Vehicle Camera Self-Calibration Using Ground Plane References
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Solution Overview
Problem
Conventional vehicle to camera calibration methods require manual user intervention and fail to recognize when calibration parameters need updating, especially in contexts with multiple cameras, leading to potential inaccuracies and operator burden.
Innovation Solution
An automated system that uses depth sensors and GPS/IMU to detect the ground plane and external reference points, enabling self-calibration of cameras by aligning actual inputs with expected parameters based on stored orientations and locations, even during vehicle operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual calibration mode is used, then the system can perform calibration, but the operator burden increases and reliability decreases when multiple cameras are involved
Solution Approach 1:
The system automatically detects ground planes, identifies external reference points, and performs calibration without requiring operator intervention. The camera system self-calibrates by comparing detected reference points with stored calibration data, eliminating the need for manual calibration initiation and execution.
Solution Approach 2:
The system continuously monitors camera images for ground planes and external reference points, compares actual detections with expected calibration parameters, and automatically adjusts calibration data when discrepancies are detected, creating a closed-loop feedback system for maintaining calibration accuracy.
2Ease of operation
If automated background calibration is implemented, then operator burden is reduced, but system complexity increases
Solution Approach 1:
The calibration system leverages existing camera hardware and image processing capabilities already present in the vehicle, making the automated calibration function available across multiple camera types and configurations without requiring dedicated calibration hardware for each camera.
Solution Approach 2:
The system pre-stores calibration data and expected parameters for external reference points during system setup, enabling rapid automated calibration during operation by simply comparing current detections against these pre-established references without complex real-time calculations.
3Reliability
If calibration is performed manually during operation, then calibration can be updated, but the process takes significant time and may interrupt vehicle operations
Solution Approach 1:
The system performs calibration checks periodically during normal vehicle operation by continuously analyzing camera images for ground planes and external reference points, allowing calibration to be updated at convenient intervals without requiring dedicated calibration time or interrupting vehicle operations.
Solution Approach 2:
The automated calibration system operates continuously in the background during vehicle operation, constantly monitoring for opportunities to perform calibration and executing updates seamlessly without interrupting the primary vehicle function, thereby maintaining calibration accuracy while minimizing time loss.
Data Source
AI summary
A system and method of automated vehicle to sensor calibration includes, during operation of a work vehicle having sensors located thereon, each sensor having a stored location and/or orientation relative to the vehicle, automatically determining via first sensor inputs an orientation of the ground surface relative to vehicle orientation, and automatically mapping via second sensor inputs one or more persistent external references to a vehicle coordinate frame. At least upon determining that the ground surface orientation and the mapped persistent external references satisfy specified conditions, a vehicle to sensor calibration mode is automatically initiated, including receiving actual inputs from a first (e.g., uncalibrated) sensor, which may be one of the sensors having stored locations and/or orientations prior to calibration, and selectively adjusting parameters of the first sensor based at least in part on the mapped persistent external references with respect to the actual inputs from the first sensor.