Vehicle vision system with camera calibration
First Claim
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1. A camera calibration system for a vehicle, said camera calibration system comprising:
- at least one camera disposed at a vehicle and having a field of view exterior of the vehicle;
an image processor operable to process frames of image data captured by said at least one camera;
wherein, during a second ignition cycle of the vehicle that is subsequent to a first ignition cycle of the vehicle, said camera calibration system compares a frame of image data captured by said at least one camera during the first ignition cycle to a frame of image data captured by said at least one camera at the onset of the second ignition cycle;
wherein said camera calibration system, via comparison of the frames of image data captured by said at least one camera, determines a change in orientation of said at least one camera from a previous orientation during the first ignition cycle of the vehicle to a current orientation at the onset of the second ignition cycle of the vehicle.
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Abstract
A camera calibration system for a vehicle includes a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle. An image processor is operable to process image data captured by the cameras. The image processor is operable, via processing of image data captured by the cameras, to determine a change in orientation of at least one of the cameras. The image processor determines the change in orientation from a previous orientation during a previous ignition cycle of the vehicle and a current orientation at the onset of a current or subsequent ignition cycle of the vehicle.
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Citations
20 Claims
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1. A camera calibration system for a vehicle, said camera calibration system comprising:
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at least one camera disposed at a vehicle and having a field of view exterior of the vehicle; an image processor operable to process frames of image data captured by said at least one camera; wherein, during a second ignition cycle of the vehicle that is subsequent to a first ignition cycle of the vehicle, said camera calibration system compares a frame of image data captured by said at least one camera during the first ignition cycle to a frame of image data captured by said at least one camera at the onset of the second ignition cycle; wherein said camera calibration system, via comparison of the frames of image data captured by said at least one camera, determines a change in orientation of said at least one camera from a previous orientation during the first ignition cycle of the vehicle to a current orientation at the onset of the second ignition cycle of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A camera calibration system for a vehicle, said camera calibration system comprising:
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at least one camera disposed at a vehicle and having a field of view exterior of the vehicle; an image processor operable to process image data captured by said at least one camera; wherein said image processor is operable, via processing of image data captured by said at least one camera, to determine a change in orientation of said at least one camera; wherein said camera calibration system stores image data captured by said at least one camera when the vehicle is stationary at or near the end of a previous ignition cycle of the vehicle; wherein said at least one camera captures image data when the vehicle is stationary at an onset of a current ignition cycle of the vehicle that is subsequent to the previous ignition cycle; and wherein said camera calibration system compares detected features of the image data captured by said at least one camera at the onset of the current ignition cycle to detected features of the stored image data captured by said at least one camera at or near the end of the previous ignition cycle to determine the change in orientation of said at least one camera. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A camera calibration system for a vehicle, said camera calibration system comprising:
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at least one camera disposed at a vehicle and having a field of view exterior of the vehicle; an image processor operable to process frames of image data captured by said at least one camera; a display operable to display video images derived from image data captured by said at least one camera; wherein, during a second ignition cycle of the vehicle that is subsequent to a first ignition cycle of the vehicle, said camera calibration system compares a first frame of image data captured by said at least one camera during the first ignition cycle to a second frame of image data captured by said at least one camera at the onset of the second ignition cycle; wherein said camera calibration system, via comparison of the frame of image data captured by said at least one camera during the first ignition cycle to the frame of image data captured by said at least one camera at the onset of the second ignition cycle, determines a change in orientation of said at least one camera from a previous orientation during the first ignition cycle of the vehicle to a current orientation at the onset of the second ignition cycle of the vehicle; wherein said camera calibration system determines a change in orientation of said at least one camera that is indicative of loading or unloading of the vehicle between the previous and current ignition cycles; and wherein, responsive to determination of a change in orientation of said at least one camera, said camera calibration system adjusts processing of captured image data to accommodate the determined change in orientation. - View Dependent Claims (18, 19, 20)
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Specification