US 11,887,338 B2
Maintaining calibration of an IBIS camera
Peter Leeman, Pittsburgh, PA (US); Nijumudheen Muhassin, Jefferson Hills, PA (US); and Jayesh Dwivedi, Oakmont, PA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Jun. 16, 2022, as Appl. No. 17/807,259.
Prior Publication US 2023/0410365 A1, Dec. 21, 2023
Int. Cl. G06T 7/80 (2017.01); H04N 23/68 (2023.01)
CPC G06T 7/80 (2017.01) [H04N 23/6812 (2023.01); G06T 2207/10044 (2013.01); G06T 2207/30252 (2013.01)] 27 Claims
OG exemplary drawing
 
1. A method of extrinsic camera calibration, comprising:
receiving, using at least one processor, a first initial extrinsic calibration of a first camera having a first sensor, wherein the first initial extrinsic calibration includes a rotation matrix and an initial translation matrix and is based on a first position of the first sensor when the first camera captures an initial image;
determining, using the at least one processor, a first translation of the first sensor based on a second position thereof when the first camera captures a first image, the second position being different than the first position;
determining, using the at least one processor, a first extrinsic translation shift based at least upon the first translation, wherein the first extrinsic translation shift represents a first net translation between the first position and the second position of the first sensor; and
updating, using the at least one processor, the first initial extrinsic calibration to yield a first modified extrinsic calibration for the first camera based on the first extrinsic translation shift, wherein the first modified extrinsic calibration includes the rotation matrix and a first adjusted translation matrix given by a summation of the first extrinsic translation shift with the initial translation matrix.