Abstract: A calibration system for calibrating a radar sensing system for a vehicle includes at least one calibrating radar transmitter spaced from a location where the vehicle may be positioned. The vehicle includes a radar sensor disposed at the vehicle so as to sense exterior of the vehicle. The radar sensor includes a plurality of transmitters that transmit radio signals and a plurality of receivers that receive radio signals that are transmitted radio signals reflected from an object. A processor is operable to process an output of the receivers. With the vehicle positioned at the location, the at least one calibrating transmitter transmits signals that are received by the receivers of the radar sensor. Responsive to processing by the processor of the output of the receivers when receiving signals transmitted by the at least one calibrating transmitter, the calibration system determines if the radar sensor is misaligned at the vehicle.

Abstract: A camera calibration system for cameras of a vehicle includes a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle. The fields of view of at least two of the cameras overlap. An image processor is operable to process image data captured by the cameras to determine features in the overlapping regions of the fields of view of the at least two cameras. The camera calibration system determines a best fitting camera model based on actual geometric properties of each of the cameras. A display screen is disposed in the vehicle for displaying images derived from image data captured by the at least two cameras for viewing by a driver of the vehicle. Responsive to determining a best fitting camera model, the display screen displays images derived from image data captured by the at least two cameras.

Abstract: A method for calibrating a camera of a vehicular vision system includes providing a camera and an image processor at the vehicle. A monoview noncoplanar three dimensional calibration pattern distributed on a semi-sphere is determined via processing of image data captured by the camera. Responsive to determination of the monoview noncoplanar three dimensional calibration pattern distributed on the semi-sphere, extrinsic parameters of the camera and intrinsic parameters of the camera are estimated. The system performs at least one of (i) a linear refinement of the estimated extrinsic parameters and intrinsic parameters and (ii) a non-linear refinement of the estimated extrinsic parameters and intrinsic parameters. Responsive to processing by the image processor of image data captured by the camera, the camera is calibrated at least in part by using the determined monoview noncoplanar three dimensional semi-spherical calibration pattern.

Abstract: A camera calibration system for cameras of a vehicle includes a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle, with the fields of view of two of the cameras overlapping. While the vehicle is moving, an image processor of a control processes image data captured by the two cameras to determine and track matching features in an overlapping region of the fields of view of the two cameras. The control, responsive to image processing of image data captured by the two cameras, determines motion of matching features and minimizes a cost function of the error in the matching of the features. The camera calibration system uses the determined minimized cost function to refine calibration results of the two cameras using a feedback loop.

Abstract: A vision system of a vehicle includes a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle. The camera may include a fisheye lens. An image processor is operable to process image data captured by the camera. The vision system provides enhanced camera calibration using a monoview noncoplanar three dimensional calibration pattern. The system may include a plurality of cameras configured to be disposed at the vehicle so as to have respective fields of view exterior of the vehicle.

Abstract: A camera calibration system for a vehicle includes a plurality of cameras disposed at a vehicle and having respective fields of view exterior of the vehicle. An image processor is operable to process image data captured by the cameras. The image processor is operable, via processing of image data captured by the cameras, to determine a change in orientation of at least one of the cameras. The image processor determines the change in orientation from a previous orientation during a previous ignition cycle of the vehicle and a current orientation at the onset of a current or subsequent ignition cycle of the vehicle.

Abstract: A vehicular camera calibration system includes a camera disposed at a vehicle and having a field of view exterior of the vehicle and being operable to capture image data. Responsive to processing of image data captured by the camera, the camera calibration system determines features at the ground adjacent to the vehicle and tracks the determined features over two or more frames of captured image data. Responsive to processing of frames of captured image data during movement of the vehicle along a straight path on a planar surface, the camera calibration system is operable to determine a misalignment of the camera. The camera calibration system calibrates the misaligned camera by using an assumption that the determined features lie in a plane parallel to the planar surface along which the vehicle is traveling. The camera calibration system calibrates the camera by reducing ambiguity in vectors normal to the planar surface.

Abstract: A camera for a vision system for a vehicle includes a front housing portion, a lens assembly disposed at the front housing portion and an imager disposed at a circuit element. A planar rigid spacer having uniform thickness is disposed between the lens assembly and the imager. At least a circumferential portion of a front surface of the planar rigid spacer is secured at a portion of the front housing portion and at least a circumferential portion of a rear surface of the planar rigid spacer is secured at one of the imager and the circuit element. The planar rigid spacer accurately spaces the imager from the lens assembly and the predetermined thickness of the planar rigid spacer is selected so that the lens assembly focuses incident light onto the imager.

Abstract: A vision system of a vehicle includes a camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle. The camera may include a fisheye lens. An image processor is operable to process image data captured by the camera. The vision system provides enhanced camera calibration using a monoview noncoplanar three dimensional calibration pattern. The system may include a plurality of cameras configured to be disposed at the vehicle so as to have respective fields of view exterior of the vehicle.