MULTI-CAMERA IMAGE STITCHING CALIBRATION SYSTEM
First Claim
1. A method of calibrating cameras of a multi-camera vision system for a being-assembled vehicle, said method comprising:
- providing a plurality of targets at a vehicle assembly line at a vehicle assembly plant;
equipping a being-assembled vehicle that is being conveyed along the vehicle assembly line with a plurality of cameras that includes (i) a front camera disposed at a front portion of the being-assembled vehicle and viewing at least forward of the being-assembled vehicle, (ii) a driver-side camera disposed at a driver side of the being-assembled vehicle and viewing at least sideward of the being-assembled vehicle, (iii) a passenger-side camera disposed at a passenger side of the being-assembled vehicle and viewing at least sideward of the being-assembled vehicle, and (iv) a rear camera disposed at a rear of the being-assembled vehicle and viewing at least rearward of the being-assembled vehicle;
moving the being-assembled vehicle along the vehicle assembly line;
wherein providing a plurality of targets at the vehicle assembly line comprises providing a plurality of calibrating targets;
wherein, when the being-assembled vehicle is moved along the vehicle assembly line so as to be at the provided calibrating targets, at least some targets of the calibrating targets are encompassed by respective fields of view of the front camera, the driver-side camera, the passenger-side camera and the rear camera;
capturing image data with the cameras as the being-assembled vehicle moves along the vehicle assembly line;
determining, via processing of captured image data and as the being-assembled vehicle moves along the vehicle assembly line, the presence of at least one target of the plurality of targets in the field of view of at least one of the cameras; and
responsive to determination of the presence of at least one target in the field of view of at least one of the cameras, calibrating the cameras via processing captured image data and determining the presence of the calibrating targets in the respective fields of view of the front camera, the driver-side camera, the passenger-side camera, and the rear camera as the being-assembled vehicle moves along the vehicle assembly line.
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Abstract
A method of calibrating cameras of a multi-camera vision system for a being-assembled vehicle includes providing a plurality of targets at a vehicle assembly line at a vehicle assembly plant and moving a being-assembled vehicle along the vehicle assembly line. When the being-assembled vehicle is moved along the vehicle assembly line so as to be at provided calibrating targets, at least some targets of the calibrating targets are encompassed by respective fields of view of the cameras of the being-assembled vehicle. The presence of at least one target is determined via processing of captured image data and as the being-assembled vehicle moves along the vehicle assembly line. Responsive to determination of the presence of at least one target, the cameras are calibrated and as the being-assembled vehicle moves along the vehicle assembly line.
5 Citations
20 Claims
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1. A method of calibrating cameras of a multi-camera vision system for a being-assembled vehicle, said method comprising:
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providing a plurality of targets at a vehicle assembly line at a vehicle assembly plant; equipping a being-assembled vehicle that is being conveyed along the vehicle assembly line with a plurality of cameras that includes (i) a front camera disposed at a front portion of the being-assembled vehicle and viewing at least forward of the being-assembled vehicle, (ii) a driver-side camera disposed at a driver side of the being-assembled vehicle and viewing at least sideward of the being-assembled vehicle, (iii) a passenger-side camera disposed at a passenger side of the being-assembled vehicle and viewing at least sideward of the being-assembled vehicle, and (iv) a rear camera disposed at a rear of the being-assembled vehicle and viewing at least rearward of the being-assembled vehicle; moving the being-assembled vehicle along the vehicle assembly line; wherein providing a plurality of targets at the vehicle assembly line comprises providing a plurality of calibrating targets; wherein, when the being-assembled vehicle is moved along the vehicle assembly line so as to be at the provided calibrating targets, at least some targets of the calibrating targets are encompassed by respective fields of view of the front camera, the driver-side camera, the passenger-side camera and the rear camera; capturing image data with the cameras as the being-assembled vehicle moves along the vehicle assembly line; determining, via processing of captured image data and as the being-assembled vehicle moves along the vehicle assembly line, the presence of at least one target of the plurality of targets in the field of view of at least one of the cameras; and responsive to determination of the presence of at least one target in the field of view of at least one of the cameras, calibrating the cameras via processing captured image data and determining the presence of the calibrating targets in the respective fields of view of the front camera, the driver-side camera, the passenger-side camera, and the rear camera as the being-assembled vehicle moves along the vehicle assembly line. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of calibrating cameras of a multi-camera vision system for a being-assembled vehicle, said method comprising:
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providing a plurality of targets at a vehicle assembly line at a vehicle assembly plant; equipping a being-assembled vehicle that is being conveyed along the vehicle assembly line with a plurality of cameras that includes (i) a front camera disposed at a front portion of the being-assembled vehicle and viewing at least forward of the being-assembled vehicle, (ii) a driver-side camera disposed at a driver side of the being-assembled vehicle and viewing at least sideward of the being-assembled vehicle, (iii) a passenger-side camera disposed at a passenger side of the being-assembled vehicle and viewing at least sideward of the being-assembled vehicle, and (iv) a rear camera disposed at a rear of the being-assembled vehicle and viewing at least rearward of the being-assembled vehicle; moving the being-assembled vehicle along the vehicle assembly line; wherein providing a plurality of targets at the vehicle assembly line comprises providing a plurality of calibrating targets; wherein, when the being-assembled vehicle is moved along the vehicle assembly line so as to be at the provided calibrating targets, at least some targets of the calibrating targets are encompassed by respective fields of view of the front camera, the driver-side camera, the passenger-side camera and the rear camera; wherein providing a plurality of calibrating targets comprises providing a plurality of calibrating targets at ground locations at the vehicle assembly line so as to be within overlapping portions of the fields of views of respective pairs of cameras when the being-assembled vehicle is moved so as to be at the calibrating targets; capturing image data with the cameras as the being-assembled vehicle moves along the vehicle assembly line; determining, via processing of captured image data and as the being-assembled vehicle moves along the vehicle assembly line, the presence of at least one target of the plurality of targets in the field of view of at least one of the cameras; responsive to determination of the presence of at least one target in the field of view of at least one of the cameras, calibrating the cameras via processing captured image data and determining the presence of the calibrating targets in the respective fields of view of the front camera, the driver-side camera, the passenger-side camera, and the rear camera as the being-assembled vehicle moves along the vehicle assembly line; and wherein calibrating the cameras comprises, via processing of image data captured by the cameras, determining multi-axial orientation of the cameras. - View Dependent Claims (16, 17)
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18. A method of calibrating cameras of a multi-camera vision system for a being-assembled vehicle, said method comprising:
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providing a plurality of targets at a vehicle assembly line at a vehicle assembly plant; equipping a being-assembled vehicle that is being conveyed along the vehicle assembly line with a plurality of cameras that includes (i) a front camera disposed at a front portion of the being-assembled vehicle and viewing at least forward of the being-assembled vehicle, (ii) a driver-side camera disposed at a driver side of the being-assembled vehicle and viewing at least sideward of the being-assembled vehicle, (iii) a passenger-side camera disposed at a passenger side of the being-assembled vehicle and viewing at least sideward of the being-assembled vehicle, and (iv) a rear camera disposed at a rear of the being-assembled vehicle and viewing at least rearward of the being-assembled vehicle; moving the being-assembled vehicle along the vehicle assembly line; wherein providing a plurality of targets at the vehicle assembly line comprises providing a plurality of calibrating targets; wherein, when the being-assembled vehicle is moved along the vehicle assembly line so as to be at the provided calibrating targets, at least some targets of the calibrating targets are encompassed by respective fields of view of the front camera, the driver-side camera, the passenger-side camera and the rear camera; wherein providing a plurality of calibrating targets comprises providing a plurality of calibrating targets at ground locations at the vehicle assembly line so as to be within overlapping portions of the fields of views of respective pairs of cameras when the being-assembled vehicle is moved so as to be at the calibrating targets; capturing image data with the cameras as the being-assembled vehicle moves along the vehicle assembly line; determining, via processing of captured image data and as the being-assembled vehicle moves along the vehicle assembly line, the presence of at least one target of the plurality of targets in the field of view of at least one of the cameras; responsive to determination of the presence of at least one target in the field of view of at least one of the cameras, calibrating the cameras via processing captured image data and determining the presence of the calibrating targets in the respective fields of view of the front camera, the driver-side camera, the passenger-side camera, and the rear camera as the being-assembled vehicle moves along the vehicle assembly line; and wherein calibrating the cameras comprises calibrating the cameras via an initial calibration process and, following the initial calibration process, a fine tuning process that fine tunes to enhance stitching for images derived from image data captured by the cameras that are displayable at a display screen of the being-assembled vehicle. - View Dependent Claims (19, 20)
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Specification