Vehicle vision system with camera calibration

• US 10,445,900 B1
• Filed: 08/09/2019
• Issued: 10/15/2019
• Est. Priority Date: 08/17/2016
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Singh, Jagmal, Pliefke, Sebastian
• Primary Examiner(s): Nguyen, Huy T
• Application Number:
  US16/536,381
• Time in Patent Office: Days
• CPC Class Codes: B60R 1/12 Mirror assemblies combined with other articles, e.g. clocks
• CPC Class Codes: B60R 2001/1253 with cameras, video cameras or video screens
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

A method for calibrating a camera of a vehicular vision system includes capturing a first frame of image data by the camera during a first ignition cycle of the vehicle, and, responsive to ending the first ignition cycle of the vehicle, saving to memory the first frame of captured image data. A second frame of image data is captured by the camera during a second ignition cycle of the vehicle following the first ignition cycle. The first frame of captured image data is compared by an image processor to the second frame of captured image data to determine a change in orientation of the camera. Responsive to determination of the change in orientation of the camera, processing by the image processor of frames of image data captured by the camera during the second ignition cycle is adjusted to accommodate the determined change in orientation of the camera.

Claims

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;

providing an image processor at the vehicle for processing frames of image data captured by the camera;

capturing a first frame of image data by the camera during a first ignition cycle of the vehicle;

responsive to ending the first ignition cycle of the vehicle, saving to memory the first frame of captured image data;

capturing a second frame of image data by the camera during a second ignition cycle of the vehicle following the first ignition cycle;

comparing, via the image processor, the first frame of captured image data to the second frame of captured image data;

determining, via comparison by the image processor of the first frame of captured image data to the second frame of captured image data, a change in orientation of the camera from a first orientation during the first ignition cycle of the vehicle to a second orientation during the second ignition cycle of the vehicle; and

responsive to determination of the change in orientation of the camera, adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to accommodate the determined change in orientation of the camera.

2. The method of claim 1, wherein determining a change in orientation of the camera comprises determining a change in orientation of the camera relative to ground that is indicative of loading or unloading of the vehicle between the first and second ignition cycles.

3. The method of claim 1, wherein capturing the first frame of image data by the camera comprises capturing the first frame of image data by the camera when the vehicle is stationary, and wherein capturing the second frame of image data by the camera comprises capturing the second frame of image data by the camera when the vehicle is stationary.

4. The method of claim 1, wherein capturing the first frame of image data by the camera comprises capturing the first frame of image data by the camera at or near the end of the first ignition cycle of the vehicle, and wherein capturing the second frame of image data by the camera comprises capturing the second frame of image data by the camera at the onset of the second ignition cycle of the vehicle.

5. The method of claim 4, wherein capturing the first frame of image data by the camera comprises capturing the first frame of image data by the camera when the vehicle is stationary at or near the end of the first ignition cycle of the vehicle.

6. The method of claim 4, wherein capturing the second frame of image data by the camera comprises capturing the second frame of image data by the camera when the vehicle is stationary at or near the onset of the second ignition cycle of the vehicle.

7. The method of claim 1, wherein the second ignition cycle is the next ignition cycle of the vehicle following the first ignition cycle.

8. The method of claim 1, wherein comparing the first frame of captured image data to the second frame of captured image data comprises comparing features of the second frame of captured image data to features of the first frame of captured image data to determine the change in orientation of the camera.

9. The method of claim 1, comprising providing a video display in the vehicle that is viewable by a driver of the vehicle, wherein the video display displays video images derived from frames of image data captured by the camera.

10. The method of claim 9, wherein adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle comprises adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to adjust display of video images at the video display.

11. The method of claim 1, wherein providing a camera comprises providing a rear camera at a rear portion of the vehicle that has a field of view rearward of the vehicle.

12. The method of claim 1, wherein providing a camera comprises providing a plurality of cameras at the vehicle that have respective fields of view exterior of the vehicle.

13. 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;

providing an image processor at the vehicle for processing frames of image data captured by the camera;

capturing a first frame of image data by the camera when the vehicle is stationary during a first ignition cycle of the vehicle;

responsive to ending the first ignition cycle of the vehicle, saving to memory the first frame of captured image data;

capturing a second frame of image data by the camera when the vehicle is stationary during a second ignition cycle of the vehicle following the first ignition cycle;

wherein the second ignition cycle is the next ignition cycle of the vehicle following the first ignition cycle;

comparing, via the image processor, the first frame of captured image data to the second frame of captured image data;

determining, via comparison by the image processor of the first frame of captured image data to the second frame of captured image data, a change in orientation of the camera from a first orientation during the first ignition cycle of the vehicle to a second orientation during the second ignition cycle of the vehicle;

wherein determining a change in orientation of the camera comprises determining a change in orientation of the camera relative to ground that is indicative of loading or unloading of the vehicle between the first and second ignition cycles; and

responsive to determination of the change in orientation of the camera, adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to accommodate the determined change in orientation of the camera.

14. The method of claim 13, wherein capturing the first frame of image data by the camera comprises capturing the first frame of image data by the camera at or near the end of the first ignition cycle of the vehicle, and wherein capturing the second frame of image data by the camera comprises capturing the second frame of image data at the onset of the second ignition cycle of the vehicle.

15. The method of claim 13, comprising providing a video display in the vehicle that is viewable by a driver of the vehicle, wherein the video display displays video images derived from frames of image data captured by the camera, and wherein adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle comprises adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to adjust display of video images at the video display.

16. The method of claim 13, wherein providing a camera comprises providing a rear camera at a rear portion of the vehicle that has a field of view rearward of the vehicle.

17. The method of claim 13, wherein providing a camera comprises providing a plurality of cameras at the vehicle that have respective fields of view exterior of the vehicle.

18. 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;

providing an image processor at the vehicle for processing frames of image data captured by the camera;

capturing a first frame of image data by the camera when the vehicle is stationary at or near the end of a first ignition cycle of the vehicle;

responsive to ending the first ignition cycle of the vehicle, saving to memory the first frame of captured image data;

capturing a second frame of image data by the camera when the vehicle is stationary at the onset of a second ignition cycle of the vehicle following the first ignition cycle;

wherein the second ignition cycle is the next ignition cycle of the vehicle following the first ignition cycle;

comparing, via the image processor, the first frame of captured image data to the second frame of captured image data;

determining, via comparison by the image processor of the first frame of captured image data to the second frame of captured image data, a change in orientation of the camera from a first orientation during the first ignition cycle of the vehicle to a second orientation during the second ignition cycle of the vehicle; and

responsive to determination of the change in orientation of the camera, adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to accommodate the determined change in orientation of the camera.

19. The method of claim 18, comprising providing a video display in the vehicle that is viewable by a driver of the vehicle, wherein the video display displays video images derived from frames of image data captured by the camera, and wherein adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle comprises adjusting processing by the image processor of frames of image data captured by the camera during the second ignition cycle to adjust display of video images at the video display.

20. The method of claim 18, wherein providing a camera comprises providing a rear camera at a rear portion of the vehicle that has a field of view rearward of the vehicle.

21. The method of claim 18, wherein providing a camera comprises providing a plurality of cameras at the vehicle that have respective fields of view exterior of the vehicle.

22. The method of claim 18, wherein comparing the first frame of captured image data to the second frame of captured image data comprises comparing features of the second frame of captured image data to features of the first frame of captured image data.