ONLINE VEHICLE CAMERA CALIBRATION BASED ON ROAD SURFACE TEXTURE TRACKING AND GEOMETRIC PROPERTIES

摘要

The invention relates to a method for online calibration of a vehicle video system evaluated from image frames of a camera containing features on the road. A portion of a road surface is captured by the camera in an image frame. A selection of at least two different features within the image frame is taken, the selected features being chosen as respective reference points. A sequence of at least one more image frame is performed with the camera while locating within the new frame the features chosen as reference points to be tracked. Analysing in a virtual image space the trajectory covered by the reference points during driving interval between image sequence by identifying a geometrical shape obtained by joining the located reference points between each other in each used images and considering the respective trajectories. A deviation of the resulting geometrical object from a parallelogram with corners defined by the reference points from at least two subsequent images is calculated while any measured deviation being used to define an offset correction of the camera.