Vehicle vision system with targetless camera calibration

  • US 9,979,957 B2
  • Filed: 01/26/2017
  • Issued: 05/22/2018
  • Est. Priority Date: 05/21/2013
  • Status: Active Grant
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First Claim
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1. A camera calibration system for 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 photosensor 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 generates camera calibration parameters at least in part by iteratively refining calibration parameters starting from at least one of (i) an initial estimation and (ii) an intrinsic parameter of said camera;

    wherein said camera calibration system uses a kinematic model of vehicle motion derived at least in part from image processing by said image processor of multiple frames of 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 of captured image data by said image processor during movement of the vehicle along an arbitrary path, and responsive to generation of camera calibration parameters, said camera calibration system calibrates said camera as the vehicle navigates the arbitrary path;

    wherein calibration of said camera includes correction for misalignment in at least one of (i) yaw angle, (ii) pitch angle and (iii) roll angle; and

    wherein said camera is initially calibrated in the vehicle assembly plant in which the vehicle is assembled.

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