US 12,475,599 B2
Method and apparatus for calibrating extrinsic parameters of surround-view cameras on a vehicle, vehicle and storage media
Meiying Yang, Xuancheng (CN); Xiaomin Ding, Xuancheng (CN); Baojie Wang, Xuancheng (CN); Di Zhou, Xuancheng (CN); Shoudao Xia, Xuancheng (CN); Fanyou Zhang, Xuancheng (CN); Wenqin Yang, Xuancheng (CN); and Yangqiu Cao, Xuancheng (CN)
Assigned to XUANCHENG LUXSHARE PRECISION INDUSTRY CO., LTD, Xuancheng (CN)
Filed by Xuancheng Luxshare Precision Industry Co., Ltd, Xuancheng (CN)
Filed on Apr. 2, 2024, as Appl. No. 18/624,959.
Claims priority of application No. 202310364272.9 (CN), filed on Apr. 3, 2023.
Prior Publication US 2024/0331197 A1, Oct. 3, 2024
Int. Cl. G06T 7/80 (2017.01); H04N 23/90 (2023.01)
CPC G06T 7/80 (2017.01) [H04N 23/90 (2023.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for calibrating extrinsic parameters of surround-view cameras on a vehicle, applied by the vehicle, wherein the surround-view cameras comprise a first camera, a second camera, a third camera, and a fourth camera, and wherein a position of the first camera is adjacent to a position of the third camera and a position of the fourth camera, and a position of the second camera is adjacent to the position of the third camera and the position of the fourth camera, and the method comprising:
determining an extrinsic parameter of the first camera and an extrinsic parameter of the second camera according to vehicle-body odometer information of the vehicle, first visual odometer information of the first camera, and second visual odometer information of the second camera;
determining a first pose initial value, a second pose initial value, a third pose initial value, and a fourth pose initial value according to the vehicle-body odometer information, the first visual odometer information, the second visual odometer information, the extrinsic parameter of the first camera, and the extrinsic parameter of the second camera;
determining a first target pose initial value, a second target pose initial value, a third target pose initial value, and a fourth target pose initial value according to the first pose initial value, the second pose initial value, the third pose initial value, and the fourth pose initial value; and
determining an extrinsic parameter of the third camera and an extrinsic parameter of the fourth camera according to the extrinsic parameter of the first camera, the extrinsic parameter of the second camera, the first target pose initial value, the second target pose initial value, the third target pose initial value, and the fourth target pose initial value.