US 12,249,100 B2
Highly-accurate and self-adjusting imaging sensor auto-calibration for in-vehicle advanced driver assistance system (ADAS) or other system
Andrew C. Kobach, San Diego, CA (US)
Assigned to Omnitracs, LLC, Westlake, TX (US)
Filed by Omnitracs, LLC, Westlake, TX (US)
Filed on Oct. 29, 2021, as Appl. No. 17/514,912.
Prior Publication US 2023/0136214 A1, May 4, 2023
Int. Cl. G06T 7/80 (2017.01); G06T 7/20 (2017.01); G06T 7/536 (2017.01); G06T 7/73 (2017.01); G06V 20/56 (2022.01)
CPC G06T 7/80 (2017.01) [G06T 7/536 (2017.01); G06V 20/588 (2022.01); G06T 2207/30256 (2013.01)] 20 Claims
OG exemplary drawing
 
14. An apparatus comprising:
at least one processing device configured to:
obtain multiple images of a scene using an imaging sensor associated with a vehicle, the images of the scene capturing lane marking lines associated with a traffic lane in which the vehicle is traveling;
identify, in each of at least some of the images, a vanishing point based on the lane marking lines captured in the image;
identify an average position of the vanishing points in the at least some of the images; and
determine one or more extrinsic calibration parameters of the imaging sensor based on the average position of the vanishing points;
wherein the one or more extrinsic calibration parameters of the imaging sensor comprise a pitch angle and a yaw angle of the imaging sensor;
wherein the at least one processing device is configured to determine the pitch angle and the yaw angle of the imaging sensor as:

OG Complex Work Unit Math
wherein:
Rx represents the pitch angle;
Ry represents the yaw angle;
α=u*−cx;
β=v*−cy;
γ=−fx+√fx2+4α2;
u* and v* represent coordinates of the average position of the vanishing points;
fx and fy represent focal lengths associated with the imaging sensor; and
cx and cy represent focal centers associated with the imaging sensor.