Camera calibration apparatus and operating method
AssigneeSamsung Electronics Co., Ltd.
InventorsJAEWOO LEE, SANGJUN LEE, WONJU LEE
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Abstract
A camera calibration includes; a camera configured to acquire a first forward image from a first viewpoint and a second forward image from a second viewpoint; an event trigger module configured to determine whether to perform camera calibration; a motion estimation module configured to acquire information related to motion of a host vehicle; a three-dimensional reconstruction module configured to acquire three-dimensional coordinate values based on the first forward image and the second forward image; and a parameter estimation module configured to estimate an external parameter of the camera based on the three-dimensional coordinate values.
Claims20
A camera calibration apparatus, comprising:
- a camera configured to acquire a first forward image from a first viewpoint and a second forward image from a second viewpoint;
- an event trigger module configured to determine whether to perform camera calibration;
- a motion estimation module configured to acquire information related to motion of a host vehicle;
- a three-dimensional reconstruction module configured to acquire three-dimensional coordinate values based on the first forward image and the second forward image;
- and
- a parameter estimation module configured to estimate an external parameter for the camera based on the three-dimensional coordinate values.
A camera calibration method comprising:
- extracting a region of interest from a first forward image and from a second forward image;
- extracting feature points from the region of interest;
- acquiring a motion parameter based on translation of the feature points;
- estimating three-dimensional coordinate values of a camera coordinate system corresponding to the feature points using triangulation based on the acquired motion parameter;
- and
- estimating an external parameter for a camera using a relationship of the feature points and the three-dimensional coordinate values.
A host vehicle, comprising:
- a camera configured to acquire a first forward image from a first viewpoint and a second forward image from a second viewpoint;
- an image signal processor configured to determine whether to perform camera calibration, acquire information related to motion of the host vehicle, acquire three-dimensional coordinate values based on the first forward image and the second forward image, estimate an external parameter for the camera based on the three-dimensional coordinate values, and generate a control signal in response to the external parameter;
- and
- a vehicle controller configured to control operation of the host vehicle in response to the control signal.
Dependencies are inferred from the claim text.