Vehicle vision system with targetless camera calibration

  • US 9,563,951 B2
  • Filed: 05/20/2014
  • Issued: 02/07/2017
  • Est. Priority Date: 05/21/2013
  • Status: Active Grant
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First Claim
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1. A camera calibration system of a vehicle, said camera calibration system comprising:

  • a camera disposed at a vehicle and having a field of view exterior of the vehicle;

    wherein said camera comprises a two dimensional array having a plurality of photosensing elements;

    wherein said camera is operable to capture image data;

    an image processor operable to process image data captured by said camera;

    wherein said camera calibration system is operable to generate camera calibration parameters utilizing a bundle adjustment algorithm;

    wherein said bundle adjustment algorithm uses a kinematic model of vehicle motion derived from image processing by said image processor of multiple frames of captured image data;

    wherein said bundle adjustment algorithm generates calibration parameters utilizing the equation;


    Ximage=P*Xw,where Ximage is a selection of image points in captured image data, P is a projective matrix representing motion between frames of captured image data, and Xw is a vector of world coordinates of image points in captured image data;

    wherein, responsive to image processing by said image processor of multiple frames of captured image data, said camera calibration system extracts and matches features determined in multiple frames of captured image data;

    wherein, responsive to image processing by said image processor of captured image data during movement of the vehicle along an arbitrary path, and responsive to generation of camera calibration parameters utilizing said bundle adjustment algorithm, said camera calibration system is operable to calibrate said camera; and

    wherein said camera calibration system calibrates said camera as the vehicle navigates the arbitrary path, and wherein calibration of said camera includes correction for misalignment in yaw, pitch and roll angles of said camera.

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