CALIBRATION SYSTEM AND METHOD FOR VEHICULAR SURROUND VISION SYSTEM

• US 20170054974A1
• Filed: 11/07/2016
• Published: 02/23/2017
• Est. Priority Date: 11/15/2011
• Status: Active Application

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Pliefke, Sebastian
• Granted Patent: US 10,264,249 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 2300/402 Image calibration
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: H04N 17/002 for television cameras

Abstract

A camera calibration method for calibrating at least one camera of a vehicle includes providing a target area for a vehicle to be positioned at, with the vehicle having a forward camera, a rearward camera and opposite side cameras. When the vehicle is positioned at the target area, a target is electronically generated at an area that is encompassed by the field of view of one of the cameras or at an overlapping portion of the fields of view of two of the cameras of the vehicle. Image data is captured by the two cameras that is representative of the generated target. Image data captured by the two cameras is processed to detect the target in the fields of view of the two cameras. At least one of the two cameras is calibrated responsive to detection of the target.

Claims

1. A camera calibration method for calibrating at least one camera of a vehicle, said camera calibration method comprising:

providing a target area for a vehicle to be positioned at, the vehicle having a forward camera, a rearward camera and opposite side cameras;

when the vehicle is positioned at the target area, electronically generating a target at an overlapping portion of the fields of view of two of the cameras of the vehicle by use of light projection;

capturing image data captured by the two cameras that is representative of the target at the overlapping portion;

processing image data captured by the two cameras to detect the target in the overlapping portion of the fields of view of the two cameras; and

calibrating at least one of the two cameras responsive to detection of the target.

2. The camera calibration method of claim 1, wherein the steps of electronically generating a target and capturing image data are repeated to collect multiple frames of captured image data, and wherein processing image data comprises processing image data of said multiple frames of captured image data to detect the target in the multiple frames of captured image data.

3. The camera calibration method of claim 1, wherein the step of electronically generating a target comprises electronically generating a laser target via a laser device.

4. The camera calibration method of claim 3, wherein said laser device is operable to emit a laser target that comprises at least a pair of intersecting laser-generated lines generated by said laser device.

5. The camera calibration method of claim 4, wherein, when the vehicle is at the target region, said intersecting laser lines extend from a center region of the field of view of a respective camera into an overlapping portion of the fields of view of the respective camera and another of said cameras.

6. The camera calibration method of claim 1, comprising receiving an input indicative of a type or size of the vehicle positioned at the target area, wherein the step of electronically generating a target comprises reconfiguring the target responsive to the input to adapt the target for that particular type or size of vehicle positioned thereat.

7. The camera calibration method of claim 6, wherein, with the vehicle positioned at the target area and with the target configured for that particular type or size of vehicle, at least one camera of the vehicle has a field of view that at least partially encompasses the electronically generated reconfigured target.

8. The camera calibration method of claim 7, wherein the step of reconfiguring the target comprises reconfiguring at least one of a size of the target and a location of the target.

9. The camera calibration method of claim 7, wherein the step of reconfiguring the target comprises reconfiguring the target via a covering element that selectively exposes a portion of the target and covers another portion of the target.

10. The camera calibration method of claim 9, wherein said covering element comprises a linearly movable covering element that is movable along and over said one of said reconfigurable calibration target.

11. The camera calibration method of claim 8, wherein said adjustable covering element comprises a pivotable covering element that is pivotable about a hinge element between first and second covering positions.

12. The camera calibration method of claim 6, wherein the step of reconfiguring the target comprises reconfiguring at least one reconfigurable display.

13. The camera calibration method of claim 12, wherein the steps of electronically generating and reconfiguring the target comprises electronically generating a displayed target at the reconfigurable display and adjusting, responsive to the input, at least one of a size of the displayed target at the at least one reconfigurable display and a location of the displayed target at the at least one reconfigurable display.

14. The camera calibration method of claim 13, wherein the at least one reconfigurable display comprises a plurality of reconfigurable displays.

15. The camera calibration method of claim 14, wherein the step of electronically generating the target comprises activating a reconfigurable display at at least some of the forward, rearward and sideward regions of the vehicle when the vehicle is positioned at the target area.

16. The camera calibration method of claim 1, wherein the step of electronically generating the target comprises electronically generating a plurality of targets.

17. The camera calibration method of claim 16, wherein at least some of the electronically generated targets are established at side regions of the vehicle when the vehicle is positioned at the target area.

18. The camera calibration method of claim 16, wherein the step of electronically generating a plurality of targets comprises electronically generating a plurality of checkerboard type targets at forward, rearward and sideward regions of the vehicle when the vehicle is positioned at the target area.

19. The camera calibration method of claim 16, wherein at least one of the electronically generated targets comprises a larger target as compared to at least one other of the targets.

20. The camera calibration method of claim 19, wherein the larger target comprises a forward or rearward one of the targets.

21. A camera calibration method for calibrating at least one camera of a vehicle, said camera calibration method comprising:

providing a target area for a vehicle to be positioned at, the vehicle having a forward camera, a rearward camera and opposite side cameras;

receiving an input indicative of a type or size of the vehicle;

when the vehicle is positioned at the target area, electronically generating a plurality of targets, each generated at an area encompassed by a respective field of view of the cameras of the vehicle;

wherein the step of electronically generating a plurality of targets comprises reconfiguring at least some of the targets responsive to the input to adapt the targets for that particular type or size of vehicle positioned thereat;

capturing image data captured by the cameras that is representative of the targets;

processing image data captured by the cameras to detect the targets in the fields of view of the cameras; and

calibrating the cameras responsive to detection of the targets.

22. The camera calibration method of claim 21, wherein the step of reconfiguring at least some of the targets comprises reconfiguring at least some of the targets via a covering element that selectively exposes a portion of a respective target and covers another portion of the respective target.

23. The camera calibration method of claim 21, wherein the step of reconfiguring the targets comprises reconfiguring at least one reconfigurable display.

24. A camera calibration method for calibrating at least one camera of a vehicle, said camera calibration method comprising:

providing a target area for a vehicle to be positioned at, the vehicle having a forward camera, a rearward camera and opposite side cameras;

when the vehicle is positioned at the target area, electronically generating a plurality of targets by use of light projection, each generated at an area encompassed by a field of view of a respective one of the cameras of the vehicle, wherein a forward target is at an area encompassed by the field of view of the forward camera, a rearward target is at an area encompassed by the field of view of the rearward camera, a first side target is at an area encompassed by the field of view of a first side camera, and a second side target is at an area encompassed by the field of view of a second side camera;

wherein the step of electronically generating a plurality of targets comprises reconfiguring at least some of the targets to adapt the size or location of the targets for a particular type or size of the vehicle positioned at the target area;

capturing image data captured by the cameras that is representative of the targets;

processing image data captured by the cameras to detect the targets in the fields of view of the cameras; and

calibrating the cameras responsive to detection of the targets.

25. The camera calibration method of claim 24, wherein the step of electronically generating a plurality of targets comprises electronically generating a plurality of laser targets via at least one laser device, and wherein the step of reconfiguring at least some of the targets comprises reconfiguring the at least one laser device.

26. The camera calibration method of claim 24, wherein the step of electronically generating a plurality of targets comprises electronically generating a plurality of laser targets via at least one reconfigurable display, and wherein the step of reconfiguring the targets comprises reconfiguring the at least one reconfigurable display.