FR3119916B1 - Extrinsic calibration of a camera mounted on a vehicle chassis - Google Patents

Extrinsic calibration of a camera mounted on a vehicle chassis Download PDF

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Publication number
FR3119916B1
FR3119916B1 FR2101507A FR2101507A FR3119916B1 FR 3119916 B1 FR3119916 B1 FR 3119916B1 FR 2101507 A FR2101507 A FR 2101507A FR 2101507 A FR2101507 A FR 2101507A FR 3119916 B1 FR3119916 B1 FR 3119916B1
Authority
FR
France
Prior art keywords
vehicle
camera
vehicle chassis
camera mounted
extrinsic calibration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2101507A
Other languages
French (fr)
Other versions
FR3119916A1 (en
Inventor
Hugo Chochoy
Gatien Ferret
Bilal Hijazi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Continental Automotive GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive GmbH filed Critical Continental Automotive GmbH
Priority to FR2101507A priority Critical patent/FR3119916B1/en
Publication of FR3119916A1 publication Critical patent/FR3119916A1/en
Application granted granted Critical
Publication of FR3119916B1 publication Critical patent/FR3119916B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)

Abstract

L’invention présente un procédé de détermination d’une position et/ou d’une orientation d’une caméra par rapport au châssis d’un véhicule sur lequel la caméra est montée. Le procédé détermine ces informations à partir d’un modèle en trois dimensions du véhicule et de traitement d’images capturées par la caméra permettant d’identifier une partie du capot du véhicule. Par ailleurs, l’invention permet également de déterminer un angle d’attitude du véhicule en comparant la position et/ou l’orientation de la caméra relativement au châssis par rapport à ces mêmes informations relativement à la direction de déplacement du véhicule.The invention presents a method for determining a position and/or an orientation of a camera relative to the chassis of a vehicle on which the camera is mounted. The method determines this information from a three-dimensional model of the vehicle and processing images captured by the camera to identify a part of the vehicle bonnet. Furthermore, the invention also makes it possible to determine an angle of attitude of the vehicle by comparing the position and/or the orientation of the camera relative to the chassis with respect to this same information relative to the direction of movement of the vehicle.

FR2101507A 2021-02-17 2021-02-17 Extrinsic calibration of a camera mounted on a vehicle chassis Active FR3119916B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2101507A FR3119916B1 (en) 2021-02-17 2021-02-17 Extrinsic calibration of a camera mounted on a vehicle chassis

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2101507 2021-02-17
FR2101507A FR3119916B1 (en) 2021-02-17 2021-02-17 Extrinsic calibration of a camera mounted on a vehicle chassis

Publications (2)

Publication Number Publication Date
FR3119916A1 FR3119916A1 (en) 2022-08-19
FR3119916B1 true FR3119916B1 (en) 2023-04-28

Family

ID=75108595

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2101507A Active FR3119916B1 (en) 2021-02-17 2021-02-17 Extrinsic calibration of a camera mounted on a vehicle chassis

Country Status (1)

Country Link
FR (1) FR3119916B1 (en)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9762880B2 (en) * 2011-12-09 2017-09-12 Magna Electronics Inc. Vehicle vision system with customized display
US11144889B2 (en) * 2016-04-06 2021-10-12 American International Group, Inc. Automatic assessment of damage and repair costs in vehicles

Also Published As

Publication number Publication date
FR3119916A1 (en) 2022-08-19

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Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20220819

PLFP Fee payment

Year of fee payment: 3

TP Transmission of property

Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE

Effective date: 20230424

PLFP Fee payment

Year of fee payment: 4