Patent ID: 9536306
Date: 2017-01-03
CPC Classifications: G06T

Claim:
1. A computer implemented method of determining extrinsic parameters for a vehicle vision system, the method comprising: processing an image of a road captured by a camera to identify a first road lane marking and a second road lane marking in the image, where the first road lane marking and the second road lane marking are two road lane markings that extend parallel to each other; determining, for at least one of the two road lane markings: identifying a linear transformation which, for at least one of the two road lane markings, defines a mapping between the first set of parameters and the second set of parameters, where the identifying the linear transformation comprises determining matrix elements of a homographs matrix; and establishing the extrinsic parameters based on the identified linear transformation, where the established extrinsic parameters include an orientation of the camera with respect to a vehicle coordinate system.