METHOD AND DEVICE FOR ONLINE CALIBRATION OF VEHICLE CAMERAS
First Claim
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1. A method for determining the orientation of a video camera attached to a vehicle relative to the vehicle coordinate system, comprising:
- Measuring an incremental vehicle motion in the coordinate system of the video camera based on the optical flow of the video stream of the video camera;
representing the incremental vehicle motion by a motion consisting of a linear motion component and a rotational motion, wherein the linear motion component is represented by a directional vector and the rotational motion is represented by a rotation axis and a rotational angle;
classifying the measured incremental vehicle motion as a linear motion or as a rotational motion based on the determined rotational angle;
measuring at least one incremental motion which has been classified as a linear motion;
measuring at least one incremental motion which has been classified as a rotational motion; and
using the directional vector of the at least one measured linear motion for estimating the longitudinal axis of the vehicle;
using the rotational vector of the at least one measured rotational motion for estimating the normal to the vehicle plane so that the orientation of the camera relative to the vehicle coordinate system follows from the vehicle longitudinal axis and the normal to the vehicle plane, which have been determined in the coordinate system of the camera, respectively.
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Abstract
A method for determining the orientation of a video camera attached to a vehicle relative to the vehicle coordinate system, comprising:
- Measuring an incremental vehicle motion in the coordinate system of the video camera based on the optical flow of the video stream of the video camera;
- representing the incremental vehicle motion by a motion consisting of a linear motion component and a rotational motion, wherein the linear motion component is represented by a directional vector and the rotational motion is represented by a rotation axis and a rotational angle;
- classifying the measured incremental vehicle motion as a linear motion or as a rotational motion based on the determined rotational angle;
- measuring at least one incremental motion which has been classified as a linear motion;
- measuring at least one incremental motion which has been classified as a rotational motion; and
- using the directional vector of the at least one measured linear motion for estimating the longitudinal axis of the vehicle;
- using the rotational vector of the at least one measured rotational motion for estimating the normal to the vehicle plane so that the orientation of the camera relative to the vehicle coordinate system follows from the vehicle longitudinal axis and the normal to the vehicle plane, which have been determined in the coordinate system of the camera, respectively.
27 Citations
10 Claims
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1. A method for determining the orientation of a video camera attached to a vehicle relative to the vehicle coordinate system, comprising:
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Measuring an incremental vehicle motion in the coordinate system of the video camera based on the optical flow of the video stream of the video camera; representing the incremental vehicle motion by a motion consisting of a linear motion component and a rotational motion, wherein the linear motion component is represented by a directional vector and the rotational motion is represented by a rotation axis and a rotational angle; classifying the measured incremental vehicle motion as a linear motion or as a rotational motion based on the determined rotational angle; measuring at least one incremental motion which has been classified as a linear motion; measuring at least one incremental motion which has been classified as a rotational motion; and using the directional vector of the at least one measured linear motion for estimating the longitudinal axis of the vehicle; using the rotational vector of the at least one measured rotational motion for estimating the normal to the vehicle plane so that the orientation of the camera relative to the vehicle coordinate system follows from the vehicle longitudinal axis and the normal to the vehicle plane, which have been determined in the coordinate system of the camera, respectively. - View Dependent Claims (2, 3, 4, 5, 6, 7, 9, 10)
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8. An apparatus for determining the orientation of a video camera attached to a vehicle relative to a vehicle coordinate system comprising:
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A module for measuring an incremental vehicle motion in the coordinate system of the video camera based on the optical flow of the video stream of the video camera; A module for representing the incremental vehicle motion by a motion consisting of a linear motion component and a rotational motion, wherein the linear motion component is represented by a directional vector and the rotational motion is represented by a rotation axis and a rotational angle; A module for classifying the measured incremental vehicle motion as a linear motion or as a rotational motion based on the determined rotational angle; A module for measuring at least one incremental motion which has been classified as a linear motion; A module for measuring at least one incremental motion which has been classified as a rotational motion; and A module for using the directional vector of the at least one measured linear motion for estimating the longitudinal axis of the vehicle; A module for using the rotational vector of the at least one measured rotational motion for estimating the normal to the vehicle plane so that the orientation of the camera relative to the vehicle coordinate system follows from the vehicle longitudinal axis and the normal to the vehicle plane, which have been determined in the coordinate system of the camera, respectively.
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Specification