibration can be done in one session or in two sessions. If there are many cameras in the multiple cameras 20, attempting to complete the calibration in one session will narrow the range of the total overlapping area 22, making it more likely that calibration markers 30 cannot be placed. Therefore, by performing the calibration in two sessions, the range of the total overlapping area per calibration session becomes wider compared to when all five cameras are calibrated in one session, thus ensuring that the coordinates and orientations of all cameras 20 are reliably calibrated.

[0038] Specifically, in the first calibration operation, for three of the five cameras 20 (20a, 20b, 20c, 20d, 20e), calibration markers 30 are placed at specific positions (calibrationable positions) within the entire overlapping area 22 formed by the shooting ranges 21 of the three cameras (20a, 20b, 20c), thereby performing calibration of the coordinates and orientations of the three cameras (20a, 20b, 20c).

[0039] Next, in the second calibration operation, the cameras 20c, 20d, and 20e may be calibrated by placing the calibration marker 30 at a specific calibrated position (a calibrated position different from the first position) within the entire overlapping area 22 formed by the shooting ranges 21 of three other cameras (20c, 20d, and 20e). However, during the second calibration process, it is desirable to use at least one camera that was calibrated the first time (in this case, camera 20c) for calibration again.

[0040] This allows us to determine the relative positions of the five cameras used in the first and second trials, and to determine the coordinates and orientations of the five cameras 20 (20a, 20b, 20c, 20d, 20e).

[0041] <5.3.2> Example Procedure 2 (When there are 10 cameras) Furthermore, if the multiple cameras 20 to be calibrated are to be calibrated for the coordinates and orientations of 10 cameras (20a, 20b, 20c, 20d, 20e, 20f, 20g, 20h, 20i, 20j), the calibration may be divided into three stages, for example, by calibrating the coordinates and orientations of 4 cameras (20a, 20b, 20c, 20d) in the first calibration, 5 cameras (20c, 20d, 20e, 20f, 20g) in the second calibration, and 4 cameras (20g, 20h, 20i, 20j) in the third calibration. However, it is preferable to use the same two cameras (20c, 20d) used in the first calibration process for the second calibration, and to use the same camera (20g) used in the second calibration process for the third calibration.

[0042] As described above, in each calibration operation, at least one camera used in a previous calibration operation (in the case of the third calibration operation, either the first or second calibration operation) is used again, making it possible to perform calculations even between cameras that were calibrated separately, and ensuring that the coordinate and orientation calibration is reliably performed for all of the multiple cameras 20.

[0043] <5.4> Overview of the 3D Image Generation Function The process for realizing the three-dimensional image generation function can be appropriately implemented by adopting known procedures for generating three-dimensional images (volumetric video), and a detailed explanation will be omitted.

[0044] <6> Examples of usage (method for generating 3D images, pre-calibration method) Referring to Figures 1, 4, and 5, an example of the procedure for using the three-dimensional image generation system described above will be explained.

[0045] <6.1> Pre-calibration work (Figures 1 and 4) In the three-dimensional image generation method according to this embodiment, instead of performing calibration work on the coordinates and orientations of each camera 20 after they have been installed at the shooting site 60, the calibration work is performed in advance in a space other than the shooting site 60 before the cameras 20 are installed at the shooting site 60. Assuming the shooting site 60 shown in Figure 1, the area where the shooting ranges 21 of each camera 20 overlap (total overlapping area 22) is narrow, and there is insufficient space to install the calibration markers 30 within the shooting site 60. Therefore, as shown in Figure 4, first, the imaging device A is prepared in a space other than the shooting site 60 (non-shooting space 50), and calibration markers 30 are placed in the area where the shooting ranges 21 (21a, 21b, 21c) of each camera 20 overlap (total overlapping area 22) to perform calibration work on each camera 20 (20a, 20b, 20c). After the calibration of each camera 20 (20a, 20b, 20c) is completed, the imaging device A can be transported directly to the shooting site 60.

[0046] The coordinates and orientations of each camera 20 (20a, 20b, 20c) are calibrated as shown in Table 1 below. [Table 1] TIFF2026136675000002.tif28153

[0047] <6.2> Three-dimensional image generation process (Figure 5) After the shooting device A is brought into the shooting location 60, there is no need to perform calibration work on each camera 20 at the shooting location 60, and shooting work with each camera 20 to generate three-dimensional images can be started immediately. As shown in Figure 5, the two-dimensional images captured by each camera 20 include objects 62 such as people and other objects located within the space (composite space 61) formed by the shooting range 21 (21a, 21b, 21c) of each camera 20. Therefore, a three-dimensional image including these objects 62 is generated.

[0048] <7> summary The three-dimensional image generation system and method described above will produce at least one of the effects listed below. (1) Calibration work is performed on the coordinates and orientations of multiple cameras 20 fixed to the fixing jig 10 while their coordinates and orientations are fixed. By maintaining the fixed state to the fixing jig 10 even after this calibration work, two-dimensional images can be captured at the shooting site 60 where the fixing jig 10 is brought in, without performing calibration work. Therefore, even in cramped shooting locations where space for calibration markers 30 cannot be secured, or in hazardous areas (high-altitude areas, high-pressure areas, radiation areas, oxygen-deficient areas, etc.) where the time spent there should be kept to a minimum, high-quality three-dimensional images can be generated with the coordinates and orientations of at least two or more cameras 20 calibrated. (2) Once calibration has been performed on the imaging device A, as long as each camera 20 is fixed to the fixing jig 10, no further calibration is required, and therefore, even if it is transported to a different shooting location, shooting can begin immediately. [Explanation of Symbols]

[0049] A: Imaging device 10: Fixing fixture 20: Camera 21: Shooting range 22: Total overlap area 30: Calibration marker 31: Frame 311: Wire rod 32: Detection unit 321: Identifier 322: Center point 40: Information Processing Device 50: Non-filming space (space other than the filming location) 60: Filming location 61: Composite Space 62: Object

Claims

1. A three-dimensional image generation system, A portable, fixed jig, Multiple cameras are attached to the aforementioned fixing jig so as to have their coordinates and orientations fixed, A calibration marker, which is the target of photography for the purpose of calibrating the coordinates and orientations of the aforementioned multiple cameras, An information processing device comprising, The aforementioned information processing device is A function to perform the calibration work on the coordinates and orientations of the multiple cameras using images of the calibration markers taken by the multiple cameras in a space other than the shooting location, A function to generate a three-dimensional image using multiple two-dimensional images captured by multiple calibrated cameras mounted on the fixed jig installed at the aforementioned shooting site, Characterized by having at least the following: Three-dimensional image generation system.

2. A method for generating a three-dimensional image using at least a fixed jig, multiple cameras, calibration markers, and an information processing device, In a space other than the filming location, calibration markers are placed on the aforementioned fixed jig so that they fall within the field of view of multiple cameras, each of which is mounted so that its coordinates and orientation are fixed. The aforementioned information processing device Using the images of the calibration markers captured by the multiple cameras, the calibration of the coordinates and orientations of the multiple cameras is performed, and The method is characterized by generating a three-dimensional image using multiple two-dimensional images captured by multiple calibrated cameras mounted on a fixed jig installed at the aforementioned shooting site. Methods for generating three-dimensional images.

3. A camera calibration method before generating a composite image, using at least a fixed jig, multiple cameras, calibration markers, and an information processing device, In a space other than the filming location, calibration markers are placed on the aforementioned fixed jig so that they fall within the field of view of multiple cameras, each of which is mounted so that its coordinates and orientation are fixed. The information processing device is characterized in that it performs a calibration operation of the coordinates and orientations of the multiple cameras using images of the calibration markers captured by the multiple cameras. Camera calibration method.

4. A shooting device for capturing two-dimensional images used to generate three-dimensional images, A portable, fixed jig, Multiple cameras are attached to the aforementioned fixing jig so that their coordinates and orientations are fixed, It must have at least the following: The aforementioned multiple cameras are configured such that their coordinates and orientations are fixed, and calibration of the coordinates and orientations of the multiple cameras is performed. After the calibration, the cameras remain fixed to the fixing jig, allowing for the capture of two-dimensional images without performing calibration work at the shooting site. A photographic device.

Images