Maintaining calibration of an IBIS camera

A vehicle comprising:

• at least one computer-readable medium storing computer-executable instructions;
• and
• one or more processors configured to execute the computer-executable instructions, the execution carrying out operations comprising:
• receiving, using at least one processor, a first initial extrinsic calibration of a first camera having a first sensor, wherein the first initial extrinsic calibration includes a rotation matrix and an initial translation matrix and is based on a first position of the first sensor when the first camera captures an initial image;
• determining, using the at least one processor, a first translation of the first sensor based on a second position thereof when the first camera captures a first image, the second position being different than the first position;
• determining, using the at least one processor, a first extrinsic translation shift based at least upon the first translation, wherein the first extrinsic translation shift represents a first net translation between the first position and the second position of the first sensor;
• and
• updating, using the at least one processor, the first initial extrinsic calibration to yield a first modified extrinsic calibration for the first camera based on the first extrinsic translation shift, wherein the first modified extrinsic calibration includes the rotation matrix and a first adjusted translation matrix given by a summation of the first extrinsic translation shift with the initial translation matrix.

A non-transitory computer-readable storage medium comprising at least one program for execution using at least one processor of a first device, the at least one program including instructions which, when executed using the at least one processor, cause the first device to perform operations comprising:

• receiving, using the at least one processor, a first initial extrinsic calibration of a first camera having a first sensor, wherein the first initial extrinsic calibration includes a rotation matrix and an initial translation matrix and is based on a first position of the first sensor when the first camera captures an initial image;
• determining, using the at least one processor, a first translation of the first sensor based on a second position thereof when the first camera captures a first image, the second position being different than the first position;
• determining, using the at least one processor, a first extrinsic translation shift based at least upon the first translation, wherein the first extrinsic translation shift represents a first net translation between the first position and the second position of the first sensor;
• and
• updating, using the at least one processor, the first initial extrinsic calibration to yield a first modified extrinsic calibration for the first camera based on the first extrinsic translation shift, wherein the first modified extrinsic calibration includes the rotation matrix and a first adjusted translation matrix given by a summation of the first extrinsic translation shift with the initial translation matrix.