Method for calibrating stereo camera of vehicle, involves finding calibration error for calibrating stereo camera, by comparing three-dimensional (3D) environment data of two cameras calculated at preset time periods

摘要

The method involves processing pixels in stereo image pair of two cameras (K1,K2) through an image processing unit (2). The 3D environment data is calculated from the determined optical flow of half of the stereo image of camera (K1) and estimated ego-motion of vehicle (10), during preset time period. The 3D environment data is calculated from the determined optical flow of half of stereo images of camera (K2) and estimated ego-motion of vehicle at different preset time period. The calibration error is found for calibrating stereo camera, by comparing 3D environment data.