Real-time automatic vehicle camera calibration
AssigneeIntel Corporation
InventorsAlexander Bovyrin, Alexander Kozlov
Life of this patent
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Abstract
A camera facing the front of a vehicle while the vehicle is moving on the road may be calibrated by receiving sequential images from the camera. Image key points in the area limited by the road location are selected. The key points are tracked using an optical flow method. A filtering procedure is applied to the key points to identify the straight-line motion of the vehicle. At least two straight lines corresponding to opposite sides of the road. A calibration algorithm is applied to the at least two lines to determine a vanishing point. The pitch and/or yaw angles of the camera are then calculated.
Claims30
A method of calibrating a camera facing the front of a vehicle while the vehicle is moving on the road, comprising:
- receiving sequential images from the camera;
- finding image key points in an area limited by a location of the road;
- tracking the key points using an optical flow method;
- applying a filtering procedure to the key points to identify the straight-line motion of the vehicle and at least two straight lines corresponding to opposite sides of the road;
- applying a calibration algorithm to the at least two lines to determine a vanishing point;
- and
- calculating pitch or yaw angles of the camera.
One or more non-transitory computer readable media storing instructions to perform a sequence comprising:
- receiving sequential images from the camera;
- finding image key points in an area limited by a location of the road;
- tracking the key points using an optical flow method;
- applying a filtering procedure to the key points to identify the straight-line motion of the vehicle and at least two straight lines corresponding to opposite sides of the road;
- applying a calibration algorithm to the at least two lines to determine a vanishing point;
- and
- calculating pitch or yaw angles of the camera.
An apparatus comprising:
- a processor to receive sequential images from the camera, to find image key points in an area limited by a location of the road, to track the key points using an optical flow method, to apply filtering procedure to the key points to identify the straight-line motion of the vehicle and at least two straight lines corresponding to opposite sides of the road;
- to apply a calibration algorithm to the at least two lines to determine a vanishing point, and to calculate pitch or yaw angles of the camera;
- and
- a memory coupled to said processor.
Dependencies are inferred from the claim text.