METHOD AND DEVICE FOR ONLINE CALIBRATION OF VEHICLE CAMERAS

摘要

A method for determining the orientation of a video camera arranged on a vehicle relative to a vehicle coordinate system, said method comprising: measurement of an incremental vehicle movement in a coordinate system of the video camera based on the optical flow of the video stream of the video camera; representation of the incremental vehicle movement by a movement consisting of a linear movement component and a rotational movement, wherein the linear movement is represented by means of a direction vector and wherein the rotational movement is represented by means of an axis of rotation and an angle of rotation; classification of the measured incremental vehicle movement as movement in a straight line or as a rotational movement based on the determined angle of rotation; measurement of at least one incremental movement classified as a movement in a straight line; measurement of at least one incremental movement classified as a rotational movement; and use of a direction vector of the at least one measured movement in a straight line as an estimate of the longitudinal vehicle axis; use of the rotation vector of the at least one measured rotational movement as an estimate of the normals to the vehicle plane, so that the alignment of the camera relative to the vehicle coordinate system follows from the respective determined vehicle longitudinal axis and the normals determined for the vehicle axis.