Stereoscopic camera object detection system and method of aligning the same

摘要

A system (10), controller (24), and method (200) for aligning a stereo camera (20) of a vehicle (14) mounted object detection system (10) that includes a first camera (20) and a second camera (22) mounted spaced apart on a vehicle (14). An image from each camera (20) at two different times is used to determine an observed displacement (60) of an object (12) relative to the vehicle (14). A predicted displacement (62) of the object (12) relative to the vehicle (14) is also determined using either a difference of vehicle (14) position measured based on other vehicle (14) measurements or GPS, or a difference of size of the object (12) in images taken at the two different times. Alignment is provided by determining a triangulation correction based on a difference of the observed displacement (60) and the predicted displacement (62) to correct for misalignment of the cameras.