Targetless vehicle camera calibration system
First Claim
1. A camera calibration system for a vehicle, said camera calibration system comprising:
- a camera disposed at a vehicle and having a field of view exterior of the vehicle;
wherein said camera is operable to capture image data;
an image processor that processes frames of image data captured by said camera as the vehicle moves along a vehicle assembly line;
wherein, responsive to processing by said image processor of frames of image data captured by said camera as the vehicle moves along the vehicle assembly line, said camera calibration system (i) determines features at the ground at the vehicle assembly line and adjacent to the vehicle as the vehicle moves along the vehicle assembly line and (ii) tracks the determined features over two or more frames of image data captured by said camera as the vehicle moves along the vehicle assembly line;
wherein, responsive to processing by said image processor of frames of image data captured by said camera as the vehicle moves along a straight path at a planar ground surface at the vehicle assembly line, said camera calibration system determines misalignment of said camera;
wherein said camera calibration system, responsive to determination of misalignment of said camera, calibrates said camera by using an assumption that the determined features lie in a plane parallel to the planar ground surface along the straight path at the vehicle assembly line;
wherein said camera calibration system determines misalignment of said camera and calibrates said camera without use of a target pattern; and
wherein said camera calibration system calibrates said camera by reducing ambiguity in vectors normal to the planar ground surface.
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Accused Products
Abstract
A vehicular camera calibration system includes a camera disposed at a vehicle and having a field of view exterior of the vehicle and being operable to capture image data. Responsive to processing of image data captured by the camera, the camera calibration system determines features at the ground adjacent to the vehicle and tracks the determined features over two or more frames of captured image data. Responsive to processing of frames of captured image data during movement of the vehicle along a straight path on a planar surface, the camera calibration system is operable to determine a misalignment of the camera. The camera calibration system calibrates the misaligned camera by using an assumption that the determined features lie in a plane parallel to the planar surface along which the vehicle is traveling. The camera calibration system calibrates the camera by reducing ambiguity in vectors normal to the planar surface.
45 Citations
20 Claims
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1. A camera calibration system for a vehicle, said camera calibration system comprising:
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a camera disposed at a vehicle and having a field of view exterior of the vehicle; wherein said camera is operable to capture image data; an image processor that processes frames of image data captured by said camera as the vehicle moves along a vehicle assembly line; wherein, responsive to processing by said image processor of frames of image data captured by said camera as the vehicle moves along the vehicle assembly line, said camera calibration system (i) determines features at the ground at the vehicle assembly line and adjacent to the vehicle as the vehicle moves along the vehicle assembly line and (ii) tracks the determined features over two or more frames of image data captured by said camera as the vehicle moves along the vehicle assembly line; wherein, responsive to processing by said image processor of frames of image data captured by said camera as the vehicle moves along a straight path at a planar ground surface at the vehicle assembly line, said camera calibration system determines misalignment of said camera; wherein said camera calibration system, responsive to determination of misalignment of said camera, calibrates said camera by using an assumption that the determined features lie in a plane parallel to the planar ground surface along the straight path at the vehicle assembly line; wherein said camera calibration system determines misalignment of said camera and calibrates said camera without use of a target pattern; and wherein said camera calibration system calibrates said camera by reducing ambiguity in vectors normal to the planar ground surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A camera calibration system for a vehicle, said camera calibration system comprising:
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a plurality of cameras disposed at a vehicle, each having respective field of view exterior of the vehicle; wherein said cameras are operable to capture image data; an image processor that processes frames of image data captured by said cameras as the vehicle moves along a vehicle assembly line; wherein, responsive to processing by said image processor of frames of image data captured by said cameras as the vehicle moves along the vehicle assembly line, said camera calibration system (i) determines features at the ground at the vehicle assembly line and adjacent to the vehicle as the vehicle moves along the vehicle assembly line and (ii) tracks the determined features over two or more frames of image data captured by said cameras as the vehicle moves along the vehicle assembly line; wherein, responsive to processing by said image processor of frames of image data captured by said cameras as the vehicle moves along a straight path at a ground plane at the vehicle assembly line, said camera calibration system determines misalignment of at least one of said cameras; wherein said camera calibration system, responsive to determination of misalignment of at least one of said cameras, calibrates the determined misaligned camera by using an assumption that the determined features lie at the ground plane at the vehicle assembly line; wherein said camera calibration system calibrates the determined misaligned camera by reducing ambiguity in vectors normal to the ground plane; and wherein said camera calibration system calibrates the determined misaligned camera without use of a target pattern. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A camera calibration system for a vehicle, said camera calibration system comprising:
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a plurality of cameras disposed at a vehicle, each having respective field of view exterior of the vehicle; wherein said cameras are operable to capture image data; wherein one camera of said plurality of cameras comprises a rear camera disposed at a rear portion of the vehicle, and another camera of said plurality of cameras comprises a side camera disposed at a driver-side exterior rearview mirror assembly of the vehicle and another camera of said plurality of cameras comprises a passenger side camera disposed at a passenger-side exterior rearview mirror assembly of the vehicle; wherein image data captured by at least some of said plurality of cameras is used for a surround view system of the vehicle; an image processor that processes frames of image data captured by said cameras as the vehicle moves along a vehicle assembly line; wherein, responsive to processing by said image processor of frames of image data captured by said cameras as the vehicle moves along the vehicle assembly line, said camera calibration system (i) determines features at the ground at the vehicle assembly line and adjacent to the vehicle as the vehicle moves along the vehicle assembly line and (ii) tracks the determined features over two or more frames of image data captured by said cameras as the vehicle moves along the vehicle assembly line; wherein said camera calibration system determines and tracks features below a threshold level in the cameras'"'"' fields of view and ignores features that are above the threshold level in the cameras'"'"' fields of view; wherein, responsive to processing by said image processor of frames of image data captured by said cameras as the vehicle moves along a straight path at a planar ground surface at the vehicle assembly line, said camera calibration system determines misalignment of at least one of said cameras; wherein said camera calibration system, responsive to determination of a misaligned camera, calibrates the determined misaligned camera by using an assumption that the determined features lie in a plane parallel to the planar ground surface along the straight path at the vehicle assembly line; wherein said camera calibration system determines misalignment of said camera and calibrates said camera without use of a target pattern; wherein said camera calibration system determines vectors normal to the plane and determines misalignment of the misaligned camera responsive to the determined vectors over two or more frames of captured image data; and wherein said camera calibration system calibrates the determined misaligned camera by reducing ambiguity in vectors normal to the planar ground surface. - View Dependent Claims (19, 20)
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Specification