Calibration system and method for vehicular surround vision system

• US 10,264,249 B2
• Filed: 11/07/2016
• Issued: 04/16/2019
• Est. Priority Date: 11/15/2011
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Pliefke, Sebastian
• Primary Examiner(s): Shibru, Helen
• Application Number:
  US15/344,867
• Publication Number:
  US 20170054974A1
• Time in Patent Office: 890 Days
• Field of Search: 348148
• CPC Class Codes: B60R 2300/402 Image calibration
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: H04N 17/002 for television cameras

Abstract

A camera calibration method for calibrating at least one camera of a vehicle includes providing a target area for a vehicle to be positioned at, with the vehicle having a forward camera, a rearward camera and opposite side cameras. When the vehicle is positioned at the target area, a target is electronically generated at an area that is encompassed by the field of view of one of the cameras or at an overlapping portion of the fields of view of two of the cameras of the vehicle. Image data is captured by the two cameras that is representative of the generated target. Image data captured by the two cameras is processed to detect the target in the fields of view of the two cameras. At least one of the two cameras is calibrated responsive to detection of the target.

Claims

1. A camera calibration method for calibrating at least one camera of a vehicle, said camera calibration method comprising:

providing a target area for a vehicle to be positioned at, the vehicle having a forward camera, a rearward camera and opposite side cameras;

the vehicle to be positioned at the target area having a type or size of the vehicle to be positioned at the target area;

when the vehicle is positioned at the target area, electronically generating a target at an overlapping portion of the fields of view of two of the cameras of the vehicle by use of light projection;

configuring the target responsive to the type or size of the vehicle to adapt the target, when the target is electronically generated at the target area, for the particular type or size of the vehicle positioned at the target area;

capturing image data via the two cameras that is representative of the target electronically generated at the overlapping portion;

processing image data captured by the two cameras to detect the target that is electronically generated at the overlapping portion of the fields of view of the two cameras; and

calibrating at least one of the two cameras responsive to detection of the target that is electronically generated at the target area.

2. The camera calibration method of claim 1, wherein the steps of electronically generating the target and capturing image data are repeated to collect multiple frames of captured image data, and wherein processing image data comprises processing image data of the multiple frames of captured image data to detect the target in the multiple frames of captured image data.

3. The camera calibration method of claim 1, wherein the step of electronically generating the target comprises electronically generating a laser target via a laser device.

4. The camera calibration method of claim 3, wherein the laser device is operable to emit a laser target that comprises at least a pair of intersecting laser-generated lines generated by the laser device.

5. The camera calibration method of claim 4, wherein, when the vehicle is positioned at the target area, the intersecting laser-generated lines extend from a center region of the field of view of a respective camera into an overlapping portion of the fields of view of the respective camera and another of the cameras.

6. The camera calibration method of claim 1, comprising receiving an input indicative of the type or size of the vehicle positioned at the target area, wherein the step of configuring the target is responsive to the input.

7. The camera calibration method of claim 6, wherein, with the vehicle positioned at the target area and with the target configured for that particular type or size of vehicle, at least one camera of the vehicle has a field of view that at least partially encompasses the target that is electronically generated at the target area.

8. The camera calibration method of claim 7, wherein the step of configuring the target comprises configuring at least one of a size of the target when the target is electronically generated at the target area and a location of the target when the target is electronically generated at the target area.

9. The camera calibration method of claim 7, wherein the step of configuring the target comprises configuring the target via a covering element that selectively exposes a portion of the target that is electronically generated at the target area and covers another portion of the target that is electronically generated at the target area.

10. The camera calibration method of claim 9, wherein the covering element comprises a linearly movable covering element that is movable along and over the target that is electronically generated at the target area.

11. The camera calibration method of claim 9, wherein the covering element comprises a pivotable covering element that is pivotable about a hinge element between first and second covering positions.

12. The camera calibration method of claim 6, wherein the step of configuring the target comprises configuring at least one reconfigurable display at the target area.

13. The camera calibration method of claim 12, wherein the steps of electronically generating the target and configuring the target comprise electronically generating a displayed target at the at least one reconfigurable display and adjusting, responsive to the input, at least one of a size of the displayed target at the at least one reconfigurable display and a location of the displayed target at the at least one reconfigurable display.

14. The camera calibration method of claim 13, wherein the at least one reconfigurable display comprises a plurality of reconfigurable displays.

15. The camera calibration method of claim 14, wherein the step of electronically generating the target comprises activating a reconfigurable display at at least some of the forward, rearward and sideward regions of the vehicle when the vehicle is positioned at the target area.

16. The camera calibration method of claim 1, wherein the step of electronically generating the target comprises electronically generating a plurality of targets.

17. The camera calibration method of claim 16, wherein at least some of the plurality of targets that are electronically generated at the target area are established at side regions of the vehicle when the vehicle is positioned at the target area.

18. The camera calibration method of claim 16, wherein the step of electronically generating a plurality of targets comprises electronically generating a plurality of checkerboard type targets at forward, rearward and sideward regions of the vehicle when the vehicle is positioned at the target area.

19. The camera calibration method of claim 16, wherein at least one of the targets that are electronically generated at the target area comprises a larger target electronically generated at the target area as compared to at least one other of the targets electronically generated at the target area.

20. The camera calibration method of claim 19, wherein the larger target electronically generated at the target area comprises a forward or rearward one of the targets electronically generated at the target area.