Online Calibration of a Camera System in Road Traffic Scenarios for the Validation of Automated Driving Functionalities

摘要

In this contribution, we introduce an algorithm that allows the estimation of a transformation between two sensor systems. The primary system consists of non-imaging sensors like for example lidar and radar or even a fused combination of these. A camera always represents the secondary system. The algorithm aims at automating the process of calibration entirely during driving. This way, much flexibility and robustness are guaranteed. Changing the placement of the camera remains possible without the need to do a cumbersome manual calibration.