| CPC G06T 7/80 (2017.01) [G06T 7/70 (2017.01); G06T 2207/10048 (2013.01); G06T 2207/30252 (2013.01)] | 18 Claims |
|
1. A method for calibrating a vehicle to infrastructure (V2I) system that is using an infrared (IR) camera overlooking a road, comprising:
obtaining from the IR camera a first image for use in calibration of the IR camera, each image of the IR camera having points (i) identifiable in an image coordinate system (ICS) and (ii) corresponding to objects in a real world scene captured by the IR camera;
identifying in the obtained first image a plurality of points each of which corresponds to a respective object in the real world that is touching a surface of the road;
obtaining a measurement that substantially corresponds to a distance from a location of the IR camera to each respective one of the identified points of the plurality in a camera coordinate system (CCS);
determining a model of the road that is expressed in the CCS based on the identified points and their respective obtained distances; and
calculating a transformation between the CCS and a world coordinate system (WCS) using the road model, whereby the transformation is usable to determine a distance in the WCS to an object detected in a second image obtained from the IR camera;
wherein calculating a transformation between the CCS and the WCS further comprises aligning a Y axis in the WCS with a direction of the road; and
wherein aligning of the Y axis in the WCS with a direction of the road further comprises selecting at least two pixels of the first image which are along a centerline of the road but are at different locations in the first image, the points along the centerline being selected in an order from nearest to the location of the camera to farthest from the location of the camera.
|