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Self-Calibration System for the Orientation of a Vehicle Camera

Catala-Prat, Alvaro and Rataj, Jürgen and Reulke, Ralf (2006) Self-Calibration System for the Orientation of a Vehicle Camera. In: International Archives of Photogrammetry and Remote Sensing Proc. of the ISPRS Com. V Symposium: "Image Engineering and Vision Metrology", XXXVI (5). pp. 68-73. ISSN 1682-1750

Full text not available from this repository.

Official URL: http://rcswww.urz.tu-dresden.de/~isprs/proceedings/paper/CATA_650.pdf

Abstract

The process of calibration is a prerequisite for each computer vision system. Calibration involves calculating both intrinsic and extrinsic parameters of the camera. While intrinsic parameters (focal length, principal point, etc.) are usually fixed, extrinsic ones (position and angles of the camera) have to be determined when the camera moves in relation to world coordinates. The calibration of the extrinsic parameters is usually performed with help of some reference objects or known measured points (GCP’s) in the scene. In the case of a vehicle camera, where the coordinates refer to vehicle coordinates, not the extrinsic calibration but the alignment of the camera to the Inertial Measurement Unit (IMU) is necessary. This paper proposes a solution for determining the orientation of a vehicle camera in relation to the vehicle. This novel approach escapes from tedious laboratory setups and reference measurements. It benefits from a known property of the road’s infrastructure, namely the parallelism of the road markers. For this reason lane markers are detected and transformed through a fast perspective removal (FPR) to an orthographic perspective. Newton’s Method is used for searching an optimal parameter set for this transformation. The algorithm works under the assumptions that the calibration is performed when driving on a straight and flat segment and the lane markers are visible. It reaches very good performance (via parametrical instead of image transformations) and good accuracy for lateral detection of features in automotive applications (for depth information, the algorithm must be improved).

Document Type:Book Section
Title:Self-Calibration System for the Orientation of a Vehicle Camera
Authors:
AuthorsInstitution or Email of Authors
Catala-Prat, AlvaroUNSPECIFIED
Rataj, JürgenUNSPECIFIED
Reulke, RalfUNSPECIFIED
Date:27 September 2006
Journal or Publication Title:International Archives of Photogrammetry and Remote Sensing
Refereed publication:Yes
In ISI Web of Science:No
Volume:XXXVI
Page Range:pp. 68-73
Editors:
EditorsEmail
Maas, Hans-GerdUNSPECIFIED
Schneider, DaniloUNSPECIFIED
Series Name:Proc. of the ISPRS Com. V Symposium: "Image Engineering and Vision Metrology"
ISSN:1682-1750
Status:Published
Keywords:Camera, Calibration, Orientation, Orthorectification, Infrastructure
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Transport
HGF - Program Themes:V SH - Verbesserung der Sicherheit im Verkehr (old)
DLR - Research area:Transport
DLR - Program:V SH - Verbesserung der Sicherheit im Verkehr
DLR - Research theme (Project):V - Entwicklung Fahrermodell (old)
Location: Berlin-Adlershof , Braunschweig
Institutes and Institutions:Institute of Transport Research
Institute of Transportation Systems > Institute of Transportation Systems > Automotive
Institute of Transportation Systems > Institute of Transportation Systems
Deposited By: Alvaro Catala Prat
Deposited On:27 Jul 2007
Last Modified:14 Jan 2010 23:06

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