VEHICLE VISION SYSTEM WITH TARGETLESS CAMERA CALIBRATION
First Claim
1. A camera calibration system of 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 comprises a two dimensional array having a plurality of photosensing elements;
wherein said camera is operable to capture image data;
an image processor operable to process image data captured by said camera;
wherein said camera calibration system is operable to generate camera calibration parameters utilizing a bundle adjustment algorithm; and
wherein, responsive to image processing of captured image data during movement of the vehicle along an arbitrary path, and responsive to generation of camera calibration parameters utilizing said bundle adjustment algorithm, said camera calibration system is operable to calibrate said camera.
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Accused Products
Abstract
A camera calibration system of a vehicle includes a camera disposed at a vehicle and having a field of view exterior of the vehicle. The camera is operable to capture image data. An image processor operable to process image data captured by the camera. The camera calibration system is operable to generate camera calibration parameters utilizing a bundle adjustment algorithm. Responsive to image processing of captured image data during movement of the vehicle along an arbitrary path, and responsive to the bundle adjustment algorithm, the camera calibration system is operable to calibrate the camera. The bundle adjustment algorithm may iteratively refine calibration parameters starting from a known initial estimation.
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Citations
20 Claims
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1. A camera calibration system of 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 comprises a two dimensional array having a plurality of photosensing elements; wherein said camera is operable to capture image data; an image processor operable to process image data captured by said camera; wherein said camera calibration system is operable to generate camera calibration parameters utilizing a bundle adjustment algorithm; and wherein, responsive to image processing of captured image data during movement of the vehicle along an arbitrary path, and responsive to generation of camera calibration parameters utilizing said bundle adjustment algorithm, said camera calibration system is operable to calibrate said camera. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A camera calibration system of a vehicle, said camera calibration system comprising:
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a plurality of cameras disposed at a vehicle, each having a respective field of view exterior of the vehicle; wherein said plurality of cameras comprises (i) a rear camera disposed at a rear portion of the vehicle and having a rearward field of view, (ii) a driver-side camera disposed at a driver-side exterior rearview mirror assembly of the vehicle and at least having a generally sideward and rearward field of view and (iii) a passenger-side camera disposed at a passenger-side exterior rearview mirror assembly of the vehicle and at least having a generally sideward and rearward field of view; wherein said cameras are operable to capture image data; an image processor operable to process image data captured by said cameras; wherein said camera calibration system is operable to generate camera calibration parameters for each of said cameras utilizing a bundle adjustment algorithm; and wherein, responsive to image processing of captured image data during movement of the vehicle along an arbitrary path, and responsive to generation of camera calibration parameters utilizing said bundle adjustment algorithm, said camera calibration system is operable to calibrate each of said cameras. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A camera calibration system of a vehicle, said camera calibration system comprising:
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a plurality of cameras disposed at the vehicle, each having a respective field of view exterior of the vehicle; wherein each of said cameras comprises a two dimensional array of a plurality of photosensing elements; wherein said plurality of cameras comprises a rear camera disposed at a rear portion of the vehicle, a driver side camera disposed at a driver-side exterior rearview mirror assembly of the vehicle and a passenger side camera disposed at a passenger-side exterior rearview mirror assembly of the vehicle; wherein each of said cameras is operable to capture image data; an image processor operable to process image data captured by said cameras; wherein image data captured by at least some of said plurality of cameras is used for a surround view system of the vehicle; wherein said camera calibration system is operable to generate camera calibration parameters utilizing a bundle adjustment algorithm; wherein the generated camera calibration parameters comprise (i) at least one of translational components X, Y, Z and (ii) at least one of rotational components Yaw, Pitch and Roll; and wherein, responsive to image processing of captured image data during movement of the vehicle along an arbitrary path, and responsive to generation of camera calibration parameters utilizing said bundle adjustment algorithm, said camera calibration system is operable to calibrate at least one of said cameras. - View Dependent Claims (19, 20)
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Specification