VEHICLE VISION SYSTEM WITH TARGETLESS CAMERA CALIBRATION

摘要

A camera calibration system for a vehicle includes a camera disposed at the vehicle and an image processor operable to process image data captured by the camera. The camera calibration system generates camera calibration parameters at least in part by iteratively refining calibration parameters starting from at least one of (i) an initial estimation and (ii) an intrinsic parameter of the camera. The camera calibration system uses a kinematic model of vehicle motion derived at least in part from image processing of multiple frames of captured image data. Responsive to such image processing, the camera calibration system extracts and matches features determined in multiple frames of captured image data. Responsive to image processing during movement of the vehicle along an arbitrary path, and responsive to generation of camera calibration parameters, the camera calibration system calibrates the camera as the vehicle navigates the arbitrary path.