Method for determining position and/or alignment of camera relative to position of vehicle and semi-trailer, involves determining rotation parameter and/or translation parameter of camera-coordinate system to vehicle-coordinate system

摘要

The method involves recording a sequence of images by a camera. A movement vector is determined in a vehicle-coordinate system (1), and an image point of one of the images is projected in the system to provide a projected point. The projected point is shifted based on the movement vector so that a point is generated and is projected in a camera-coordinate system (2). A rotation parameter and/or a translation parameter of the camera-coordinate system to the vehicle-coordinate system are determined from a difference between a transformed point and another image point of the other image.