Vehicle vision system with calibration algorithm

  • US 10,235,775 B2
  • Filed: 03/07/2018
  • Issued: 03/19/2019
  • Est. Priority Date: 01/16/2015
  • Status: Active Grant
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First Claim
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1. A method for calibrating a camera of a vehicular vision system, said method comprising:

  • providing a camera at a vehicle so as to have a field of view exterior of the vehicle;

    wherein the camera comprises a pixelated imaging array having a plurality of photosensing elements;

    providing an image processor at the vehicle, wherein the image processor is operable to process image data captured by the camera;

    capturing image data via the camera;

    processing image data captured by the camera;

    determining, at least in part via processing of image data captured by the camera, a monoview noncoplanar three dimensional calibration pattern distributed on a semi-sphere;

    responsive to determination of the monoview noncoplanar three dimensional calibration pattern distributed on the semi-sphere, estimating extrinsic parameters of the camera and estimating intrinsic parameters of the camera;

    performing at least one of (i) a linear refinement of the estimated extrinsic parameters and intrinsic parameters and (ii) a non-linear refinement of the estimated extrinsic parameters and intrinsic parameters;

    responsive to processing by the image processor of image data captured by the camera, calibrating the camera at least in part by using the determined monoview noncoplanar three dimensional semi-spherical calibration pattern; and

    wherein calibrating the camera comprises using a Taylor model.

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