Automatic calibration of extrinsic and intrinsic camera parameters for surround-view camera system

摘要

A method of calibrating multiple vehicle-based image capture devices of a vehicle. An image is captured by at least one image capture device. A reference object is identified in the captured image. The reference object has known world coordinates. Known features of the vehicle are extracted in the captured image. A relative location and orientation of the vehicle in world coordinates is determined relative to the reference object. Each of the multiple image capture devices is calibrated utilizing intrinsic and extrinsic parameters of the at least one image capture device as a function of the relative location and orientation of the vehicle in world coordinates.

主权项

1. A method of calibrating multiple vehicle-based image capture devices of a vehicle, the method comprising the steps of:
capturing an image by at least one image capture device; identifying, by a processor, a reference object in the captured image, the reference object having known world coordinates, the identification of the reference object is used to correlate coordinates of the image capture device to world coordinates; determining a location and orientation of the vehicle, by the processor, the location and orientation of the vehicle used to correlate coordinates of the vehicle to world coordinates, wherein determining the location and orientation of the vehicle includes:
capturing a top-down view image of the vehicle on an assembly line by an overhead non-vehicle-based image capture device;applying feature extraction on the vehicle for detecting a vehicle boundary;comparing an orientation of the assembly line with the vehicle boundary; andidentifying the relative location and orientation of the vehicle relative to the assembly line; correlating, by the processor, the vehicle coordinates to the image capture device coordinates as a function of the relationship between the world coordinates and the vehicle coordinates and the relationship between the world coordinates and the image capture device coordinates; calibrating the at least one image capture device utilizing intrinsic parameters and extrinsic parameters of the at least one image capture device as a function of the relationship of the vehicle coordinates to the image capture device coordinates.