Abstract: Aspects of the present disclosure include methods, apparatuses, and vehicles for performing intrinsic calibration of the cameras in the vehicle. A processor may acquire plural images of a target captured by the camera at different locations. For each image, the processor may tone map the image, binarize the tone-mapped image, define a structuring element based on the digital form of the shape of the target, perform morphology on the image to align and calibrate the structuring elements, filter the target and modify each of the other pixels to black, and compile an output image. Based on the calibration, the principal point values may be shifted to account for discrepancies and store calibrated values in each camera.

Abstract: A method for evaluating edge quality in an image includes receiving an image from a camera of a vehicle, detecting an edge in the image captured by the camera, fitting a polynomial curve to the edge in the image captured by the camera, executing a numerical optimizer to determine a minimum distance from each pixel in the image of the edge to the polynomial curve, determining a modulation transfer function (MTF) value using the minimum distance, determining whether the MTF value is greater than predetermined threshold, and providing an alert in response to determining that the MTF value is not greater than the predetermined threshold.

Abstract: Aspects of the present disclosure include methods, apparatuses, and vehicles for performing intrinsic calibration of the cameras in the vehicle. A processor may acquire plural images of a target captured by the camera at different locations. For each image, the processor may tone map the image, binarize the tone-mapped image, define a structuring element based on the digital form of the shape of the target, perform morphology on the image to align and calibrate the structuring elements, filter the target and modify each of the other pixels to black, and compile an output image. Based on the calibration, the principal point values may be shifted to account for discrepancies and store calibrated values in each camera.

Abstract: A method for evaluating edge quality in an image includes receiving an image from a camera of a vehicle, detecting an edge in the image captured by the camera, fitting a polynomial curve to the edge in the image captured by the camera, executing a numerical optimizer to determine a minimum distance from each pixel in the image of the edge to the polynomial curve, determining a modulation transfer function (MTF) value using the minimum distance, determining whether the MTF value is greater than predetermined threshold, and providing an alert in response to determining that the MTF value is not greater than the predetermined threshold.