VEHICLE VISION SYSTEM WITH CALIBRATION ALGORITHM
First Claim
Patent Images
1. A vision system of a vehicle, said vision system comprising:
- a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle;
wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements;
an image processor operable to process image data captured by said camera; and
wherein said vision system provides camera calibration using a monoview noncoplanar three dimensional semi-spherical calibration pattern.
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Abstract
A vision system of a vehicle includes a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle. The camera may include a fisheye lens. An image processor is operable to process image data captured by the camera. The vision system provides enhanced camera calibration using a monoview noncoplanar three dimensional calibration pattern. The system may include a plurality of cameras configured to be disposed at the vehicle so as to have respective fields of view exterior of the vehicle.
18 Citations
20 Claims
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1. A vision system of a vehicle, said vision system comprising:
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a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle; wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements; an image processor operable to process image data captured by said camera; and wherein said vision system provides camera calibration using a monoview noncoplanar three dimensional semi-spherical calibration pattern. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vision system of a vehicle, said vision system comprising:
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a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle, wherein said camera comprises a fish eye lens; wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements; an image processor operable to process image data captured by said camera; wherein said vision system provides camera calibration using a monoview noncoplanar three dimensional semi-spherical calibration pattern; and wherein said camera calibration comprises an estimation of extrinsic parameters and an estimation of intrinsic parameters responsive to determination of the monoview noncoplanar three dimensional calibration pattern distributed on a semi-sphere. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A vision system of a vehicle, said vision system comprising:
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a plurality of cameras configured to be disposed at a vehicle so as to have respective fields of view exterior of the vehicle, wherein at least one camera of said plurality of cameras comprises a fish eye lens; wherein each of said cameras comprises a pixelated imaging array having a plurality of photosensing elements; an image processor operable to process image data captured by said at least one camera; and wherein said vision system provides camera calibration of said at least one camera using a monoview noncoplanar three dimensional semi-spherical calibration pattern. - View Dependent Claims (18, 19, 20)
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Specification