Apparatus and method for providing vehicle camera calibration

摘要

A method and apparatus for providing a vehicle camera calibration includes choosing overlap images from among the image information captured by a camera mounted on a vehicle, and filtering images having the same vehicle attitude from among the chosen overlap images on a basis of a map coordinate system and status information of the vehicle, picking out objects in the filtered images, separating stationary objects from the picked out objects, and predicting an angular misalignment with respect to the separated stationary objects.

主权项

1. An apparatus for providing calibration of a vehicle camera mounted on a vehicle, the apparatus comprising:
an overlap image selection unit that determines a predetermined time period and chooses images from images captured by the vehicle camera during the predetermined time period, the chosen images including at least a same object; a filtering unit that receives the chosen images from the overlap image selection unit and extracts images captured at a substantially identical vehicle attitude of the vehicle from the chosen images on a basis of a map coordinate system and status information of the vehicle, the status information including at least one of location and attitude of the vehicle; an object pick-out unit that receives the extracted images from the filtering unit and picks out objects commonly existing in the extracted images; an object separation unit that receives the picked out objects from the object pick-out unit and separates stationary objects from the picked out objects; and an angular misalignment prediction unit that receives the stationary objects from the object separation unit to predict an angular misalignment of the vehicle camera based on the stationary objects separated by the object separation unit, wherein a three-dimensional coordinate of the vehicle from a first time (t) to a second time (t+1) is a summation of a reference coordinate of a vehicle coordinate system of the stationary objects and a distance that the vehicle moves on a basis of the vehicle coordinate system at the first time (t) for the first time (t) to the second time (t+1).