Industrial Technology Research Institute

Daniel Alberto Reyes Uquillas

Sheng-Wei Chan

Chen-Hui Hu

Chiao-Tung Chan

The present disclosure provides a camera calibration method based on vehicle localization, mainly considering that a vehicle is not of an ideal rigid structure, and shaking of a vehicle body during operation, uneven road surfaces, or different loads will cause variations in extrinsic parameters of a camera system, resulting in perceptual information errors. Therefore, through perceptual information from a fused image, an inertial measurement unit, a speedometer, and the like, combined with the road and marking information provided by a high-definition map, the relative motion between the vehicle body and a vehicle chassis is simultaneously described with a mass-spring-damper model, so as to complete the determination of six-degree-of-freedom positions of the vehicle body and the vehicle chassis, and finally the extrinsic parameters of cameras are immediately calibrated with the vehicle chassis as reference coordinates.

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Hsinchu, Taiwan

Daniel Alberto Reyes Uquillas