METHOD FOR CALIBRATING AN IMAGE CAPTURE DEVICE
First Claim
1. A method for calibrating an image capture device mounted on a vehicle and able to capture successively images of a road area located in front of the vehicle, said method comprising:
- detecting in a captured image at least two image objects that correspond to line segments characterized as straight and substantially parallel to each other in world coordinates;
estimating a position of a vanishing point in the captured image based on the image objects;
tracking the position of the vanishing point in subsequently captured images, and calculating an error for the position of the vanishing point; and
calibrating the image capture device with the position and the error if the error is less than a threshold value.
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Abstract
In a method for calibrating an image capture device that is mounted on a motor vehicle and able to successively capture images of a road area located in front of the vehicle, at least two image objects which correspond to line segments which are straight and substantially parallel to each other in world coordinates are detected in a captured image. With the aid of the image objects, the position of a vanishing point in the captured image is estimated and tracked by a tracking method. In the process, an error is calculated for the position of the vanishing point. As soon as the calculated error decreases to less than a predetermined threshold value, the image capture device is calibrated with reference to the position of the vanishing point associated with the error.
13 Citations
17 Claims
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1. A method for calibrating an image capture device mounted on a vehicle and able to capture successively images of a road area located in front of the vehicle, said method comprising:
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detecting in a captured image at least two image objects that correspond to line segments characterized as straight and substantially parallel to each other in world coordinates; estimating a position of a vanishing point in the captured image based on the image objects; tracking the position of the vanishing point in subsequently captured images, and calculating an error for the position of the vanishing point; and calibrating the image capture device with the position and the error if the error is less than a threshold value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for calibrating an image capture device (10) which is mounted on a motor vehicle and able to successively capture images (20) of a road area located in front of the vehicle, wherein
at least two image objects (25a, 25b) which correspond to line segments which are straight and substantially parallel to each other in world coordinates are detected in a captured image (20), based on the image objects (25a, 25b), the position of a vanishing point (15) in the captured image (20) is estimated, by a tracking method the estimated position of the vanishing point (15) is tracked in subsequently captured images (20) and, by said same tracking method, an error is calculated for the position of the vanishing point (15), and as soon as the calculated error falls below a predetermined threshold value, the image capture device (10) is calibrated with reference to the position of the vanishing point (15) associated with the error.
Specification