Method for calibrating squint angle of frame camera of stereo camera arrangement in vehicle, involves calculating travel distance covered by vehicle, and determining deviation between distance and reference distance to calibrate angle

摘要

The method involves determining reference-travel distance covered by a vehicle in a time period between two time points. Two positions of the vehicle are determined from stereoscopically determined disparity of image points of images detected by frame cameras (1.1, 1.2), focal length of a camera arrangement (1) and base width between the cameras. Stereoscopically determined travel distance covered by the vehicle is calculated from difference between the positions. Deviation between the reference and stereoscopically determined distances is determined to calibrate squint angle of the cameras. An independent claim is also included for a method for adjusting a frame camera of a camera system.