Vehicle vision system with calibration algorithm

  • US 9,916,660 B2
  • Filed: 01/15/2016
  • Issued: 03/13/2018
  • Est. Priority Date: 01/16/2015
  • 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 camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle;

    wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements;

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

    wherein said camera calibration comprises an estimation of extrinsic parameters and an estimation of intrinsic parameters responsive to determination of the monoview noncoplanar three dimensional calibration pattern distributed on a semi-sphere;

    wherein said vision system provides camera calibration using a monoview noncoplanar three dimensional semi-spherical calibration pattern; and

    wherein values of distortion polynomial coefficients are estimated using three dimensional calibration points distributed on a semi-sphere by formulating the following;

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