LEARNING THE DISTANCE BETWEEN CAMERAS FOR ARTICULATED VEHICLES

摘要

When calculating true inter-camera distance, offset images of a reference object such as a lane marker from at least two cameras coupled to an articulating vehicle are overlaid and shifted until the reference objects in each image are aligned. The distance by which the reference object images are shifted, as well as any rotation required to align the images, is used to calculate the actual distance between the cameras and to compensate for average yaw angle between the cameras when positioning the images for digital stitching to generate a composite “surround view” image.

主权项

1. A system that facilitates determination of the true inter-camera distance (TICD) between cameras mounted on separate portions of an articulated vehicle, comprising:
a first camera; a second camera; and a processor configured to:
receive from the first camera a first image frame comprising a first image of a reference object;receive from the second camera a second image frame comprising a second image of the reference object;overlay the first and second images thereby generating a composite image of the reference object;shift the first and second images until they are aligned; andcalculate the TICD between the first and second cameras as a function of the distances by which first and second images are shifted during alignment.