System, Vehicle and Method for Online Calibration of a Camera on a Vehicle

摘要

A camera mounted on or for a vehicle has camera rotational parameters φ, θ, ψ and camera translational parameters xc, yc, zc in a camera image coordinate system, and the vehicle has a vehicle coordinate system. A method for online or on-the-fly calibration of the camera involves two independent steps, namely while the vehicle is moving relative to the ground, calibrating the camera rotational parameters using a parallel geometrical calibration process, and calibrating at least some of the camera translational parameters xc, yc independently of the camera rotational parameters.

主权项

1. A method for online calibration of a camera on a vehicle driving on a ground in an environment, wherein camera rotational parameters and camera translational parameters are defined in a camera image coordinate system for the camera, wherein a vehicle coordinate system is defined for the vehicle, and wherein the method comprises steps:
while moving the vehicle relative to the ground, calibrating the camera rotational parameters using a parallel geometrical calibration process, and calibrating at least selected ones of the camera translational parameters independently of the camera rotational parameters.