A vehicle includes a system that performs a method for aligning a first camera and a second camera to a frame of reference of the vehicle. The first camera has a first coordinate system and the second camera has a second coordinate system. The first camera obtains a first image. The processor is configured to obtain a first camera-to-ground transformation matrix for the first camera using the first image, where the first camera-to-ground transformation matrix associates the first coordinate system with a ground coordinate system, obtaining a camera-to-camera transformation matrix between the first coordinate system of the first camera and the second coordinate system of the second camera, calculating a camera-to-ground transformation matrix for construction of the second camera using the first camera-to-ground transformation matrix and the camera-to-camera transformation matrix, and updating the second coordinate system of the second camera using the constructed camera-to-ground transformation.
车辆包括执行用于将第一相机和第二相机对准到车辆的参照系的方法的系统。第一相机具有第一坐标系,并且第二相机具有第二坐标系。第一相机获得第一图像。所述处理器被配置为使用所述第一图像获得用于所述第一相机的第一相机到地面变换矩阵,其中所述第一相机到地面变换矩阵将所述第一坐标系与地面坐标系相关联,获得所述第一相机的所述第一坐标系与所述第二相机的所述第二坐标系之间的相机到相机变换矩阵,使用所述第一相机到地面变换矩阵和所述相机到相机变换矩阵计算用于所述第二相机的构造的相机到地面变换矩阵,以及使用构造的相机到地面变换来更新所述第二相机的所述第二坐标系。
Camera to vehicle alignment with multiple camera adjustments
具有多个相机调整的相机与车辆对准
2024-08-16
Patent
Electronic Resource
Chinese
IPC: | H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |