{"title":"结构化道路上车载摄像机外部参数自动标定方法","authors":"Meng Wu, X. An","doi":"10.1109/ICVES.2007.4456379","DOIUrl":null,"url":null,"abstract":"This paper proposes a novel self-calibration method for getting the extrinsic parameters of the camera on the autonomous vehicle. Basing on the model of the highway and the extrinsic parameters of the camera, the lane marking can be described parametrically in the vehicle coordinate system. The position and headings of the vehicle can be measured by itself in real time. Thus the Extended Kalman Filter can be applied to the kinematical model of the vehicle. By this means, it is possible to refine the original rough extrinsic parameters of the camera with an iterative way. Experiment results show that this method has a good performance in the structural scenery on highway.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"An automatic extrinsic parameter calibration method for camera-on-vehicle on structured road\",\"authors\":\"Meng Wu, X. An\",\"doi\":\"10.1109/ICVES.2007.4456379\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a novel self-calibration method for getting the extrinsic parameters of the camera on the autonomous vehicle. Basing on the model of the highway and the extrinsic parameters of the camera, the lane marking can be described parametrically in the vehicle coordinate system. The position and headings of the vehicle can be measured by itself in real time. Thus the Extended Kalman Filter can be applied to the kinematical model of the vehicle. By this means, it is possible to refine the original rough extrinsic parameters of the camera with an iterative way. Experiment results show that this method has a good performance in the structural scenery on highway.\",\"PeriodicalId\":202772,\"journal\":{\"name\":\"2007 IEEE International Conference on Vehicular Electronics and Safety\",\"volume\":\"31 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2007 IEEE International Conference on Vehicular Electronics and Safety\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICVES.2007.4456379\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 IEEE International Conference on Vehicular Electronics and Safety","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICVES.2007.4456379","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An automatic extrinsic parameter calibration method for camera-on-vehicle on structured road
This paper proposes a novel self-calibration method for getting the extrinsic parameters of the camera on the autonomous vehicle. Basing on the model of the highway and the extrinsic parameters of the camera, the lane marking can be described parametrically in the vehicle coordinate system. The position and headings of the vehicle can be measured by itself in real time. Thus the Extended Kalman Filter can be applied to the kinematical model of the vehicle. By this means, it is possible to refine the original rough extrinsic parameters of the camera with an iterative way. Experiment results show that this method has a good performance in the structural scenery on highway.
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