| 摘要 |
The invention addresses the problem of calibrating an on-board stereo system, in a reproducible manner and without being sensitive to irregularities in the road surface or to image noise produced by said cameras. To accomplish this, the invention proposes correlating the depth deviation of a point of a scene observed by the system with respect to a scene assumed planar and the corresponding skew deviation between the cameras of the system, then deducing therefrom a skew calibration correction of the cameras. According to one embodiment, the comparison between the scene as observed and as expected consists in determining, by spatio-temporal filtering, a depth deviation (Za) between the observed depth of at least one point (P1a) of a planar scene image formed in the image plane of a first camera (11) as positioned in the frame of reference of the other camera, and the expected depth of said point (P2a) projected on the planar scene (120) by the first camera (11), then determining the skew calibration deviation between the cameras as a function of the mean depth deviation over a sufficient set of points. |
