Method of calibrating a vehicle vision system and vehicle vision system

摘要

A vehicle vision system comprises a plurality of image sensors (11-14) which respectively capture images having a non-linear distortion. In order to calibrate the vehicle vision system, an image of a plurality (22) of objects is captured using an image sensor (11) and a further image of the plurality (22) of objects is captured using a further image sensor (13). The image sensor (11) and the further image sensor (13) have overlapping fields of view (15, 17). A position and orientation of the image sensor (11) relative to the plurality (20) of objects is determined based on the captured image. A position and orientation of the further image sensor (13) relative to the plurality (22) of objects is determined based on the captured further image. A relative position and orientation between the further image sensor (13) and the image sensor (11) is established based on a result of the determining.