Method for determining alignment of vehicular cameras

  • US 10,868,974 B2
  • Filed: 02/19/2018
  • Issued: 12/15/2020
  • Est. Priority Date: 12/01/2010
  • Status: Active Grant
First Claim
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1. A method for determining alignment of cameras at a vehicle relative to one another, said method comprising:

  • mounting a first camera at a vehicle so as to have a first field of view encompassing a road surface of a road along which the vehicle is traveling;

    mounting a second camera at the vehicle so as to have a second field of view encompassing the road surface of the road along which the vehicle is traveling;

    wherein the first and second fields of view of the first and second cameras overlap partially;

    providing an image processor at the vehicle;

    while the vehicle is moving along the road, capturing first image data via the first camera;

    while the vehicle is moving along the road, capturing second image data via the second camera;

    providing first image data captured by the first camera to the image processor;

    providing second image data captured by the second camera to the image processor;

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

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

    dewarping the first image data and the second image data;

    while the vehicle is moving along the road, determining, via processing of first image data captured by the first camera, movement of a road feature present in first image data captured by the first camera;

    while the vehicle is moving along the road, determining, via processing of second image data captured by the second camera, movement of the road feature when the road feature is present in second image data captured by the second camera;

    comparing the determined movement of the road feature in first image data captured by the first camera to the determined movement of the road feature in second image data captured by the second camera while the vehicle is moving along the road;

    determining, via comparing the determined movements of the road feature, a rotational and translational offset of the second camera at the vehicle relative to the first camera at the vehicle; and

    responsive to determination of the rotational and translational offset of the second camera at the vehicle relative to the first camera at the vehicle, remapping the first and second image data based at least in part on the determined rotational and translational offset to at least partially accommodate misalignment of the second camera relative to the first camera.

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