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1. 发明申请

US20150036885A1 METHOD AND DEVICE FOR ONLINE CALIBRATION OF VEHICLE CAMERAS 有权
标题翻译：车辆摄像机在线校准的方法和装置
公开(公告)号：US20150036885A1
公开(公告)日：2015-02-05
申请号：US14373561
申请日：2013-01-17
申请人： ESG ELEKTRONIKSYSTEM-UND LOGISTIK-GMBH
发明人： Christopher Pflug , Juri Platonov , Thomas Gebauer , Pawel Kaczmarczyk
IPC分类号： G06T7/00 , G06T7/20 , H04N17/00
CPC分类号： G06T7/0018 , G06T7/246 , G06T7/73 , G06T7/80 , G06T2207/10016 , G06T2207/30244 , G06T2207/30252 , H04N17/002
摘要： A method for determining the orientation of a video camera attached to a vehicle relative to the vehicle coordinate system, comprising: Measuring an incremental vehicle motion in the coordinate system of the video camera based on the optical flow of the video stream of the video camera; representing the incremental vehicle motion by a motion consisting of a linear motion component and a rotational motion, wherein the linear motion component is represented by a directional vector and the rotational motion is represented by a rotation axis and a rotational angle; classifying the measured incremental vehicle motion as a linear motion or as a rotational motion based on the determined rotational angle; measuring at least one incremental motion which has been classified as a linear motion; measuring at least one incremental motion which has been classified as a rotational motion; and using the directional vector of the at least one measured linear motion for estimating the longitudinal axis of the vehicle; using the rotational vector of the at least one measured rotational motion for estimating the normal to the vehicle plane so that the orientation of the camera relative to the vehicle coordinate system follows from the vehicle longitudinal axis and the normal to the vehicle plane, which have been determined in the coordinate system of the camera, respectively.
摘要翻译：一种用于确定相对于所述车辆坐标系的车辆相机的摄像机的方向的方法，包括：基于所述摄像机的视频流的光流量来测量所述摄像机的坐标系中的增量车辆运动; 通过由线性运动分量和旋转运动构成的运动表示增量车辆运动，其中线性运动分量由方向矢量表示，旋转运动由旋转轴和旋转角度表示; 将所测量的增量车辆运动分类为基于所确定的旋转角度的线性运动或旋转运动; 测量已经被分类为线性运动的至少一个增量运动; 测量已经被分类为旋转运动的至少一个增量运动; 以及使用所述至少一个测量的直线运动的方向矢量来估计车辆的纵向轴线; 使用所述至少一个所测量的旋转运动的旋转矢量来估计车辆平面的法线，使得相机相对于车辆坐标系的方位从车辆纵向轴线和车辆平面的法线在相机的坐标系中分别确定。

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