System for calibrating a vision system

A method for calibrating a vision system of an object, comprising:

• capturing, via a first image sensor of the vision system, a first image of a plurality of objects;
• capturing, via a second image sensor of the vision system, a second image of the plurality of objects, where the plurality of objects is located in an overlapping region of a field of view of the first image sensor and a field of view of the second image sensor;
• determining a position and orientation of the first and the second image sensor relative to the plurality of objects based on the first and the second captured image, respectively, wherein determining the position and orientation of the first image sensor comprises determining a vector which comprises both a plurality of rotation parameters and a plurality of translation parameters of a camera matrix of the first image sensor, said vector being determined by solving a minimization problem under a constraint that a modulus of the vector which comprises both the plurality of rotation parameters and the plurality of translation parameters is fixed;
• determining a relative position and orientation between the first and the second image sensor based on a result of the determining a position and orientation of the first and the second image sensor;
• determining a relative position and orientation between a first pair image sensor and a second pair image sensor based on a result of the determining a relative position and orientation between the first and the second image sensor for a first pair and a second pair, respectively, wherein the first pair of a plurality of pairs of image sensors includes the first pair image sensor and an intermediate image sensor, and wherein the second pair of the plurality of pairs of image sensors includes the intermediate image sensor and the second pair image sensor;
• and
• storing the determined relative position and relative orientation between the first and the second image sensor for combining images captured by the vision system in performance of a driver assistance function.

A vehicle vision system of a vehicle, comprising:

• a plurality of image sensors each comprising an electro-optical component to capture images comprising a non-linear distortion, wherein the image sensors are located at different locations on the vehicle hosting the vehicle vision system;
• an image processing unit configured to process image data captured by the plurality of image sensors;
• and
• a calibration device, wherein the calibration device is coupled to the image processing unit, and wherein the calibration device is configured to:
• identify, via a first image sensor of the vehicle vision system, a first image of a plurality of objects;
• identify, via a second image sensor of the vehicle vision system, a second image of the plurality of objects, where the plurality of objects is located in an overlapping region of a field of view of the first image sensor and a field of view of the second image sensor;
• determine a position and orientation of the first and the second image sensor relative to the plurality of objects based on the first and the second captured image, respectively, wherein determining the position and orientation of the first image sensor comprises determining a vector which comprises both a plurality of rotation parameters and a plurality of translation parameters of a camera matrix of the first image sensor, said vector being determined by solving a minimization problem under a constraint that a modulus of the vector which comprises both the plurality of rotation parameters and the plurality of translation parameters is fixed;
• determine a relative position and orientation between the first and the second image sensor based on a result of the determining a position and orientation of the first and the second image sensor;
• determine extrinsic parameters of the first and the second image sensor in a reference frame based on results of the determining a relative position and orientation between the first and the second image sensor;
• determine intrinsic parameters of the first and the second image sensor based on the first and the second captured image, respectively;
• and
• store the determined relative position and orientation between the first and the second image sensor and the determined intrinsic parameters for combining images captured by the vehicle vision system in performance of a driver assistance function.