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ESTIMATION OF PANORAMIC CAMERA ORIENTATION RELATIVE TO A VEHICLE COORDINATE FRAME

  • US 20140192145A1
  • Filed: 03/12/2014
  • Published: 07/10/2014
  • Est. Priority Date: 02/20/2009
  • Status: Active Grant
First Claim
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1. A method for estimating orientation of cameras mounted on vehicles, comprising:

  • determining, by one or more processors, an initial pose estimate of a vehicle having a camera mounted thereon, the initial pose estimate being a position and orientation of the vehicle relative to the world;

    processing, by the one or more processors, image data from images captured by the camera to obtain one or more tracks, each track including a sequence of matched feature points stemming from a single three-dimensional location; and

    determining, by the one or more processors, from the initial pose estimate and the tracks, a correction parameter to correct orientations of the images captured by the camera, wherein determining the correction parameter includes evaluating a set of vehicle poses, three-dimensional locations from the one or more tracks, and an orientation of the camera relative to one or more sensors of the vehicle.

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