Camera direction determining method for use in vehicle, involves reconstructing vehicle coordination system from points, and determining camera direction from rotation of camera-coordination system relative to vehicle coordination system

摘要

The method involves dividing a steering angle region between positive and negative maximal steering angles in an angle partial region. Vanishing points (P1-Pn) are determined from motion vectors (B1-Bm) for the angle partial region in an image-coordination system, and are projected in a camera-coordination system. A vehicle coordination system is reconstructed from the projected vanishing points in the camera-coordination system. A direction of a camera is determined from a rotation of the camera-coordination system relative to the vehicle coordination system.