STEREO AUTO-CALIBRATION FROM STRUCTURE-FROM-MOTION

摘要

Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.

主权项

1. A method for auto-calibration of stereo cameras including a first camera and second camera installable behind the windshield of a host vehicle and orientable to view the environment through the windshield, the method comprising:
during motion of the host vehicle, capturing by a processor multiple series of images respectively from the stereo cameras including a first time series of first images from the first camera and a second time series of second images from the second camera; locating a plurality of first image points of at least one of the first images captured from the first camera at a first time; matching at least a portion of the first image points with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times; responsive to the motion of the host vehicle, computing world coordinates from the pairs of corresponding first image points of at least two of the first images captured at the different times from the first camera; matching a plurality of second image points in at least one of the second images captured from the second camera so that the matching second image points correspond to at least a portion of the first image points, using the world coordinates determined from the first camera solving for a plurality of camera parameters of the second camera.