Method for calibrating the position and orientation of a camera relative to a calibration pattern

Abstract

A method for calibrating the position and/or orientation of a camera, in particular a camera mounted to a vehicle such as a truck, relative to a calibration pattern includes the steps of: A] acquiring an image of the calibration pattern by means of the camera; B] determining at least one parameter of the image and/or of the calibration pattern or a sub-pattern of the calibration pattern as it appears in the image; C] transforming the image based on the at least one parameter; D] identifying characteristic points or possible characteristic points of the calibration pattern within the transformed image of the calibration pattern; E] deriving the position and/or orientation of the camera relative to the calibration pattern from the identified characteristic points or possible characteristic points; F] in dependence of a confidence value of the derived position and/or orientation of the camera and/or in dependence of the number of iterations of steps B to F so far, repeating steps B to F, wherein in step B the derived position and/or orientation of the camera are taken into account for determining the at least one parameter; and G. outputting the position and/or orientation of the camera derived in the last iteration of step E.