Method and system for dynamically calibrating vehicular cameras
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United States of America Patent
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May 31, 2016
Grant Date -
Feb 13, 2014
app pub date -
Jan 20, 2012
filing date -
Apr 25, 2011
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Abstract
A method of dynamically ascertaining the alignment of a vehicular camera. The method involves acquiring a sequence of images provided by the camera whilst the vehicle is in motion. For each range of steering angles, the method (i) selects a plurality of feature points in the images, (ii) tracks a motion trajectory for each selected feature point, and (iii) determines a vanishing point in the image plane based on the tracked motion trajectories. The method determines a vanishing line in the image plane based on a locus of these vanishing points and determines the alignment of the camera based on the position of a central vanishing point (corresponding to the zero degree angle) and the vanishing line.
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