Title:
画像センサの外因性パラメータを較正するための方法及び装置
Document Type and Number:
Japanese Patent JP6924251
Kind Code:
B2
Abstract:
A method for calibrating one or more extrinsic parameters of an image sensor is provided. The method comprises selecting a first set of parallel feature edges appearing in an image frame captured by the image sensor and determining reference vanishing points (540, 560) for the first set of parallel feature edges, the reference vanishing points being located on a projection reference frame. A second set of parallel feature edges which are parallel to the first set of parallel feature edges is then selected and a plurality of points from the second set parallel feature edges projected onto the projection reference frame of the image sensor based on a pre-existing projection matrix of the image sensor. The method further comprises determining for the second set of parallel feature edges, second vanishing points (790, 792) located on the projection reference frame and reducing any deviation in location of the second vanishing points (790, 792) from the reference vanishing points (540, 560) until the deviation is within acceptable predefined limits by recursively performing at least the following steps of: modifying the pre-existing projection matrix by adjusting one or more of the extrinsic parameters, projecting a plurality of points from the second set parallel feature edges onto the projection reference frame using the modified pre-existing projection matrix and determining the second vanishing points (790, 792) after projecting.
Inventors:
Three Gee Marcacery
Application Number:
JP2019218641A
Publication Date:
August 25, 2021
Filing Date:
December 03, 2019
Export Citation:
Assignee:
Continental Automotive GmbH
International Classes:
G06T7/80; H04N5/232
Domestic Patent References:
| JP2011215063A | ||||
| JP2008269139A |
Foreign References:
| WO2010146695A1 | ||||
| WO2017122552A1 | ||||
| US20160227207 | ||||
| US20100322476 |
Attorney, Agent or Firm:
Mitsufumi Esaki
Blacksmith
Shinsuke Nakamura
Tomoko Suzuki
Blacksmith
Shinsuke Nakamura
Tomoko Suzuki