Method for calibration of sensor in camera for acquisition of environment of vehicle, involves taking local optimum and/or global optimum of estimated vehicle sensor transformation into account during calibration of sensor

摘要

The method involves receiving a series of images (B1, B2) by a sensor (2), and determining the images corresponding to image points. The sensor is calibrated relative to a vehicle (1) on a basis of corresponding pixels. A local optimum and/or a global optimum of an estimated vehicle sensor transformation are taken into account during calibration of the sensor. A vehicle motion is determined in the calibration, where the vehicle motion is provided with a rotation and/or translation. The local optimum is determined by a non-linear optimization of the objective function.