VEHICLE CAMERA CALIBRATION SYSTEM
First Claim
1. A camera calibration system for vehicular cameras, said camera calibration system comprising:
- a plurality of cameras disposed at a vehicle, with each camera of the plurality of cameras having a respective field of view exterior of the vehicle, wherein the fields of view of two of said cameras overlap;
a control having an image processor operable to process image data captured by said cameras;
wherein said image processor processes image data captured by said two cameras having overlapping fields of view to determine at least one matching feature present at an overlapping region of the fields of view of said two cameras;
wherein, while the vehicle is moving, said image processor processes multiple frames of image data captured by said two cameras having overlapping fields of view to track the at least one matching feature present in the overlapping region of the fields of view of said two cameras;
wherein said control, responsive to image processing by said image processor of multiple frames of image data captured by said two cameras having overlapping fields of view, determines motion of at least one matching feature and minimizes a cost function of an error in the matching of the at least one feature; and
wherein said camera calibration system uses the determined minimized cost function to refine calibration of said two cameras using a feedback loop.
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Accused Products
Abstract
A camera calibration system for cameras of a vehicle includes a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle, with the fields of view of two of the cameras overlapping. While the vehicle is moving, an image processor of a control processes image data captured by the two cameras to determine and track matching features in an overlapping region of the fields of view of the two cameras. The control, responsive to image processing of image data captured by the two cameras, determines motion of matching features and minimizes a cost function of the error in the matching of the features. The camera calibration system uses the determined minimized cost function to refine calibration results of the two cameras using a feedback loop.
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Citations
20 Claims
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1. A camera calibration system for vehicular cameras, said camera calibration system comprising:
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a plurality of cameras disposed at a vehicle, with each camera of the plurality of cameras having a respective field of view exterior of the vehicle, wherein the fields of view of two of said cameras overlap; a control having an image processor operable to process image data captured by said cameras; wherein said image processor processes image data captured by said two cameras having overlapping fields of view to determine at least one matching feature present at an overlapping region of the fields of view of said two cameras; wherein, while the vehicle is moving, said image processor processes multiple frames of image data captured by said two cameras having overlapping fields of view to track the at least one matching feature present in the overlapping region of the fields of view of said two cameras; wherein said control, responsive to image processing by said image processor of multiple frames of image data captured by said two cameras having overlapping fields of view, determines motion of at least one matching feature and minimizes a cost function of an error in the matching of the at least one feature; and wherein said camera calibration system uses the determined minimized cost function to refine calibration of said two cameras using a feedback loop. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A camera calibration system for vehicular cameras, said camera calibration system comprising:
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a plurality of cameras disposed at a vehicle; wherein said plurality of cameras comprises a rear camera disposed at a rear portion of the vehicle and having a field of view rearward of the vehicle, a driver-side camera disposed at a driver side of the vehicle and having a field of view sideward and rearward at the driver side of the vehicle, and a passenger-side camera disposed at a passenger side of the vehicle and having a field of view sideward and rearward at the passenger side of the vehicle; wherein the fields of view of said rear camera and said driver-side camera overlap at a first overlapping region; wherein the fields of view of said rear camera and said passenger-side camera overlap at a second overlapping region; a control having an image processor operable to process image data captured by said rear camera, said driver-side camera and said passenger-side camera; wherein said image processor processes image data captured by said rear camera and said driver-side camera to determine at least one matching feature present at the first overlapping region of the fields of view of said rear camera and said driver-side camera; wherein said image processor processes image data captured by said rear camera and said passenger-side camera to determine at least one matching feature present at the second overlapping region of the fields of view of said rear camera and said passenger-side camera; wherein, while the vehicle is moving, said image processor processes multiple frames of image data captured by said rear camera and said driver-side camera to track the at least one matching feature present in the first overlapping region of the fields of view of said rear camera and said driver-side camera; wherein, while the vehicle is moving, said image processor processes multiple frames of image data captured by said rear camera and said passenger-side camera to track the at least one matching feature present in the second overlapping region of the fields of view of said rear camera and said passenger-side camera; wherein said control, responsive to image processing by said image processor of multiple frames of image data captured by said rear camera and said driver-side camera, determines motion of at least one matching feature and minimizes a first cost function of an error in the matching of the at least one feature; wherein said control, responsive to image processing by said image processor of multiple frames of image data captured by said rear camera and said passenger-side camera, determines motion of at least one matching feature and minimizes a second cost function of an error in the matching of the at least one feature; and wherein said camera calibration system uses the determined minimized first and second cost functions to refine calibration of said rear camera, said driver-side camera and said passenger-side camera using at least one feedback loop. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A camera calibration system for vehicular cameras, said camera calibration system comprising:
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a plurality of cameras disposed at a vehicle; wherein said plurality of cameras comprises a rear camera disposed at a rear portion of the vehicle and having a field of view rearward of the vehicle, a driver-side camera disposed at a driver side of the vehicle and having a field of view sideward and rearward at the driver side of the vehicle, and a passenger-side camera disposed at a passenger side of the vehicle and having a field of view sideward and rearward at the passenger side of the vehicle; wherein the fields of view of said rear camera and said driver-side camera overlap at a first overlapping region; wherein the fields of view of said rear camera and said passenger-side camera overlap at a second overlapping region; a control having an image processor operable to process image data captured by said rear camera, said driver-side camera and said passenger-side camera; wherein said image processor processes image data captured by said rear camera and said driver-side camera to determine at least one matching feature present at the first overlapping region of the fields of view of said rear camera and said driver-side camera; wherein said image processor processes image data captured by said rear camera and said passenger-side camera to determine at least one matching feature present at the second overlapping region of the fields of view of said rear camera and said passenger-side camera; wherein, while the vehicle is moving, said image processor processes multiple frames of image data captured by said rear camera and said driver-side camera to track the at least one matching feature present in the first overlapping region of the fields of view of said rear camera and said driver-side camera; wherein, while the vehicle is moving, said image processor processes multiple frames of image data captured by said rear camera and said passenger-side camera to track the at least one matching feature present in the second overlapping region of the fields of view of said rear camera and said passenger-side camera; wherein said control uses structure from motion of the ground structure moving through the fields of view of said rear camera and said driver-side camera while the vehicle is moving to generate a first three dimensional point cloud, and wherein said control uses structure from motion of the ground structure moving through the fields of view of said rear camera and said passenger-side camera while the vehicle is moving to generate a second three dimensional point cloud; wherein the generated three dimensional point clouds provide features that are present at respective overlapping regions of the fields of view of adjacent ones of said cameras; wherein said control, responsive to image processing by said image processor of multiple frames of image data captured by said rear camera and said driver-side camera, determines motion of matching features and minimizes a first cost function of an error in the matching of the features; wherein said control, responsive to image processing by said image processor of multiple frames of image data captured by said rear camera and said passenger-side camera, determines motion of matching features and minimizes a second cost function of an error in the matching of the features; and wherein said camera calibration system uses the determined minimized first and second cost functions to refine calibration of said rear camera, said driver-side camera and said passenger-side camera using at least one feedback loop. - View Dependent Claims (17, 18, 19, 20)
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Specification