MULTI-CAMERA IMAGE STITCHING CALIBRATION SYSTEM
First Claim
1. A vision system of a vehicle, said vision system comprising:
- a plurality of cameras having fields of view exterior a vehicle equipped with the vision system, wherein said plurality of cameras comprises a forward camera having a forward field of view, a rearward camera having a rearward facing view, a left side camera having a left sideward field of view at the left side of the equipped vehicle and a right side camera having a right sideward field of view at the right side of the equipped vehicle;
wherein a portion of said forward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view and wherein a portion of said rearward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view;
a display device operable to display images captured by said cameras of said vision system;
a plurality of user inputs actuatable by a user to manipulate the displayed images;
wherein, during camera calibration, a plurality of targets are disposed at ground locations near the vehicle and within the overlapping portions of the fields of views of said cameras of said vision system; and
wherein, when the displayed image of one of said cameras is misaligned with a displayed image of another of said cameras, a user actuates said user inputs to manipulate the displayed image of said one of said cameras to align portions of at least one of the targets in an overlapping region of the displayed images of said one of said cameras and said another of said cameras to correct for misalignment of said one of said cameras.
1 Assignment
0 Petitions
Accused Products
Abstract
A vision system of a vehicle includes a plurality of cameras with exterior overlapping fields of view. The vision system is operable to calibrate at least one of the cameras and includes a plurality of targets disposed at locations near the vehicle and within the fields of views of the cameras. A display device is operable to display images captured by the cameras of the vision system. A plurality of user inputs may be provided and a user may selectively actuate the user inputs to manipulate images captured by the cameras to align portions of a target in overlapping regions of the captured images of adjacent cameras to calibrate the cameras. The vision system may calibrate cameras automatically, such as responsive to the targets moving into the fields of views of the cameras, whereby the vision system may calibrate the cameras as the vehicle is moved along an assembly line.
-
Citations
20 Claims
-
1. A vision system of a vehicle, said vision system comprising:
-
a plurality of cameras having fields of view exterior a vehicle equipped with the vision system, wherein said plurality of cameras comprises a forward camera having a forward field of view, a rearward camera having a rearward facing view, a left side camera having a left sideward field of view at the left side of the equipped vehicle and a right side camera having a right sideward field of view at the right side of the equipped vehicle; wherein a portion of said forward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view and wherein a portion of said rearward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view; a display device operable to display images captured by said cameras of said vision system; a plurality of user inputs actuatable by a user to manipulate the displayed images; wherein, during camera calibration, a plurality of targets are disposed at ground locations near the vehicle and within the overlapping portions of the fields of views of said cameras of said vision system; and wherein, when the displayed image of one of said cameras is misaligned with a displayed image of another of said cameras, a user actuates said user inputs to manipulate the displayed image of said one of said cameras to align portions of at least one of the targets in an overlapping region of the displayed images of said one of said cameras and said another of said cameras to correct for misalignment of said one of said cameras. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A vision system of a vehicle, said vision system comprising:
-
a plurality of cameras having fields of view exterior a vehicle equipped with the vision system, wherein said plurality of cameras comprises a forward camera having a forward field of view, a rearward camera having a rearward facing view, a left side camera having a left sideward field of view at the left side of the equipped vehicle and a right side camera having a right sideward field of view at the right side of the equipped vehicle; wherein each of said cameras comprises a lens and an imager; wherein a portion of said forward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view and wherein a portion of said rearward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view; a display device operable to display images captured by said cameras of said vision system; wherein said vision system is operable to calibrate said cameras to correct for mis- alignment of at least one of said cameras. wherein, during camera calibration, a plurality of targets are disposed at ground locations near the vehicle and within the overlapping portions of the fields of views of said cameras; and wherein, during camera calibration, said vision system is operable to (i) utilize a math model to at least in part correct for lens distortion based on lens nominal design data, (ii) utilize a lens-to-sensor misalignment assessment and correction by determining a relationship between the degree of curvature of horizontal lines and vertical misalignment of said lens to a center of said imager for each of said cameras, (iii) utilize a perspective correction to at least in part correct for remaining rotation and translation errors and (iv) utilize a fine tuning of smaller mis-matches to achieve smooth stitching for the displayed image. - View Dependent Claims (8, 9, 10, 11, 12)
-
-
13. A vision system of a vehicle, said vision system comprising:
-
a plurality of cameras having fields of view exterior a vehicle equipped with the vision system, wherein said plurality of cameras comprises a forward camera having a forward field of view, a rearward camera having a rearward facing view, a left side camera having a left sideward field of view at the left side of the equipped vehicle and a right side camera having a right sideward field of view at the right side of the equipped vehicle; wherein a portion of said forward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view and wherein a portion of said rearward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view; wherein said vision system is operable to calibrate said cameras to correct for mis- alignment of at least one of said cameras; wherein said vision system is operable to calibrate said cameras while the vehicle is moving; wherein a plurality of targets are disposed at ground locations near the path of the vehicle so that, when the vehicle is at or near the targets, the targets are at least partially within the overlapping portions of the fields of views of said cameras; and wherein camera calibration is triggered by at least one triggering target moving into a predetermined position in the field of view of at least one of said cameras as the vehicle moves relative to the targets. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
-
Specification