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EXTRINSIC CALIBRATION METHOD FOR CAMERAS OF AN ON-BOARD SYSTEM FOR FORMATION OF STEREO IMAGES
EXTRINSIC CALIBRATION METHOD FOR CAMERAS OF AN ON-BOARD SYSTEM FOR FORMATION OF STEREO IMAGES
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机译:用于形成立体图像的车载系统的摄像机的外部校准方法
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摘要
Disclosed is a method to calibrate an on-board stereo system. The method includes correlating the depth deviation of a point of a scene observed by the system with respect to a supposedly planar scene and the corresponding yaw deviation between the cameras of the system, then deducing therefrom a yaw calibration correction for the cameras. The comparison between the scene as observed and as expected consists in determining, via spatio-temporal filtering, a depth deviation between the observed depth of at least one point of a planar scene image formed in the image plane of first camera, as positioned in the coordinate system of the other camera, and the expected depth of this point projected onto the planar scene from the first camera, then in determining the yaw calibration deviation between the cameras as a function of the deviation in depth averaged over a sufficient set of points.
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