System for calibrating extrinsic parameters for a camera in an autonomous vehicle

A system for determining calibrated camera extrinsic parameters for an autonomous vehicle, the system comprising:

• a camera mounted to the autonomous vehicle collecting image data including a plurality of image frames;
• one or more automated driving controllers in electronic communication with the camera that executes instructions to:
• determine a vehicle pose estimate based on position and movement of the autonomous vehicle by a localization algorithm;
• determine a camera pose of the camera based on the vehicle pose estimate and initial camera extrinsic parameters;
• identify specific feature points of interest between two sequential image frames that are part of the plurality of image frames;
• execute a triangulation algorithm to determine three dimensional coordinates for the specific feature points of interests corresponding to the two sequential image frames;
• and
• execute a non-linear optimization algorithm to determine the calibrated camera extrinsic parameters based on the three dimensional coordinates for the specific feature points of interests corresponding to the two sequential image frames, the specific feature points of interests corresponding to the two sequential image frames, and the camera pose corresponding to the two sequential image frames.