Kit device and calibration system

Abstract

A calibration system comprises a camera group, a second camera, a third camera, a first calibration board, a second calibration board and a processing unit. The camera group includes a first camera. The first camera has a first field of view. The second camera has a second field of view. The third camera has a third field of view. The third field of view partially overlaps the first and second field of view. The first calibration plate is arranged in the first and third visual fields. The second calibration plate is arranged in the second and third visual fields. The first camera shoots the first calibration board to generate a first image. The second camera shoots the second calibration plate to generate a second image. The third camera shoots the first calibration board and the second calibration board to generate a third image. The processing unit calculates the relative position and angle difference of the first camera and the second camera according to the first image, the second image and the third image.

Description

TECHNICAL FIELD

[0001] The present application relates to a kit device, in particular a kit device and a calibration system. BACKGROUND

[0002] Generally speaking, in an around view monitor (AVM) system, a plurality of AVM cameras (e.g. four cameras) can be used to capture a calibration board with respect to a unified three-dimensional world coordinate axis around the vehicle, so as to calculate the positions and lens angles of the AVM cameras in the world coordinate and the relative positions and lens angles between the AVM cameras, and then generate a corresponding surround view image. Nowadays, a driving monitoring camera is needed to be added in the vehicle to monitor the driver's concentration and line of sight. However, the coordinate system of the conventional driving monitoring camera and the AVM system is not calibrated, so the extrinsic parameters of the cameras in the same coordinate system cannot be calibrated, which brings inconvenience to some applications.

[0003] For example, in the above case, the correlation between the driver's line of sight captured by the driving monitoring camera and the object captured by the AVM system cannot be accurately known, so when a pedestrian suddenly intrudes into the path of the vehicle, the driving monitoring camera can know the direction of the driver's line of sight, and the AVM system can know the position of the pedestrian, but since the coordinate systems of the two systems are not accurately calibrated, it cannot be accurately known whether the driver is looking at the pedestrian, so the system cannot accurately determine whether to give a look-at prompt or a brake prompt, and there is a certain probability of false operation. Therefore, a new design is needed to improve the above problems. SUMMARY

[0004] The present application provides a kit device and a calibration system, so that different cameras correspond to the same coordinate system, and the extrinsic parameters in the same coordinate system are calibrated, so as to increase the convenience of use.

[0005] The present application provides a calibration system, which includes a camera group, a second camera, a third camera, a first calibration board, a second calibration board and a processing unit. The camera group includes a first camera, and the first camera has a first field of view. The second camera has a second field of view. The third camera has a third field of view. The third field of view partially overlaps with the first field of view and the second field of view. The first calibration board is disposed in the first field of view and the third field of view. The second calibration board is disposed in the second field of view and the third field of view. The processing unit is coupled to the first camera, the second camera and the third camera. The first camera captures the first calibration board to generate a first image. The second camera captures the second calibration board to generate a second image. The third camera captures the first calibration board and the second calibration board to generate a third image. The processing unit calculates a first relative position and a first angle difference between the first camera and the second camera according to the first image, the second image and the third image.

[0006] The present application provides a kit device, which is suitable for calibrating a first camera and a second camera. The first camera has a first field of view, and the second camera has a second field of view. The kit device includes a third camera, a first calibration board, a second calibration board and a processing unit. The third camera has a third field of view, and the third field of view partially overlaps with the first field of view and the second field of view. The first calibration board is disposed in the first field of view and the third field of view. The second calibration board is disposed in the second field of view and the third field of view. The processing unit is coupled to the first camera, the second camera and the third camera. The processing unit calculates a first relative position and a first angle difference between the first camera and the second camera according to a first image of the first camera, a second image of the second camera and a third image of the third camera. The first image is generated by capturing the first calibration board by the first camera. The second image is generated by capturing the second calibration board by the second camera. The third image is generated by capturing the first calibration board and the second calibration board by the third camera.

[0007] The kit device and the calibration system disclosed by the present application have the first calibration board disposed in the first field of view of the first camera and the third field of view of the third camera. The second calibration board is disposed in the second field of view of the second camera and the third field of view of the third camera. The first camera captures the first calibration board to generate a first image. The second camera captures the second calibration board to generate a second image. The third camera captures the first calibration board and the second calibration board to generate a third image. The processing unit calculates a first relative position and a first angle difference between the first camera and the second camera according to the first image, the second image and the third image. In this way, different cameras correspond to the same coordinate system, and the external parameters in the same coordinate system are calibrated to increase the convenience in use. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 A block diagram of a calibration system according to an embodiment of the present application.

[0009] Figure 2 Schematic diagram of the configuration relationship of a first camera, a second camera, a third camera, a first calibration plate, and a second calibration plate according to an embodiment of the present invention.

[0010] Figure 3 Schematic diagram of the configuration relationship of a first camera, a second camera, a third camera, a fourth camera, a fifth camera, a sixth camera, a first calibration plate, a second calibration plate, and a third calibration plate according to an embodiment of the present invention.

[0011] Figure 4 FIG. 4 is a flow chart of an operating method of a calibration system according to an embodiment of the present invention.

[0012] Figure 5 for Figure 4 Detailed flowchart of step S420.

[0013] Figure 6 FIG. 4 is a flow chart of an operating method of a calibration system according to another embodiment of the present invention.

[0014] Figure 7A and Figure 7B FIG. 4 is a flow chart of an operating method of a calibration system according to another embodiment of the present invention.

[0015] The description of the accompanying drawings is as follows:

[0016] 100: Calibration system

[0017] 110: Camera Group

[0018] 111: First Camera

[0019] 112: The Fourth Camera

[0020] 113: Fifth Camera

[0021] 114: Sixth Camera

[0022] 120: Second Camera

[0023] 130: Third Camera

[0024] 140: First calibration plate

[0025] 150: Second calibration plate

[0026] 160: Processing unit

[0027] 170: Kit device

[0028] 180: The third calibration plate

[0029] S402~S420, S502~S506, S602, S702~S716: Steps DETAILED DESCRIPTION

[0030] The technical terms in the present specification refer to the conventional terms in the technical field, and the explanations of the terms in the present specification are based on the descriptions or definitions in the present specification. Each of the embodiments of the present disclosure has one or more technical features. The skilled in the art can selectively implement some or all of the technical features in any of the embodiments, or selectively combine some or all of the technical features in the embodiments, under the premise of feasibility.

[0031] In the following listed embodiments, the same reference signs represent the same or similar elements or components.

[0032] Figure 1 A block diagram of a calibration system according to an embodiment of the present disclosure. Figure 2 A schematic diagram of a configuration relationship of a first camera, a second camera, a third camera, a first calibration board, and a second calibration board according to an embodiment of the present disclosure. Please refer to Figure 1 and Figure 2 The calibration system 100 includes a camera group 110, a second camera 120, a third camera 130, a first calibration board 140, a second calibration board 150, and a processing unit 160. In the embodiment, the third camera 130, the first calibration board 140, the second calibration board 150, and the processing unit 160 can be included in a kit device 170.

[0033] The camera group 110 can include a first camera 111. The first camera 111 can have a first field of view range. The second camera 120 can have a second field of view range. In some embodiments, the first field of view range and the second field of view range can be different, but embodiments of the present disclosure are not limited thereto. That is, the first camera 111 and the second camera 120 can be disposed at different positions, and the first camera 111 and the second camera 120 can capture objects at different positions.

[0034] The third camera 130 can have a third field of view range, and the third field of view range can partially overlap with the first field of view range and the second field of view range. That is, the third field of view range can partially or completely cover the first field of view range, and the third field of view range can also partially or completely cover the second field of view range.

[0035] The first calibration board 140 can be disposed within the first field of view range and the third field of view range. That is, the first calibration board 140 can be disposed within the capturing range of the first camera 111 and the third camera 130. The second calibration board 150 can be disposed within the second field of view range and the third field of view range. That is, the second calibration board 150 can be disposed within the capturing range of the second camera 120 and the third camera 130.

[0036] In some embodiments, the first calibration plate 140, the second calibration plate 150, and a third calibration plate 180 to be described later can be calibration plates with a chessboard pattern, as shown in FIG. 1B, where each chessboard grid length is known to facilitate the measurement of actual distances. However, embodiments of the present application are not limited thereto, and in other embodiments, the first calibration plate 140, the second calibration plate 150, and the third calibration plate 180 can be calibration plates with other patterns, which can also achieve the same technical effects, and the shapes of the calibration plates can be the same or different. Figure 2

[0037] The processing unit 160 can be coupled to the first camera 111, the second camera 120, and the third camera 130. In some embodiments, the processing unit 160 can be a central processing unit (CPU), a microprocessor, or a micro control unit (MCU), but embodiments of the present application are not limited thereto.

[0038] The first camera 111 can capture the first calibration plate 140 to generate a first image. The second camera 120 can capture the second calibration plate 150 to generate a second image. The third camera 130 can capture the first calibration plate 140 and the second calibration plate 150 to generate a third image. The processing unit 160 can receive the first image, the second image, and the third image, and calculate the first relative position and the first angle difference between the first camera 111 and the second camera 120 according to the first image, the second image, and the third image.

[0039] In some embodiments, the first camera 111 can be one of an around view monitor (AVM) camera, and the second camera 120 can be a driver monitoring system (DMS) camera, such as a near-infrared (NIR) camera, but embodiments of the present application are not limited thereto. In addition, the third camera 130 can be a charge-coupled device (CCD) camera, a near-infrared camera, or other suitable cameras, but embodiments of the present application are not limited thereto. The second camera 120 is preferably arranged in front of the driver, such as behind the steering wheel, which can more accurately determine the driver's line of sight.

[0040] ​In some embodiments, the processing unit 160 can calculate a first position and a first angle of view of the first camera 111 corresponding to the first calibration board 140 according to the first image. That is, the processing unit 160 can calculate the first position and the first angle of view of the first camera 111 corresponding to the first calibration board 140 according to the internal parameters of the first camera 111, the checkerboard image of the first calibration board 140 in the first image, and the actual distance of each grid. Then, the processing unit 160 can calculate a second position and a second angle of view of the second camera 120 corresponding to the second calibration board 150 according to the second image. That is, the processing unit 160 can calculate the second position and the second angle of view of the second camera 120 corresponding to the second calibration board 150 according to the internal parameters of the second camera 120, the checkerboard image of the second calibration board 150 in the second image, and the actual distance of each grid.

[0041] Then, the processing unit 160 can calculate a third position and a third angle of view of the third camera 130 corresponding to the first calibration board 140 and a fourth position and a fourth angle of view of the third camera 130 corresponding to the second calibration board 150 according to the third image. That is, the processing unit 160 can calculate the third position and the third angle of view of the third camera 130 corresponding to the first calibration board 140 according to the internal parameters of the third camera 130, the checkerboard image of the first calibration board 140 in the third image, and the actual distance of each grid; and calculate the fourth position and the fourth angle of view of the third camera 130 corresponding to the second calibration board 150 according to the internal parameters of the third camera 130, the 3D point group of the second calibration board 150 in the third image, and the image position projected to the third camera 130. Then, the processing unit 160 calculates a first relative position and a first angle difference of the first camera 111 and the second camera 120 according to the first position, the first angle of view, the second position, the second angle of view, the third position, the third angle of view, the fourth position, and the fourth angle of view.

[0042] In the present embodiment, the first relative position and the first angle difference of the first camera 111 and the second camera 120 can be calculated by the following formula (1).

[0043] cameraAVM T cameraDMS = cameraAVM T aux.chessboard * cameraAuxially T aux.chessboard -1 * camerAuxially T aux.chessboard2 * cameraDMS T aux.chessboard2 -1 (1)

[0044] wherein, cameraAVM T cameraDMSis a matrix of the first relative position and the first angle difference between the first camera 111 and the second camera 120 (i.e., a rotation and translation matrix for converting the camera coordinate point of the second camera 120 to the camera coordinate point of the first camera 111), cameraAVM T aux.chessboard is a matrix of the first position and the first viewing angle corresponding to the first camera 111 and the first calibration plate 140, cameraDMS T aux.chessboard is a matrix of the second position and the second viewing angle corresponding to the second camera 120 and the second calibration plate 150, cameraAuxially T aux.chessboard1 is a matrix of the third position and the third viewing angle corresponding to the third camera 130 and the first calibration plate 140, camerAuxially T aux.chessboard is a matrix of fourth positions and fourth viewing angles corresponding to the third camera 130 and the second calibration plate 150 .

[0045] In some embodiments, the first camera 111 can correspond to a three-dimensional coordinate system. Specifically, in some embodiments, the processing unit 160 can correspond the second camera 120 to the three-dimensional coordinate system based on the first relative position and first angle difference between the first camera 111 and the second camera 120, and calculate the position and viewing angle of the second camera 120 in the three-dimensional coordinate system. In this way, the second camera 120 and the first camera 111 can correspond to the same coordinate system and calibrate the external parameters of the same coordinate system. This allows the position of objects and images captured by the second camera 120 to be integrated into the coordinate system of the image (e.g., a panoramic image) captured by the first camera 111, thereby increasing ease of use.

[0046] In some embodiments, camera group 110 further includes a fourth camera 112, a fifth camera 113, and a sixth camera 114. Fourth camera 112, fifth camera 113, and sixth camera 114 can be coupled to processing unit 160. Fourth camera 112 can have a fourth field of view. Fifth camera 113 can have a fifth field of view. Sixth camera 114 can have a sixth field of view. Furthermore, calibration system 100 can further include a plurality of third calibration plates 180, and these third calibration plates 180 can be respectively disposed within the first field of view, the fourth field of view, the fifth field of view, and the sixth field of view.

[0047] In some embodiments, as Figure 3 As shown, the first camera 111 can be disposed within a vehicle body, adjacent to the left side of the vehicle body and facing outward, such as within the left rearview mirror. The second camera 120 can be disposed within the vehicle body, adjacent to the windshield of the vehicle body and facing the driver. The third camera 130 can be disposed within the vehicle body, adjacent to the front of the vehicle body and facing the left side of the vehicle body and the driver.

[0048] The fourth camera 112 can be disposed in the vehicle body and disposed adjacent to a front position in the vehicle body and facing outward of the vehicle. The fifth camera 113 can be disposed in the vehicle body and disposed adjacent to a right position in the vehicle body and facing outward of the vehicle, for example, in a right side mirror. The sixth camera 114 can be disposed in the vehicle body and disposed adjacent to a rear position in the vehicle body and facing outward of the vehicle.

[0049] The first calibration plate 140 can be disposed, for example, outside the vehicle body and located within the first field of view of the first camera 111 and the third field of view of the third camera 130. The second calibration plate 150 can be disposed, for example, inside the vehicle body and located within the second field of view of the second camera 120 and the third field of view of the third camera 130.

[0050] A method of establishing a three-dimensional coordinate system is described below, but the present application is not limited thereto and other methods of establishing a three-dimensional coordinate system can also be used. Specifically, to facilitate calibration of the position and angle of view of the camera group 110 in the three-dimensional coordinate system, the third calibration plate 180 can be disposed outside the vehicle body and disposed around the vehicle body, with each third calibration plate having a chessboard size. Specifically, each third calibration plate 180 is located within at least one of the first field of view of the first camera 111, the fourth field of view of the fourth camera 112, the fifth field of view of the fifth camera 113, and the sixth field of view of the sixth camera 114.

[0051] The first camera 111 can capture the third calibration plate 180 disposed in the first field of view to generate a fourth image. The fourth camera 112 can capture the third calibration plate 180 disposed in the fourth field of view to generate a fifth image. The fifth camera 113 can capture the third calibration plate 180 disposed in the fifth field of view to generate a sixth image. The sixth camera 114 can capture the third calibration plate 180 disposed in the sixth field of view to generate a seventh image.

[0052] The processing unit 160 can receive the fourth image, the fifth image, the sixth image, and the seventh image and calculate the second relative positions and the second angle differences of the first camera 111, the fourth camera 112, the fifth camera 113, and the sixth camera 114 according to the fourth image, the fifth image, the sixth image, and the seventh image.

[0053] In some embodiments, the processing unit 160 can also correspond the first camera 111, the fourth camera 112, the fifth camera 113 and the sixth camera 114 to a three-dimensional coordinate system and calculate the positions and viewing angles of the first camera 111, the fourth camera 112, the fifth camera 113 and the sixth camera 114 in the three-dimensional coordinate system according to the second relative positions and the second angle difference of the first camera 111, the fourth camera 112, the fifth camera 113 and the sixth camera 114 and the three-dimensional point coordinate information. Then, the processing unit 160 can process the images generated by the first camera 111, the fourth camera 112, the fifth camera 113 and the sixth camera 114 according to the positions and viewing angles of the first camera 111, the fourth camera 112, the fifth camera 113 and the sixth camera 114 in the three-dimensional coordinate system to form a panoramic image. In addition, since the processing unit 160 corresponds the second camera 120 and the first camera 111 to the same coordinate system and calibrates the extrinsic parameters in the same coordinate system, the processing unit 160 can integrate the image captured by the second camera 120 into the panoramic image formed by the first camera 111, the fourth camera 112, the fifth camera 113 and the sixth camera 114 to increase the convenience of use.

[0054] In some embodiments, the first field of view range, the fourth field of view range, the fifth field of view range and the sixth field of view range are different and partially overlap. In some embodiments, the first camera 111, the fourth camera 112, the fifth camera 113 and the sixth camera 114 are respectively surround view camera system cameras, and the second camera 120 is a driver monitoring system camera.

[0055] In the foregoing embodiments, the calibration system 100 is exemplified by the first camera 111 and the second camera 120 of the camera group 110, and the first relative position and the first angle difference between the first camera 111 and the second camera 120 are calculated, and then the position and the viewing angle of the second camera 120 in the three-dimensional coordinate system corresponding to the first camera 111 are calculated, but the embodiments of the present application are not limited thereto. In other embodiments, since the first camera 111, the fourth camera 112, the fifth camera 113, and the sixth camera 114 correspond to the same three-dimensional coordinate system, the calibration system 100 can use the fourth camera 112, the fifth camera 113, or the sixth camera 114 to replace the first camera 111, and calculate the first relative position and the first angle difference between the fourth camera 112, the fifth camera 113, or the sixth camera 114 and the second camera 120, and then calculate the position and the viewing angle of the second camera 120 in the three-dimensional coordinate system corresponding to the fourth camera 112, the fifth camera 113, or the sixth camera 114. In addition, the manner of calculating the first relative position and the first angle difference between the fourth camera 112, the fifth camera 113, or the sixth camera 114 and the second camera 120 can refer to the description of calculating the first relative position and the first angle difference between the first camera 111 and the second camera 120, and thus will not be described here.

[0056] Figure 4 A flowchart of an operation method of a calibration system according to an embodiment of the present application is shown. In step S402, a camera group is provided, and the camera group includes a first camera, and the first camera has a first field of view. In step S404, a second camera is provided, and has a second field of view.

[0057] In step S406, a third camera is provided, and has a third field of view, and the third field of view partially overlaps with the first field of view and the second field of view. In step S408, a first calibration board is provided, and is disposed within the first field of view and the third field of view. In step S410, a second calibration board is provided, and is disposed within the second field of view and the third field of view.

[0058] In step S412, a processing unit is provided, and is coupled to the first camera, the second camera, and the third camera. In step S414, the first camera is used to capture the first calibration board to generate a first image. In step S416, the second camera is used to capture the second calibration board to generate a second image. In step S418, the third camera is used to capture the first calibration board and the second calibration board to generate a third image. In step S420, the processing unit is used to calculate the first relative position and the first angle difference between the first camera and the second camera according to the first image, the second image, and the third image. In some embodiments, the first field of view is different from the second field of view, for example. In some embodiments, the first camera is a surround-view camera, and the second camera is a driver monitoring system camera, for example.

[0059] Figure 5 For Figure 4 a detailed flowchart of step S420. In step S502, a first position and a first view angle of a first camera corresponding to a first calibration board are calculated according to a first image by a processing unit. In step S504, a second position and a second view angle of a second camera corresponding to a second calibration board are calculated according to a second image by the processing unit. In step S506, a third position and a third view angle of a third camera corresponding to the first calibration board, a fourth position and a fourth view angle of the third camera corresponding to the second calibration board, and a first relative position and a first angle difference between the first camera and the second camera are calculated according to a third image by the processing unit, and according to the first position, the first view angle, the second position, the second view angle, the third position, the third view angle, the fourth position and the fourth view angle. In some embodiments, the first camera corresponds to a three-dimensional coordinate system.

[0060] Figure 6 a flowchart of an operation method of a calibration system according to another embodiment of the present application. In this embodiment, steps S402-S420 are the same as or similar to steps S402-S420 of the embodiment of Figure 4 , and reference can be made to the description of the embodiment of Figure 5 , and thus will not be repeated here. In step S602, a second camera is corresponded to a three-dimensional coordinate system according to a first relative position and a first angle difference between the first camera and the second camera by a processing unit, and a position and a view angle of the second camera in the three-dimensional coordinate system are calculated.

[0061] Figure 7A and Figure 7B a flowchart of an operation method of a calibration system according to another embodiment of the present application. In this embodiment, steps S402-S420, S602 are the same as or similar to steps S402-S420, S602 of the embodiment of Figure 6 , and reference can be made to the description of the embodiment of Figure 6 , and thus will not be repeated here. In step S702, a fourth camera, a fifth camera and a sixth camera are provided in the camera group, the fourth camera has a fourth field of view, the fifth camera has a fifth field of view, and the sixth camera has a sixth field of view.

[0062] In step S704, a plurality of third calibration plates are provided, and the third calibration plates are respectively arranged in the first field of view range, the fourth field of view range, the fifth field of view range and the sixth field of view range. In step S706, the third calibration plate arranged in the first field of view range is photographed by the first camera to generate a fourth image. In step S708, the third calibration plate arranged in the fourth field of view range is photographed by the fourth camera to generate a fifth image. In step S710, the third calibration plate arranged in the fifth field of view range is photographed by the fifth camera to generate a sixth image.

[0063] In step S712, the third calibration plate arranged in the sixth field of view range is photographed by the sixth camera to generate a seventh image. In step S714, the second relative positions and the second angle differences of the first camera, the fourth camera, the fifth camera and the sixth camera are calculated by the processing unit according to the fourth image, the fifth image, the sixth image and the seventh image.

[0064] In step S716, the first camera, the fourth camera, the fifth camera and the sixth camera are corresponded to the three-dimensional coordinate system, and the positions and the view angles of the first camera, the fourth camera, the fifth camera and the sixth camera in the three-dimensional coordinate system are calculated by the processing unit according to the second relative positions and the second angle differences of the first camera, the fourth camera, the fifth camera and the sixth camera and the three-dimensional point coordinate information.

[0065] In some embodiments, the first field of view range, the fourth field of view range, the fifth field of view range and the sixth field of view range are different and partially overlapped, for example. In some embodiments, the first camera, the fourth camera, the fifth camera and the sixth camera are surround view system cameras, respectively, and the second camera is a driver monitoring system camera, for example.

[0066] It is worth noting that, Figure 4 , Figure 5 , Figure 6 , Figure 7A and Figure 7B the order of steps is only for illustrative purposes, and is not used to limit the order of steps of the embodiments of the present application, and the order of the above steps can be changed by the user according to their needs. Moreover, additional steps can be added or fewer steps can be used without departing from the concept and scope of the present application.

[0067] In summary, the kit device and calibration system disclosed in the present application is configured such that the first calibration plate is arranged within the first field of view of the first camera and the third field of view of the third camera. The second calibration plate is arranged within the second field of view of the second camera and the third field of view of the third camera. The first camera captures the first calibration plate to generate a first image. The second camera captures the second calibration plate to generate a second image. The third camera captures the first calibration plate and the second calibration plate to generate a third image. The processing unit calculates the first relative position and the first angle difference between the first camera and the second camera according to the first image, the second image and the third image. In this way, different cameras correspond to the same coordinate system, and the external parameters in the same coordinate system are calibrated to increase the convenience of use.

[0068] Although the present application is disclosed with the above-mentioned embodiments, it is not intended to limit the scope of the present application. Any person skilled in the art can make some changes and modifications without departing from the concept and scope of the present application. Therefore, the scope of the present application is defined by the claims.

Claims

1. A calibration system, comprising: a camera group, the camera group comprising a first camera, the first camera having a first field of view; a second camera, the second camera having a second field of view; a third camera, the third camera having a third field of view, the third field of view partially overlapping the first field of view and the second field of view; a first calibration board, the first calibration board being disposed in the first field of view and the third field of view; a second calibration board, the second calibration board being disposed in the second field of view and the third field of view; a processing unit, the processing unit being coupled to the first camera, the second camera and the third camera; wherein the first camera captures the first calibration board to generate a first image; wherein the second camera captures the second calibration board to generate a second image; wherein the third camera captures the first calibration board and the second calibration board to generate a third image; wherein the processing unit calculates a first relative position and a first angle difference between the first camera and the second camera based on the first image, the second image and the third image.

2. The calibration system of claim 1, wherein the first field of view is different from the second field of view.

3. The calibration system of claim 1, wherein the first camera is a surround view camera and the second camera is a driver monitoring system camera.

4. The calibration system of claim 1, wherein the processing unit further calculates a first position and a first perspective angle of the first camera corresponding to the first calibration board based on the first image; wherein the processing unit further calculates a second position and a second perspective angle of the second camera corresponding to the second calibration board based on the second image; wherein the processing unit further calculates a third position and a third perspective angle of the third camera corresponding to the first calibration board and a fourth position and a fourth perspective angle of the third camera corresponding to the second calibration board based on the third image, and the processing unit calculates the first relative position and the first angle difference between the first camera and the second camera based on the first position, the first perspective angle, the second position, the second perspective angle, the third position, the third perspective angle, the fourth position and the fourth perspective angle.

5. The calibration system of claim 1, wherein the first camera corresponds to a three-dimensional coordinate system.

6. The calibration system of claim 5, wherein the processing unit further corresponds the second camera to the three-dimensional coordinate system based on the first relative position and the first angle difference between the first camera and the second camera, and calculates a position and a perspective angle of the second camera in the three-dimensional coordinate system.

7. The calibration system of claim 5, wherein the camera group further comprises a fourth camera, a fifth camera and a sixth camera, the fourth camera having a fourth field of view, the fifth camera having a fifth field of view, the sixth camera having a sixth field of view; wherein the calibration system further comprises a plurality of third calibration boards, and the plurality of third calibration boards are respectively disposed in the first field of view, the fourth field of view, the fifth field of view and the sixth field of view. wherein the first camera captures the plurality of third calibration boards disposed within the first field of view to generate a fourth image; wherein the fourth camera captures the plurality of third calibration boards disposed within the fourth field of view to generate a fifth image; wherein the fifth camera captures the plurality of third calibration boards disposed within the fifth field of view to generate a sixth image; wherein the sixth camera captures the plurality of third calibration boards disposed within the sixth field of view to generate a seventh image; wherein the processing unit calculates a second relative position and a second angle difference of the first camera, the fourth camera, the fifth camera and the sixth camera according to the fourth image, the fifth image, the sixth image and the seventh image.

8. The calibration system of claim 7, wherein the processing unit further corresponds the first camera, the fourth camera, the fifth camera and the sixth camera to a three-dimensional coordinate system according to the second relative position and the second angle difference of the first camera, the fourth camera, the fifth camera and the sixth camera and a three-dimensional point coordinate information, and calculates positions and view angles of the first camera, the fourth camera, the fifth camera and the sixth camera in the three-dimensional coordinate system.

9. The calibration system of claim 7, wherein the first field of view, the fourth field of view, the fifth field of view and the sixth field of view are different and partially overlapped.

10. The calibration system of claim 7, wherein the first camera, the fourth camera, the fifth camera and the sixth camera are each a surround view camera, and the second camera is a driver monitoring system camera.

11. A kit device adapted for calibrating a first camera and a second camera, wherein the first camera has a first field of view and the second camera has a second field of view, the kit device comprising: a third camera having a third field of view, the third field of view partially overlapping with the first field of view and the second field of view; a first calibration board disposed within the first field of view and the third field of view; a second calibration board disposed within the second field of view and the third field of view; a processing unit coupled to the first camera, the second camera and the third camera; wherein the processing unit calculates a first relative position and a first angle difference of the first camera and the second camera according to a first image of the first camera, a second image of the second camera and a third image of the third camera; wherein the first image is generated by the first camera capturing the first calibration board; wherein the second image is generated by the second camera capturing the second calibration board; wherein the third image is generated by the third camera capturing the first calibration board and the second calibration board.

12. The kit device of claim 11, wherein the first field of view, the second field of view and the third field of view are different and partially overlapped.

13. The kit device of claim 11, wherein the first camera, the second camera and the third camera are each a surround view camera.

Images