Vehicle Camera Calibration Using Road Line Parallel Constraints
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Solution Overview
Problem
Camera calibration in autonomous driving systems is challenged by changes in vehicle pose, tire air pressure, and passenger load, leading to discrepancies between initial and actual image positions, which affect the accuracy of vehicle pose estimation and distance measurement.
Innovation Solution
A processor-implemented method that captures driving images, segments straight lines, extracts feature points, and projects them into a world coordinate system to estimate errors in camera calibration parameters such as pitch, roll, or yaw, ensuring feature points satisfy line parallel conditions, allowing for real-time calibration during vehicle motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If camera calibration is performed in the initial state, then coordinate system transformation information can be obtained, but calibration accuracy deteriorates when vehicle conditions change (tire air pressure, passenger load, vehicle pose)
Solution Approach 1:
The patent implements dynamic calibration by continuously updating camera calibration parameters during vehicle operation based on real-time detection of road markings. Instead of relying on static initial calibration, the system adapts calibration data as the vehicle moves, allowing the calibration to evolve with changing vehicle conditions such as tire pressure variations, passenger load changes, and pose adjustments.
Solution Approach 2:
The system employs feedback mechanisms by using detected road marking positions and orientations to continuously refine and update camera calibration parameters. The detected geometric features from the environment provide feedback that corrects drift in calibration data, ensuring maintained accuracy despite changes in vehicle conditions throughout operation.
2Manufacturing precision
If traditional calibration methods are used, then initial calibration can be completed, but calibration parameters drift over time due to vehicle motion and environmental changes
Solution Approach 1:
The patent ensures continuous calibration validity by performing ongoing calibration updates during vehicle operation. Rather than completing calibration once and relying on it statically, the system continuously processes road marking detections to maintain and refresh calibration parameters, ensuring the calibration remains valid throughout the vehicle's operational lifetime regardless of motion or environmental changes.
3Measurement precision
If real-time calibration is implemented during vehicle motion, then calibration accuracy is maintained under changing conditions, but computational complexity and processing requirements increase
Solution Approach 1:
The system performs self-calibration by utilizing road markings in the natural environment as calibration targets. Instead of requiring external calibration equipment or complex dedicated calibration systems, the vehicle uses its own camera to detect and process road markings, which serve as both the calibration target and the operational reference, simplifying the overall system architecture.
Solution Approach 2:
The calibration system serves multiple functions simultaneously: it detects road markings for navigation purposes while also performing calibration updates. The same image processing pipeline used for road following and lane detection is leveraged to extract calibration data, eliminating the need for separate calibration hardware or procedures and reducing overall system complexity.
Data Source
AI summary
A method and apparatus for calibrating a camera are provided. The method and apparatus include obtaining a driving image captured by a camera mounted on a vehicle, segmenting line regions including straight lines from the captured driving image, extracting feature points of the straight lines from the line regions, projecting the feature points of the straight lines into a world coordinate system, and estimating an error for a calibration parameter of the camera including at least one of a pitch, a roll, or a yaw so that the feature points projected into the world coordinate system satisfy a line parallel condition.