Estimation of panoramic camera orientation relative to a vehicle coordinate frame

A system, comprising:

• one or more processors configured to:
• determine an initial pose estimate of a vehicle having a camera mounted thereon, the initial pose estimate being a position and orientation of the vehicle relative to the world;
• process image data from images captured by the camera to obtain one or more tracks, each track including a sequence of matched feature points stemming from a single three-dimensional location;
• and
• determine, from the initial pose estimate and the tracks, a correction parameter to correct orientations of the images captured by the camera, wherein determining the correction parameter includes evaluating a set of vehicle poses, three-dimensional locations from the one or more tracks, and an orientation of the camera relative to one or more sensors of the vehicle.

A non-transitory computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method for estimating orientation of cameras mounted on vehicles, the method comprising:

• determining an initial pose estimate of a vehicle having a camera mounted thereon, the initial pose estimate being a position and orientation of the vehicle relative to the world;
• processing image data from images captured by the camera to obtain one or more tracks, each track including a sequence of matched feature points stemming from a single three-dimensional location;
• and
• determining from the initial pose estimate and the tracks, a correction parameter to correct orientations of the images captured by the camera, wherein determining the correction parameter includes evaluating a set of vehicle poses, three-dimensional locations from the one or more tracks, and an orientation of the camera relative to one or more sensors of the vehicle.