VEHICULAR CAMERA CALIBRATION SYSTEM
First Claim
1. A camera calibration system for cameras of a vehicle, said camera calibration system comprising:
- a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle, wherein the fields of view of at least two of said cameras overlap, and wherein each of said cameras comprises an imager and a lens;
an image processor operable to process image data captured by said cameras;
wherein said image processor processes image data captured by said at least two of said cameras to determine features in the overlapping regions of the fields of view of said at least two of said cameras;
wherein said camera calibration system determines a best fitting camera model based on actual geometric properties of each of said cameras;
a display screen disposed in the vehicle for displaying images derived from image data captured by said at least two of said plurality of cameras for viewing by a driver of the vehicle during a driving maneuver of the vehicle; and
wherein, responsive to determining a best fitting camera model, the display screen displays images derived from image data captured by said at least two of said plurality of cameras and based at least in part on the best fitting camera model.
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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. The fields of view of at least two of the cameras overlap. An image processor is operable to process image data captured by the cameras to determine features in the overlapping regions of the fields of view of the at least two cameras. The camera calibration system determines a best fitting camera model based on actual geometric properties of each of the cameras. A display screen is disposed in the vehicle for displaying images derived from image data captured by the at least two cameras for viewing by a driver of the vehicle. Responsive to determining a best fitting camera model, the display screen displays images derived from image data captured by the at least two cameras.
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Citations
20 Claims
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1. A camera calibration system for cameras of a vehicle, said camera calibration system comprising:
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a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle, wherein the fields of view of at least two of said cameras overlap, and wherein each of said cameras comprises an imager and a lens; an image processor operable to process image data captured by said cameras; wherein said image processor processes image data captured by said at least two of said cameras to determine features in the overlapping regions of the fields of view of said at least two of said cameras; wherein said camera calibration system determines a best fitting camera model based on actual geometric properties of each of said cameras; a display screen disposed in the vehicle for displaying images derived from image data captured by said at least two of said plurality of cameras for viewing by a driver of the vehicle during a driving maneuver of the vehicle; and wherein, responsive to determining a best fitting camera model, the display screen displays images derived from image data captured by said at least two of said plurality of cameras and based at least in part on the best fitting camera model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A camera calibration system for cameras of a vehicle, said camera calibration system comprising:
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a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle, wherein the fields of view of at least two of said cameras overlap, and wherein each of said cameras comprises an imager and a fish-eye lens that provides a field of view greater than 180 degrees; an image processor operable to process image data captured by said plurality of cameras; wherein said image processor processes image data of said at least two of said cameras to determine features in the overlapping regions of the fields of view of said at least two of said cameras; wherein said camera calibration system determines a best fitting camera model based on actual geometric properties of each of said plurality of cameras; a display screen disposed in the vehicle for displaying images derived from image data captured by said at least two of said plurality of cameras for viewing by a driver of the vehicle during a driving maneuver of the vehicle; and wherein, responsive to determining a best fitting camera model, the display screen displays images derived from image data captured by at least one of said plurality of cameras and based at least in part on the best fitting camera model. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A camera calibration system for cameras of a vehicle, said camera calibration system comprising:
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a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle, wherein the fields of view of at least two of said cameras overlap, and wherein each of said cameras comprises an imager and a lens; an image processor operable to process image data captured by said cameras; wherein said image processor processes image data of said at least two of said cameras to determine features in the overlapping regions of the fields of view of said at least two of said cameras; wherein said camera calibration system determines a best fitting camera model based on actual geometric properties of each of said cameras by using a polynomial model to estimate a distortion effect of said lens of each of said at least two of said cameras, and wherein the polynomial model discards coefficients above a polynomial threshold; a display screen disposed in the vehicle for displaying images derived from image data captured by said at least two of said plurality of cameras for viewing by a driver of the vehicle during a driving maneuver of the vehicle; and wherein, responsive to determining a best fitting camera model, the display screen displays images derived from image data captured by said at least two of said plurality of cameras and based at least in part on the best fitting camera model. - View Dependent Claims (17, 18, 19, 20)
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Specification