ESTIMATION OF PANORAMIC CAMERA ORIENTATION RELATIVE TO A VEHICLE COORDINATE FRAME

摘要

A system and method are presented for estimating the orientation of a panoramic camera mounted on a vehicle relative to the vehicle coordinate frame. An initial pose estimate of the vehicle is determined based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle. Image data from images captured by the camera is processed to obtain one or more tracks, each track including a sequence of matched feature points stemming from a same three-dimensional location. A correction parameter determined from the initial pose estimate and tracks can then be used to correct the orientations of the images captured by the camera. The correction parameter can be optimized by deriving a correction parameter for each of a multitude of distinct subsequences of one or more runs. Statistical analysis can be performed on the determined correction parameters to produce robust estimates.

主权项

1. A method for estimating orientation of cameras mounted on vehicles, comprising:
determining, by one or more processors, an initial pose estimate of a vehicle having a camera mounted thereon, the initial pose estimate being a position and orientation of the vehicle relative to the world; processing, by the one or more processors, image data from images captured by the camera to obtain one or more tracks, each track including a sequence of matched feature points stemming from a single three-dimensional location; and determining, by the one or more processors, from the initial pose estimate and the tracks, a correction parameter to correct orientations of the images captured by the camera, wherein determining the correction parameter includes evaluating a set of vehicle poses, three-dimensional locations from the one or more tracks, and an orientation of the camera relative to one or more sensors of the vehicle.