Stereo auto-calibration from structure-from-motion

A system for auto-calibration of a camera of a host vehicle, the system comprising:

• at least one processor programmed to:
• receive, from a first camera, a first image and a second image, the first and second images including an environment of the first camera;
• receive, from a second camera, a third image including the environment of the second camera;
• identify a first image point corresponding to a feature in the first image and a second image point corresponding to the feature in the second image;
• determine a three-dimensional coordinate of the feature based on a motion parameter of at least one of the first camera and the second camera and a comparison of the first image point and the second image point;
• determine a third image point corresponding to the feature in the third image;
• and
• determine at least one calibration parameter of the second camera based on the three-dimensional coordinate of the feature and the third image point.

A non-transitory computer-readable storage medium that comprises instructions that are executable by at least one processor to cause the at least one processor to perform a method for auto-calibration of a camera, the method comprising:

• receiving, from a first camera, a first image and a second image, the first and second images including an environment of the first camera;
• receiving, from a second camera, a third image including the environment of the second camera;
• identifying a first image point corresponding to a feature in the first image and a second image point corresponding to the feature in the second image;
• determining a three-dimensional coordinate of the feature based on a motion parameter of at least one of the first camera and the second camera and a comparison of the first image point and the second image point;
• determining a third image point corresponding to the feature in the third image;
• and
• determining at least one calibration parameter of the second camera based on the three-dimensional coordinate of the feature and the third image point.