Abstract: In a system and a method for extrinsic calibration of an image capture apparatus of a vehicle, the vehicle includes a vehicle body and a movable part configured to rotate around a known rotation axis relative to the vehicle body. The system includes an image capture apparatus having an image capture device mounted on the vehicle body and configured to capture at least two images of the movable part, an identification unit configured to identify at least two image features in the images, a calculation unit configured to calculate a calculated direction of the rotation axis relative to the image capture device based on the image features, and a calibration unit configured to determine extrinsic parameters of the image capture apparatus based on the calculated direction of the rotation axis relative to the image capture device and the known parameters of the rotation axis relative to the vehicle.

Abstract: A method for deriving extrinsic camera parameters of a vehicle camera. Calibration markers are provided on a flat ground surface and the vehicle is driven past the calibration markers. Marker boundaries are detected and matched to stored pre-determined shape parameters and a marker shape is identified. At least one extrinsic parameter of the camera is derived using the tracked positions of identified marker shape in the video sequence captured while vehicle is moving, wherein the extrinsic parameter is selected from mounting positions and a rotation is selected from both horizontal axis and vertical axis of a vehicle coordinate system.

Abstract: In a system and a method for extrinsic calibration of an image capture system of a vehicle, the vehicle includes a body and a body portion, wherein the body portion is configured to rotate around a rotation axis relative to the vehicle. The system includes an image capture system with an image capture device mounted on the body portion and adapted to capture at least two images of the body and/or surrounding area of the vehicle, an identification unit adapted to identify at least two image features in the images, a calculation unit adapted to calculate a direction of the rotation axis relative to the image capture device based on the image features, and a calibration unit configured to determine extrinsic parameters of the image capture system based on the calculated direction of the rotation axis relative to the vehicle. The image capture system is calibrated using degrees of freedom of movement that the image capture device has due to being mounted on a movable portion of the vehicle.

Abstract: Image data is retrieved from the camera and an image of a neighbouring vehicle is acquired. A vehicle model is derived from the image data and the vehicle model is used to retrieve dimensional information from an onboard database. The dimensional information is correlated with the image data and the correlation is used to determine extrinsic camera parameters.

Abstract: A method for deriving extrinsic camera parameters of a vehicle camera. Calibration markers are provided on a flat ground surface and the vehicle is driven past the calibration markers. Marker boundaries are detected and matched to stored pre-determined shape parameters and a marker shape is identified. At least one extrinsic parameter of the camera is derived using the tracked positions of identified marker shape in the video sequence captured while vehicle is moving, wherein the extrinsic parameter is selected from mounting positions and a rotation is selected from both horizontal axis and vertical axis of a vehicle coordinate system.