Patent ID: 9728005
Date: 2017-08-08
CPC Classifications: G06T,H04N

Claim:
1. A method for calibrating a computer-based vision system ( 10 ) on-board a vehicle ( 2 ), comprising a set of cameras having extrinsic parameters and intrinsic parameters, where the intrinsic parameters are specific to each camera of the set of cameras and the extrinsic parameters are parameters of rigid transformations making it possible to go from coordinate position of one camera to coordinate position of another camera of the set of cameras, the method comprising the reconstruction step of a 3D mapping of landmarks of an environment from digital images of the environment captured by the computer-based vision system ( 10 ) during a movement of the vehicle ( 2 ) along a trajectory, each digital image corresponding to a pose of the computer-based vision system ( 10 ), the 3D mapping comprising 3D landmark parameters and parameters of each pose, the reconstruction step comprising steps of reconstruction of the 3D mapping of image sequences and optimization of said 3D mappings of image sequences by implementing bundle adjustment algorithms, wherein the step of optimization of at least one 3D mapping corresponding to a first image sequence is performed by considering at least one parameter between extrinsic parameters and intrinsic parameters to be constant, and the optimization of at least one 3D mapping corresponding to a second image sequence, which is longer than the first image sequence and comprising the first image sequence, is performed by considering said at least one parameter to be variable so as to estimate this latter.