Correcting decalibration of stereo cameras in self-driving vehicles

Muhovič, Jon Natanael (author), Perš, Janez (author)

Camera systems in autonomous vehicles are subject to various sources of anticipated and unanticipated mechanical stress (vibration, rough handling, collisions) in real-world conditions. Even moderate changes in camera geometry due to mechanical stress decalibrate multi-camera systems and corrupt downstream applications like depth perception. We propose an on-the-fly stereo recalibration method applicable in real-world autonomous vehicles. The method is comprised of two parts. First, in optimization step, external camera parameters are optimized with the goal to maximise the amount of recovered depth pixels. In the second step, external sensor is used to adjust the scaling of the optimized camera model. The method is lightweight and fast enough to run in parallel with stereo estimation, thus allowing an on-the-fly recalibration. Our extensive experimental analysis shows that our method achieves stereo reconstruction better or on par with manual calibration. If our method is used on a sequence of images, the quality of calibration can be improved even further.

• Language: English
• Keywords: visual stereo, recalibration, optimization, ranging, self-driving vehicles
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Publication date: 07.06.2020
• Year: 2020
• Number of pages: 17 str.
• Numbering: Vol. 20, iss. 11, art. 3241
• PID: 20.500.12556/RUL-128747
• UDC: 004.8
• ISSN on article: 1424-8220
• DOI: 10.3390/s20113241
• COBISS.SI-ID: 38143235
• Publication date in RUL: 27.07.2021

Record is a part of a journal

• Title: Sensors
• Shortened title: Sensors
• Publisher: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
• Licensing start date: 07.06.2020

Secondary language

• Language: Slovenian
• Keywords: vidni stereo, rekalibracija, optimizacija, meritve razdalje, samovozeča vozila

Projects

• Funder: ARRS - Slovenian Research Agency
• Project number: J2-8175
• Name: Robustne metode računalniškega vida za avtonomna robotska plovila

• Funder: ARRS - Slovenian Research Agency
• Project number: P2-0095
• Name: Vzporedni in porazdeljeni sistemi