Camera calibration using structure from motion techniques

摘要

Example methods and systems for camera calibration using structure from motion techniques are described herein. Within examples, an autonomous vehicle may receive images from a vehicle camera system and may determine an image-based pose based on the images. To determine an image-bases pose, an autonomous vehicle may perform various processes related to structure from motion, such as image matching and bundle adjustment. In addition, the vehicle may determine a sensor-based pose indicative of a position and orientation of the vehicle through using information provided by vehicle sensors. The vehicle may align the image-based pose with the sensor-based pose to determine any adjustments to the position or orientation that may calibrate the cameras. In an example, a computing device of the vehicle may align the different poses using transforms, rotations, and/or scaling.

主权项

1. A method comprising:
receiving, at a computing device via a camera coupled at an orientation and position to a vehicle autonomously navigating a path in an environment, a plurality of images indicative of a plurality of objects positioned within a threshold distance from the path in the environment of the vehicle during a respective time range; based on the plurality of images, determining, by the computing device, an image-based pose indicative of the orientation and position of the camera; receiving from one or more laser-based sensors coupled to the vehicle as the vehicle navigates the path in the environment, sensor data indicative of an orientation and position of the vehicle relative to the plurality of objects positioned within the threshold distance from the path in the environment of the vehicle during the respective time range; based on the sensor data, determining a sensor-based pose indicative of the orientation and position of the vehicle relative to the plurality of objects in the environment, wherein both the sensor-based pose and the image-based pose correspond to the respective time range; aligning, by the computing device as the vehicle navigates the path in the environment, a camera-based coordinate system of the image-based pose with a vehicle-based coordinate system of the sensor-based pose using one or more of a transform, rotation, and scaling modification; determining an adjustment for the orientation or position of the camera based on the alignment of the camera-based coordinate system of the image-based pose with the vehicle-based coordinate system of the sensor-based pose; and causing, by the computing device as the vehicle navigates the path in the environment, calibration of the camera based on the adjustment.