Automatic extrinsic calibration methods for Surround View Systems

摘要

A typical Surround View System consists of several cameras on the vehicle perimeter. This document proposes three novel methods for the extrinsic calibration of Surround View Systems (SVS). I - The first approach uses a single calibration pattern placed step-by-step on the vehicle perimeter. II - The second approach uses several calibration patterns placed on the ground plane. The vehicle drives between the calibration setup. No knowledge of the vehicle's location relative to the calibration patterns is necessary; only distances between the calibration patterns are required. III - The last approach gives the most flexibility in calibration. The features are distributed on the ground plane arbitrarily. The vehicle drives forward and backward and all extrinsic calibration parameters are automatically estimated. Each of these approaches provide very good calibration results, sufficient for the correct operation of SVS.