Image calibration
First Claim
Patent Images
1. A method comprising:
- receiving suspension level information of a suspension system of a vehicle, the suspension level information comprising an operating height of at least one wheel of the suspension system relative to a vehicle datum plane, the vehicle datum plane being a vehicle level when a plurality of cameras of the vehicle are at respective known positions and orientations relative to the ground, the vehicle datum plane having a fixed relationship with the position of the plurality of cameras;
determining a new vehicle plane based on the received suspension level information;
determining at least one camera pose parameter of the plurality of cameras mounted on the vehicle based on a difference between the new vehicle plane and the vehicle datum plane; and
calibrating an image captured from at least one of the plurality of cameras mounted on a vehicle using the at least one camera pose parameter.
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Abstract
A method and apparatus for calibrating an image from a camera mounted on a vehicle using camera pose parameter determined from information relating to suspension level from a suspension system of the vehicle. The difference in the suspension level compared with a suspension level datum can be determined and an adjustment to the camera pose parameter values can be obtained from the difference in the suspension level.
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Citations
12 Claims
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1. A method comprising:
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receiving suspension level information of a suspension system of a vehicle, the suspension level information comprising an operating height of at least one wheel of the suspension system relative to a vehicle datum plane, the vehicle datum plane being a vehicle level when a plurality of cameras of the vehicle are at respective known positions and orientations relative to the ground, the vehicle datum plane having a fixed relationship with the position of the plurality of cameras; determining a new vehicle plane based on the received suspension level information; determining at least one camera pose parameter of the plurality of cameras mounted on the vehicle based on a difference between the new vehicle plane and the vehicle datum plane; and calibrating an image captured from at least one of the plurality of cameras mounted on a vehicle using the at least one camera pose parameter. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An apparatus comprising:
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a camera pose parameter function, coupled to receive suspension level information from a vehicle suspension system of a vehicle, the suspension level information comprising an operating height of at least one wheel of the suspension system relative to a vehicle datum plane, the vehicle datum plane being a vehicle level when a plurality of cameras of the vehicle are at respective known positions and orientations relative to the ground, the vehicle datum plane having a fixed relationship with the position of the plurality of cameras, the camera pose function further configured to determine a new vehicle plane based on the received suspension level information, and to determine a value of at least one camera pose parameter of the plurality of cameras based on a difference between the new vehicle plane and the vehicle datum plane; and an image processor, coupled to receive the value of the at least one camera pose parameter from the camera pose parameter function, and operable to calibrate images captured from at least one of the plurality of cameras mounted to the vehicle using the value of the at least one camera pose parameter.
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Specification