Method for calibrating a vehicular camera system

  • US 8,421,865 B2
  • Filed: 05/01/2012
  • Issued: 04/16/2013
  • Est. Priority Date: 10/24/2008
  • Status: Expired due to Fees
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First Claim
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1. A method of calibrating a vehicular multi-camera system, said method comprising:

  • equipping a vehicle with a plurality of cameras wherein each camera of said plurality of cameras captures image data;

    wherein said plurality of cameras comprises a first camera mounted at a forward portion of the vehicle and having a field of view that includes a ground surface forward of the vehicle, a second camera mounted at a rearward portion of the vehicle and having a field of view that includes a ground surface rearward of the vehicle, a third camera mounted at a sideward portion of the vehicle and having a field of view that includes a ground surface sideward of the vehicle at one side of the vehicle, and a fourth camera mounted at another sideward portion of the vehicle and having a field of view that includes a ground surface sideward of the vehicle at the other side of the vehicle;

    equipping said vehicle with an image processor;

    inputting image data from each of said plurality of cameras to said image processor;

    said image processor processing input image data in order to calibrate said vehicular multi-camera system;

    wherein calibration of said vehicular multi-camera system is achieved independently of a model of the real world;

    producing a chronological sequence of image data by recurrently applying a selection criterion to select from a sequence of subimage data records recorded by said first, second, third and fourth cameras;

    determining parameters of transformations of said subimage data records via an optimization method that uses a quality criterion for an overall image; and

    assembling a sequence of transformed subimage data records to form a sequence of overall image data.

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