Procedure for aligning a camera according to its extrinsic parameters

摘要

Method for determining the alignment of a camera with regard to the extrinsic parameters of the camera, the image recorded by the camera comprising a horizontal image axis and / or a vertical image axis and image points, from which image a pixel object edge of a recorded pixel object can be extracted, whereby one Pixel object is classified according to pixel object properties and according to real object properties and a pixel object edge of a pixel object is selected from the multiplicity of pixel object edges, which pixel object edge is the real object property of a defined object at a defined real angle to a real horizontal reference plane and / or to a real vertical reference plane, a real camera inclination angle being determined by determining a first angle between the pixel object edge and the horizontal image axis and / or by determining a second angle between the pixel object edge and the vertical image axis can be determined and / or a pixel object is classified according to real object properties and the movement plane is selected from the multiplicity of pixel objects and a pixel movement plane edge of the movement plane is detected, the pixel position of the pixel movement plane edge having a The target pixel position is compared and an offset is determined.