Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Camera Calibration for Machine Vision Based Autonomous Vehicles

머신비젼 기반의 자율주행 차량을 위한 카메라 교정

  • 이문규 (계명대학교 기계·자동차공학부) ;
  • 안택진 (계명대학교 대학원 산업공학과)
  • Published : 2002.09.01
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Abstract

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.

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References

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