Vehicle vision system with camera calibration
First Claim
1. A method for calibrating a camera of a vehicular vision system, said method comprising:
- providing a camera at a vehicle so as to have a field of view exterior of the vehicle;
providing an image processor at the vehicle for processing frames of image data captured by the camera;
capturing a first frame of image data by the camera during a first ignition cycle of the vehicle;
responsive to ending the first ignition cycle of the vehicle, saving to memory the first frame of captured image data;
capturing a second frame of image data by the camera during a second ignition cycle of the vehicle following the first ignition cycle;
comparing, via the image processor, the first frame of captured image data to the second frame of captured image data;
determining, via comparison by the image processor of the first frame of captured image data to the second frame of captured image data, a change in orientation of the camera from a first orientation during the first ignition cycle of the vehicle to a second orientation during the second ignition cycle of the vehicle; and
responsive to determination of the change in orientation of the camera, adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to accommodate the determined change in orientation of the camera.
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Abstract
A method for calibrating a camera of a vehicular vision system includes capturing a first frame of image data by the camera during a first ignition cycle of the vehicle, and, responsive to ending the first ignition cycle of the vehicle, saving to memory the first frame of captured image data. A second frame of image data is captured by the camera during a second ignition cycle of the vehicle following the first ignition cycle. The first frame of captured image data is compared by an image processor to the second frame of captured image data to determine a change in orientation of the camera. Responsive to determination of the change in orientation of the camera, processing by the image processor of frames of image data captured by the camera during the second ignition cycle is adjusted to accommodate the determined change in orientation of the camera.
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Citations
22 Claims
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1. A method for calibrating a camera of a vehicular vision system, said method comprising:
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providing a camera at a vehicle so as to have a field of view exterior of the vehicle; providing an image processor at the vehicle for processing frames of image data captured by the camera; capturing a first frame of image data by the camera during a first ignition cycle of the vehicle; responsive to ending the first ignition cycle of the vehicle, saving to memory the first frame of captured image data; capturing a second frame of image data by the camera during a second ignition cycle of the vehicle following the first ignition cycle; comparing, via the image processor, the first frame of captured image data to the second frame of captured image data; determining, via comparison by the image processor of the first frame of captured image data to the second frame of captured image data, a change in orientation of the camera from a first orientation during the first ignition cycle of the vehicle to a second orientation during the second ignition cycle of the vehicle; and responsive to determination of the change in orientation of the camera, adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to accommodate the determined change in orientation of the camera. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for calibrating a camera of a vehicular vision system, said method comprising:
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providing a camera at a vehicle so as to have a field of view exterior of the vehicle; providing an image processor at the vehicle for processing frames of image data captured by the camera; capturing a first frame of image data by the camera when the vehicle is stationary during a first ignition cycle of the vehicle; responsive to ending the first ignition cycle of the vehicle, saving to memory the first frame of captured image data; capturing a second frame of image data by the camera when the vehicle is stationary during a second ignition cycle of the vehicle following the first ignition cycle; wherein the second ignition cycle is the next ignition cycle of the vehicle following the first ignition cycle; comparing, via the image processor, the first frame of captured image data to the second frame of captured image data; determining, via comparison by the image processor of the first frame of captured image data to the second frame of captured image data, a change in orientation of the camera from a first orientation during the first ignition cycle of the vehicle to a second orientation during the second ignition cycle of the vehicle; wherein determining a change in orientation of the camera comprises determining a change in orientation of the camera relative to ground that is indicative of loading or unloading of the vehicle between the first and second ignition cycles; and responsive to determination of the change in orientation of the camera, adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to accommodate the determined change in orientation of the camera. - View Dependent Claims (14, 15, 16, 17)
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18. A method for calibrating a camera of a vehicular vision system, said method comprising:
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providing a camera at a vehicle so as to have a field of view exterior of the vehicle; providing an image processor at the vehicle for processing frames of image data captured by the camera; capturing a first frame of image data by the camera when the vehicle is stationary at or near the end of a first ignition cycle of the vehicle; responsive to ending the first ignition cycle of the vehicle, saving to memory the first frame of captured image data; capturing a second frame of image data by the camera when the vehicle is stationary at the onset of a second ignition cycle of the vehicle following the first ignition cycle; wherein the second ignition cycle is the next ignition cycle of the vehicle following the first ignition cycle; comparing, via the image processor, the first frame of captured image data to the second frame of captured image data; determining, via comparison by the image processor of the first frame of captured image data to the second frame of captured image data, a change in orientation of the camera from a first orientation during the first ignition cycle of the vehicle to a second orientation during the second ignition cycle of the vehicle; and responsive to determination of the change in orientation of the camera, adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to accommodate the determined change in orientation of the camera. - View Dependent Claims (19, 20, 21, 22)
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Specification