Method and apparatus for calibrating a camera system of a motor vehicle
First Claim
1. A method for calibrating a camera system of a motor vehicle, the calibration parameters comprising a rotation angle, a pitch angle, a yaw angle, a roll angle, and a height of a camera above a road, the method comprising:
- determining the rotation angle from an ascertainment of a vanishing point from a first optical flow between a first and a second camera image;
determining the height of the camera from a second optical flow between a first and a second camera image;
placing a regular grid over the first camera image;
searching for correspondences of the regular grid in the second camera image; and
determining the first optical flow from a movement of the regular grid over the first and second camera images,wherein epipoles in both camera images are calculated based on the ascertained first optical flow, and wherein the epipoles are used to estimate the vanishing point.
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Accused Products
Abstract
In a method and an apparatus for calibrating a camera system of a motor vehicle, the calibration parameters comprising the rotation angle, pitch angle, yaw angle and roll angle as well as the height of the camera above the road, the rotation angle is determined from the ascertainment of the vanishing point from a first optical flow between a first and a second successive camera image, and the height of the camera is determined from a second optical flow between a first and a second, successive camera image. To determine the first optical flow, a regular grid is placed over the first camera image, correspondences of the regular grid are searched for in the second camera image, and the first optical flow is determined from the movement of the grid over the camera images.
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Citations
12 Claims
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1. A method for calibrating a camera system of a motor vehicle, the calibration parameters comprising a rotation angle, a pitch angle, a yaw angle, a roll angle, and a height of a camera above a road, the method comprising:
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determining the rotation angle from an ascertainment of a vanishing point from a first optical flow between a first and a second camera image; determining the height of the camera from a second optical flow between a first and a second camera image; placing a regular grid over the first camera image; searching for correspondences of the regular grid in the second camera image; and determining the first optical flow from a movement of the regular grid over the first and second camera images, wherein epipoles in both camera images are calculated based on the ascertained first optical flow, and wherein the epipoles are used to estimate the vanishing point. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for calibrating a camera system of a motor vehicle, the calibration parameters comprising a rotation angle, a pitch angle, a yaw angle, a roll angle, and a height of a camera above a road, the method comprising:
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determining the rotation angle from an ascertainment of a vanishing point from a first optical flow between a first and a second camera image; determining the height of the camera from a second optical flow between a first and a second camera image; placing a regular grid over the first camera image; searching for correspondences of the regular grid in the second camera image; and determining the first optical flow from a movement of the regular grid over the first and second camera images, wherein, to determine the second optical flow in a section of a first image of the road, a rectangle ascertained in the second image is placed in front of the vehicle in a top view, wherein the second optical flow is formed by a movement of the rectangle in the two images, and wherein the height of the camera is calculated from the movement of the rectangle. - View Dependent Claims (9)
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10. An apparatus for calibrating a camera system of a motor vehicle with calibration parameters comprising a rotation angle, a pitch angle, a yaw angle, a roll angle and a height of a camera above a road, the apparatus comprising:
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a module for determining a first optical flow between a first and a second successive camera image; a module for determining vanishing points from the first optical flow; a module for determining the rotation angle from the ascertained vanishing points; a module for determining a second optical flow between a first and a second successive camera image; and a module for determining the height of the camera from a second optical flow, wherein, to determine the first optical flow, a regular grid is placed over the first camera image, correspondences of the regular grid are searched for in the second camera image, and the first optical flow is determined from the movement of the grid over the camera images, and wherein the module for determining the vanishing point calculates epipoles in the two camera images on the basis of the ascertained first optical flow and uses the epipoles to estimate the vanishing point.
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11. An apparatus for calibrating a camera system of a motor vehicle with calibration parameters comprising a rotation angle, a pitch angle, a yaw angle, a roll angle and a height of a camera above a road, the apparatus comprising:
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a module for determining a first optical flow between a first and a second successive camera image; a module for determining vanishing points from the first optical flow; a module for determining the rotation angle from the ascertained vanishing points; a module for determining a second optical flow between a first and a second successive camera image; and a module for determining the height of the camera from a second optical flow, wherein, to determine the first optical flow, a regular grid is placed over the first camera image, correspondences of the regular grid are searched for in the second camera image, and the first optical flow is determined from the movement of the grid over the camera images, and wherein to determine the second optical flow in a section of a first image of the road, a rectangle ascertained in the second image is placed in front of the vehicle in a top view, the second optical flow being formed by the movement of the rectangle in the two images, and the height of the camera being calculated from the movement of the rectangle. - View Dependent Claims (12)
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Specification