Patent ID: 11919449
Assignee: MAGNA ELECTRONICS INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC B  G  H | IPC B  G  H

Claim 39:
40. A vehicular camera calibration system, the vehicular camera calibration system comprising:
a camera disposed at a vehicle;
wherein the camera is operable to capture multiple frames of image data;
an electronic control unit (ECU), wherein the ECU comprises an image processor operable to process multiple frames of image data captured by the camera;
wherein, via processing at the ECU of multiple frames of image data that are captured by the camera as the vehicle is being driven in a normal manner with turns involved, at least one feature present in multiple frames of image data captured by the camera is tracked;
wherein the vehicular camera calibration system uses a kinematic model of motion of the vehicle that is derived at least in part from vehicle data provided to the ECU;
wherein the vehicle data comprises (i) data related to steering of the vehicle and (ii) data related to speed of the vehicle;
wherein the vehicle data is provided to the ECU via a communication bus system of the vehicle;
wherein the vehicular camera calibration system, responsive to the processing at the ECU of multiple frames of image data that are captured by the camera with the vehicle being driven in the normal manner with turns involved, and based at least in part on (i) an intrinsic parameter of the camera, (ii) the kinematic model of motion of the vehicle and (iii) tracking of the at least one feature, determines misalignment of the camera;
wherein the determined misalignment of the camera arises from at least one selected from the group consisting of (i) rotational misalignment and (ii) translational misalignment;
wherein the vehicular camera calibration system determines misalignment of the camera without use of a fiducial marker in a field of view of the camera as the vehicle is being driven in the normal manner with turns involved; and
wherein the vehicular camera calibration system determines misalignment of the camera without use of reference points on the vehicle.