Method for the Automatic Calibration of a Stereovision System
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Abstract
The invention relates to a method for the automatic calibration of a stereovision system which is intended to be disposed on board a motor vehicle. The inventive method comprises the following steps consisting in: acquiring (610) a left image and a right image of the same scene comprising at least one traffic lane for the vehicle, using a first and second acquisition device; searching (620) the left image and right image for at least two vanishing lines corresponding to two essentially-parallel straight lines of the lane; upon detection of said at least two vanishing lines, determining (640) the co-ordinates of the point of intersection of said at least two respectively-detected vanishing lines for the left image and the right image; and determining (650) the pitch error and the yaw error in the form of the intercamera difference in terms of pitch angle and yaw angle from the co-ordinates of the points of intersection determined for the left image and the right image.
31 Citations
26 Claims
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1-13. -13. (canceled)
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14. A method for automatic calibration of a stereovision system configured to be carried onboard a motor vehicle and including at least a first acquisition device for acquisition of a first left image and a second acquisition device for acquisition of a second right image, the method comprising:
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a) acquiring in the first acquisition device and in the second acquisition device, a left image and a right image, respectively, of a same scene including at least one running track for the vehicle;
b) determining a calibration error;
c) performing a rectification of the left and right images based on the calibration error;
the determining b) comprising;
b1) searching through the left image and through the right image for at least two vanishing lines corresponding to two straight and substantially parallel lines of the running track, lines of delimitation, or lines of marking of the running track, b2) determining for the left image and for the right image, coordinates of a point of intersection of said at least two respectively detected vanishing lines, b3) determining the calibration error by determining pitch error and yaw error in a form of intercamera difference of angle of pitch, respectively, of angle of yaw based on the coordinates of the intersection points determined for the left image and for the right image, and the rectification of the left and right images is performed as a function of the pitch error and of the yaw error. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification