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Homography-Based Extrinsic Self-Calibration for Cameras in Automotive Applications

In this paper we present a method to calibrate the extrinsic parameters of a monocular camera on a moving vehicle. The method is based on a homography which describes the image motion on the road between two camera shots. Therefore, only the road surface has to be visible in the pair of images. A reasonable definition of the world coordinate system in combination with the use of epipolar geometry and odometric data enables the parameterization of the homography matrix with a single parameter. A measure is introduced which evaluates how well the image motion matches to motion described by the homography. The minimization of this one-dimensional error measure finally lead to the extrinsic parameters.