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

Claim 0:
1. A vehicular camera calibration system, the vehicular camera calibration system comprising:
a camera disposed at a vehicle;
wherein the camera comprises a two-dimensional CMOS photosensor array having at least one million photosensing elements arranged in rows and columns;
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 the vehicular camera calibration system, at least in part, uses structure-from-motion during processing at the ECU of multiple frames of image data captured by the camera with the vehicle driven in a normal manner with turns involved;
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 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 and (ii) the kinematic model of motion of the vehicle, determines misalignment of the camera;
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.