Patent Document ID: 9981605
Application ID: 14710322
Patent Status: 1

Claim One:
1. A method for correcting a calibration of a plurality of cameras in a surround-view camera system on a vehicle, said method comprising: reading measurement values from one or more sensors on the vehicle that identify a change in vehicle dynamics, including measurement values that provide vehicle or camera and vehicle body pitch, roll and height variation data; defining the plurality of cameras and a vehicle body as a single reference coordinate system; identifying the measurement values as a rotation matrix and a translation vector in the reference coordinate system; and integrating the rotation matrix and the translation vector into a relationship between a vehicle coordinate system and a camera coordinate system to provide the correction of the camera calibration, including defining a stationary orientation of the surround-view camera system by: X V = X W + t W ⁢ ⁢ 2 ⁢ V ′ , ⁢ X Ci ⁢ = ⁢ R V ⁢ ⁢ 2 ⁢ Ci * X V + t V ⁢ ⁢ 2 ⁢ C ⁢ i ′ , = ⁢ R V ⁢ ⁢ 2 ⁢ Ci * X W + t W ⁢ ⁢ 2 ⁢ Ci ′ , and defining a dynamic orientation of the vehicle bv: X V = R dy ⁢ ⁢ n * ( X W + t W ⁢ ⁢ 2 ⁢ V ′ ) , ⁢ X C ⁢ = ⁢ R V ⁢ ⁢ 2 ⁢ Ci * X V + t V ⁢ ⁢ 2 ⁢ C ⁢ i ′ , = ⁢ R V ⁢ ⁢ 2 ⁢ Ci * R dy ⁢ ⁢ n * X W + t W ⁢ ⁢ 2 ⁢ Ci ″ , where X is a sample point, i is a camera index, V is a designation for vehicle coordinates, W is a designation for reference coordinates, C is a designation for camera coordinates, dyn is a designation for vehicle dynamics in all of pitch, roll and height variation, R is the rotation matrix, and t is the translation vector.