Camera Calibration for Road Applications

摘要

This paper describes an algorithm for the calibration of TV cameras, particularly suited to autonomous navigation applications. It makes use of the road itself as a calibration structure. If the lane width and the length of the discontinuous longitudinal stripes are known, the image plane position of the lane borders allows a complete (extrinsic and intrinsic) camera calibration. Even if the two lengths are not known, the method can be used to calibrate a secondary steerable–zoomable camera with respect to a primary, calibrated one. Theoretical formulas and graphs are presented to determine the precision of the method for every setup. The theoretical formulas are confirmed by means of real world experiments.