System, Vehicle and Method for Online Calibration of a Camera on a Vehicle
AssigneeApplication Solutions (Electronics and Vision) Ltd.
InventorsPeter BONE, Pantelis ERMILIOS, Peter GAGNON, Dave WIBBERLEY
Life of this patent
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Abstract
A camera mounted on or for a vehicle has camera rotational parameters φ, θ, ψ and camera translational parameters xc, yc, zc in a camera image coordinate system, and the vehicle has a vehicle coordinate system. A method for online or on-the-fly calibration of the camera involves two independent steps, namely while the vehicle is moving relative to the ground, calibrating the camera rotational parameters using a parallel geometrical calibration process, and calibrating at least some of the camera translational parameters xc, yc independently of the camera rotational parameters.
Claims20
A method for online calibration of a camera on a vehicle driving on a ground in an environment, wherein camera rotational parameters and camera translational parameters are defined in a camera image coordinate system for the camera, wherein a vehicle coordinate system is defined for the vehicle, and wherein the method comprises steps:
- while moving the vehicle relative to the ground, calibrating the camera rotational parameters using a parallel geometrical calibration process, and
- calibrating at least selected ones of the camera translational parameters independently of the camera rotational parameters.
A method of calibrating a camera on a vehicle, wherein a vehicle coordinate system is defined relative to the vehicle, wherein a longitudinal translational parameter, a transverse translational parameter and rotational parameters are defined in a camera image coordinate system for the camera, and the method comprises steps:
- a) while the vehicle is moving, obtaining first image data from the camera;
- b) evaluating the first image data and performing a parallel geometrical calibration process based thereon, to thereby calibrate the rotational parameters of the camera to the vehicle coordinate system;
- c) while the vehicle is moving, obtaining second image data from the camera;
- and
- d) evaluating the second image data and performing a separate calibration process based thereon, to thereby calibrate the longitudinal translational parameter and the transverse translational parameter of the camera to the vehicle coordinate system, wherein the separate calibration process is performed separately and independently of the parallel geometrical calibration process and separately and independently of the rotational parameters.
Dependencies are inferred from the claim text.