Abstract: The disclosure relates to an apparatus for determining an angle of a trailer with respect to a vehicle. A camera captures first, second, and third images when the trailer is at a first, second, third orientations respectively with respect to the vehicle. A processing unit determines at least one image location of at least one feature of the trailer in the first image, the second image, and the third image. The processing unit determines a rotational angle of the trailer about the tow ball for the trailer in the third orientation with respect to the first orientation comprising utilization of the at least one 3D location of the at least one feature of the trailer when the trailer was in the first orientation and the 3D location of the one feature of the trailer when the trailer was in the third orientation.

Abstract: The disclosure relates to an apparatus for determining an angle of a trailer with respect to a vehicle. A camera captures first, second, and third images when the trailer is at a first, second, third orientations respectively with respect to the vehicle. A processing unit determines at least one image location of at least one feature of the trailer in the first image, the second image, and the third image. The processing unit determines a rotational angle of the trailer about the tow ball for the trailer in the third orientation with respect to the first orientation comprising utilization of the at least one 3D location of the at least one feature of the trailer when the trailer was in the first orientation and the 3D location of the one feature of the trailer when the trailer was in the third orientation.

Abstract: A camera mounted on or for a vehicle has camera rotational parameters ?, ?, ? and camera translational parameters xc, yc, zc in a camera image coordinate system, and the vehicle has a vehicle coordinate system. A method for online or on-the-fly calibration of the camera involves two independent steps, namely while the vehicle is moving relative to the ground, calibrating the camera rotational parameters using a parallel geometrical calibration process, and calibrating at least some of the camera translational parameters xc, yc independently of the camera rotational parameters.

Abstract: A system (1) for calibrating an image capture device (2) mounted on a motor vehicle for offset from an ideal position and an ideal angular orientation while the vehicle is moving comprises selecting an image (12) in a captured image frame (10) of a stationary object relative to the motor vehicle, which is capable of being tracked through a plurality of successively captured image frames (14a,14d), predicting the locations at which the target image (12b) should appear in the respective successively captured image frames (14a,14d), comparing the actual location of the target image (12a) in the respective successively captured image frames (14a,14d) with the respective predicted locations (12b) and determining calibration values for the camera (2) from the results of the comparison, in the event that the actual (12a) and predicted locations (12b) of the target image in the respective image frames (14a,14d) do not coincide.

Abstract: A camera mounted on or for a vehicle has camera rotational parameters ?, ?, ? and camera translational parameters xc, yc, zc in a camera image coordinate system, and the vehicle has a vehicle coordinate system. A method for online or on-the-fly calibration of the camera involves two independent steps, namely while the vehicle is moving relative to the ground, calibrating the camera rotational parameters using a parallel geometrical calibration process, and calibrating at least some of the camera translational parameters xc, yc independently of the camera rotational parameters.

Abstract: A system (1) for calibrating an image capture device (2) mounted on a motor vehicle for offset from an ideal position and an ideal angular orientation while the vehicle is moving comprises selecting an image (12) in a captured image frame (10) of a stationary object relative to the motor vehicle, which is capable of being tracked through a plurality of successively captured image frames (14a,14d), predicting the locations at which the target image (12b) should appear in the respective successively captured image frames (14a,14d), comparing the actual location of the target image (12a) in the respective successively captured image frames (14a,14d) with the respective predicted locations (12b) and determining calibration values for the camera (2) from the results of the comparison, in the event that the actual (12a) and predicted locations (12b) of the target image in the respective image frames (14a,14d) do not coincide.