Online Evaluation for Camera Intrinsic Parameters
AssigneeContinental Automotive GmbH
InventorCarlos SILVA
Life of this patent
Estimating the term…
Abstract
The invention relates to a camera system (1) for a vehicle (2). The camera system (1) is configured to acquire image data of a surrounding of the vehicle (2) and comprises a camera (10) and a control module (20). The control module (20) is configured to determine, whether a calibration of an intrinsic parameter of the camera system (1) is required, by determining an error in a back projection, a forward projection and/or a reprojection of the image data and by determining whether the error exceeds a predefined threshold.
Claims14
A camera system (1) for a vehicle (2), configured to acquire image data of a surrounding of the vehicle (2), comprising:
- a camera (10);
- and
- a control module (20),
- wherein the control module (20) is configured to determine, whether a calibration of an intrinsic parameter of the camera system (1) is required, by determining an error in a back projection, a forward projection and/or a reprojection of the image data and by determining whether the error exceeds a predefined threshold.
A method for evaluating intrinsic parameters of a camera, comprising the following steps:
- acquiring (S1), by a camera, a raw image;
- determining (S2) edge points in the raw image;
- projecting (S3) the edge points to a camera ray, wherein the camera ray comprises a unit sphere with radius 1, wherein lines in reality are projected as part of a circle on the surface of the unit sphere;
- fitting (S4) a circle through the edge points in the camera ray;
- determining (S5) inlier points of the fitted circle in the camera ray,
- wherein the inlier points are part of the determined edge points;
- projecting (S6) the inlier points to the raw image;
- fitting (S7) a conic curve trough the inlier points in the raw image;
- determining (S8) the error between the edge points and the conic curve in the raw image;
- comparing (59) the determined error to a predefined threshold and if the threshold is exceeded, triggering a calibration of the intrinsic parameter of the camera.
Dependencies are inferred from the claim text.