Method, computer program, and device for determining a calibration matrix for a camera

Abstract

A calibration matrix is determined for a camera for an automotive vehicle. In a first step, at least one object is detected, which moves in a sequence of camera images between image areas having different levels of distortion. In particular, feature tracking can be carried out for the at least one object. To determine the calibration matrix, first an expected perspective-related distortion of the at least one object is calculated. Moreover, an observed distortion of the at least one object is determined. A camera-related distortion of the at least one object is calculated from the observed distortion and the expected perspective-related distortion. A calibration matrix can then be calculated from the camera-related distortion. This matrix can be applied to the camera images. The method steps can then be iteratively repeated until a minimal camera-related distortion is achieved.

Dependencies are inferred from the claim text.