Targetless vehicular camera calibration method

  • US 10,567,748 B2
  • Filed: 05/21/2018
  • Issued: 02/18/2020
  • Est. Priority Date: 05/21/2013
  • Status: Active Grant
  • ×
    • Pin Icon | RPX Insight
    • Pin
First Claim
Patent Images

1. A method of calibrating a vehicular camera, said method comprising:

  • disposing a camera at a vehicle so as to have a field of view exterior of the vehicle, wherein the camera comprises a two-dimensional photosensor array having a plurality of photosensing elements;

    moving the vehicle along an arbitrary path;

    capturing image data with the camera as the vehicle moves along the arbitrary path;

    processing, via a processor, image data captured by the camera;

    receiving at the processor vehicle data representative of vehicle kinematic motion as the vehicle moves along the arbitrary path;

    responsive to processing by the processor of multiple frames of image data captured by the camera as the vehicle moves along the arbitrary path, determining at least one feature present in the multiple frames of image data captured by the camera and tracking the determined at least one feature across the multiple frames of image data captured by the camera;

    responsive to tracking the determined at least one feature across the multiple frames of image data captured by the camera during movement of the vehicle along the arbitrary path, and responsive to the received vehicle data representative of the movement of the vehicle along the arbitrary path, determining misalignment of the camera in one or more of (i) its yaw angle, (ii) its pitch angle and (iii) its roll angle;

    correcting the determined misalignment of the camera;

    wherein correcting the determined misalignment of the camera starts from at least one of (i) an initial estimation of camera calibration and (ii) an intrinsic parameter of the camera; and

    wherein correcting the determined misalignment of the camera is achieved (i) without use of a target in the field of view of the camera as the vehicle moves along the arbitrary path and (ii) without processing of image data captured by the camera that is representative of a target in the field of view of the camera as the vehicle moves along the arbitrary path.

View all claims
    ×
    ×

    Thank you for your feedback

    ×
    ×