Method and arrangement for calibration of cameras

A stereo camera arrangement arranged in a vehicle to calibrate two cameras with respect to each other, wherein the stereo camera arrangement comprises:

• a first camera;
• a second camera;
• and
• a controller adapted to:
• receive a first image from the first camera, and receive a second image from the second camera, wherein an overlap is present in both the first image and the second image;
• determine at least two candidate points of the first image in the overlap;
• determine at least two candidate points of the second image in the overlap;
• match the candidate points of the first image with the candidate points of the second image and determine pairs of corresponding candidate points;
• calculate a homography of the first camera based on the pairs of corresponding candidate points;
• calculate a homography of the second camera based on the pairs of corresponding candidate points;
• calibrate the first camera by adjusting an intrinsic parameter or an extrinsic parameter of the first camera, based on the calculated homography of the first camera;
• and
• calibrate the second camera by adjusting an intrinsic parameter or an extrinsic parameter of the second camera, based on the calculated homography of the second camera.

A computer program product comprising a non-transitory computer readable medium, having thereon a computer program comprising program instructions, the computer program being loadable into a data-processing unit and adapted to cause execution of a method comprising:

• receiving a first image from the first camera;
• receiving a second image from the second camera, wherein both the first image and the second image comprises an overlap;
• determining one or more candidate points of the first image in the overlap;
• determining one or more candidate points of the second image in the overlap;
• matching the candidate points of the first image with the candidate points of the second image and determining pairs of corresponding candidate points;
• calculating a homography of the first camera based on the pairs of corresponding candidate points;
• calculating a homography of the second camera based on the pairs of corresponding candidate points;
• calibrating the first camera by adjusting an intrinsic parameter or an extrinsic parameter of the first camera, based on the calculated homography of the first camera;
• and
• calibrating the second camera by adjusting an intrinsic parameter or an extrinsic parameter of the second camera, based on the calculated homography of the second camera.