Multi-camera image stitching calibration system

  • US 9,723,272 B2
  • Filed: 10/04/2013
  • Issued: 08/01/2017
  • Est. Priority Date: 10/05/2012
  • Status: Active Grant
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First Claim
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1. A vision system of a vehicle, said vision system comprising:

  • a plurality of cameras having fields of view exterior a vehicle equipped with the vision system, wherein said plurality of cameras comprises a forward camera having a forward field of view, a rearward camera having a rearward facing view, a left side camera having a left sideward field of view at the left side of the equipped vehicle and a right side camera having a right sideward field of view at the right side of the equipped vehicle;

    wherein a portion of said forward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view and wherein a portion of said rearward field of view overlaps respective portions of said left sideward field of view and said right sideward field of view;

    a display device operable to display images captured by said cameras of said vision system;

    a plurality of user inputs actuatable by a user to manipulate the displayed images;

    wherein, during manual camera calibration, a plurality of targets are disposed at ground locations near the vehicle and within the overlapping portions of the fields of views of said cameras of said vision system;

    wherein, when the displayed image of one of said cameras is misaligned with a displayed image of another of said cameras, a user actuates said user inputs to manipulate the displayed image of said one of said cameras to align portions of at least one of the targets in an overlapping region of the displayed images of said one of said cameras and said another of said cameras to correct for misalignment of said one of said cameras;

    wherein, during manual camera calibration, the displayed image captured by a first calibrated camera of said plurality of cameras is manipulated so that lines are displayed as straight and rectangles are displayed in their right shapes and scales; and

    wherein, after the displayed image captured by the first calibrated camera is manipulated to reach a satisfactory state, the first calibrated camera is used as a calibration reference for a second calibrated camera, and wherein the displayed image captured by the second calibrated camera is manipulated so that lines are displayed as straight and rectangles are displayed in their right shapes and scales and so that at the border of the displayed images captured by the first and second calibrated cameras, the patterns transition smoothly and continuously across the border or overlapping areas of the displayed images.

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