A method for dynamically calibrating without manual intervention a forward viewing vehicular camera with respect to its three rotational degrees of freedom includes disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data as the vehicle is moving and steered through a plurality of steering angles. Feature points are determined in an image frame when the vehicle is steered within a respective range of steering angles and motion trajectories of those feature points are tracked in subsequent image frames for the respective range of steering angles. A vanishing point is established in the image plane for the feature points for the respective range of steering angles. Based on established vanishing points, a vanishing line is determined. When the vanishing line is determined to be non-horizontal, at least one of pitch, roll or yaw of the camera is adjusted.
METHOD FOR DYNAMICALLY CALIBRATING VEHICULAR CAMERAS
2019-06-06
Patent
Electronic Resource
English
IPC: | 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 / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
Method and system for dynamically calibrating vehicular cameras
European Patent Office | 2017
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