System for intrinsic calibration of cameras
AssigneeTuSimple Holdings Inc.
InventorsJuexiao NING, Fuheng DENG, Chenghao GONG
Life of this patent
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Abstract
One aim of autonomous vehicle (AV) technologies is to provide vehicles that can safely navigate towards a destination with limited or no driver assistance. An AV may include multiple cameras mounted on it for several purposes including security purposes, driving aid, or facilitating autonomous driving. Systems, apparatus, and methods are provided to calibrate intrinsic parameters of AV cameras. AV cameras and calibration targets are moved in a systematic, predictable, and repeatable manner for calibration of camera intrinsic parameters.
Claims20
A method for vehicle camera calibration, the method comprising:
- receiving a first set of imagery data, wherein the first set of imagery data comprises one or more reference images for one or more calibration targets;
- moving at least one of the one or more calibration targets and one or more cameras for a predetermined number of steps, wherein in each of the predetermined number of steps:
- at least one of the one or more calibration targets or the one or more cameras are moved for a predetermined distance towards a predetermined direction, and
- the one or more cameras are configured to capture a second set of imagery data, wherein the second set of imagery data comprises captured images of the one or more calibration targets;
- and
- calibrating one or more camera intrinsic parameters in the one or more cameras based on the first set of imagery data and the second set of imagery data.
A system configured for vehicle camera calibration, the system comprising:
- one or more hardware processors configured by machine-readable instructions to:
- receive a first set of imagery data, wherein the first set of imagery data comprises one or more reference images for one or more calibration targets;
- move at least one of the one or more calibration targets and one or more cameras for a predetermined number of steps, wherein in each of the predetermined number of steps:
- at least one of the one or more calibration targets or the one or more cameras are moved for a predetermined distance towards a predetermined direction, and
- the one or more cameras are configured to capture a second set of imagery data, wherein the second set of imagery data comprises captured images of the one or more calibration targets;
- and
- calibrate one or more camera intrinsic parameters in the one or more cameras based on the first set of imagery data and the second set of imagery data.
A non-transient computer-readable storage medium having instructions embodied thereon, the instructions being executable by one or more processors to perform a method for vehicle camera calibration, the method comprising:
- receiving a first set of imagery data, wherein the first set of imagery data comprises one or more reference images for one or more calibration targets;
- moving at least one of the one or more calibration targets and one or more cameras for a predetermined number of steps, wherein in each of the predetermined number of steps:
- at least one of the one or more calibration targets or the one or more cameras are moved for a predetermined distance towards a predetermined direction, and
- the one or more cameras are configured to capture a second set of imagery data, wherein the second set of imagery data comprises captured images of the one or more calibration targets;
- calibrating one or more camera intrinsic parameters in the one or more cameras based on the first set of imagery data and the second set of imagery data;
- mounting the one or more cameras on a vehicle;
- and
- recalibrating the one or more camera intrinsic parameters after the one or more cameras are mounted on the vehicle if a change of at least one camera intrinsic parameter is detected.
Dependencies are inferred from the claim text.