Multi-camera system calibrating method for use in vehicle, involves determining extrinsic and intrinsic parameters though projection of one of graphs of one of cameras on another graph of another camera

摘要

The method involves determining cross-over points of checker board patterns for receiving a calibration body (1) and determining two graphs, which are determined by the points. Three-dimensional positions of two cameras for the body are estimated based on the graph and the geometry of the body. Extrinsic and intrinsic parameters of one of the cameras are determined though projection of one of the graphs of one of the cameras on the other graph of the other camera. Transformation of a coordinate system of one of the cameras into another coordinate system of the other camera is determined. An independent claim is also included for a calibration body for calibration of a system, comprising dark and bright partial areas.