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Sensors 2018, 18(9), 2956; https://doi.org/10.3390/s18092956

Automatic Calibration of an Around View Monitor System Exploiting Lane Markings

1
Department of Electronic Engineering, Korea National University of Transportation, 50 Daehak-ro, Chungju-si, Chungbuk 27469, Korea
2
School of Intelligent Mechatronics Engineering, Sejong University, 209 Neungdong-ro, Gwangjin-gu, Seoul 05006, Korea
*
Author to whom correspondence should be addressed.
Received: 26 July 2018 / Revised: 28 August 2018 / Accepted: 2 September 2018 / Published: 5 September 2018
(This article belongs to the Special Issue Visual Sensors)
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Abstract

This paper proposes a method that automatically calibrates four cameras of an around view monitor (AVM) system in a natural driving situation. The proposed method estimates orientation angles of four cameras composing the AVM system, and assumes that their locations and intrinsic parameters are known in advance. This method utilizes lane markings because they exist in almost all on-road situations and appear across images of adjacent cameras. It starts by detecting lane markings from images captured by four cameras of the AVM system in a cost-effective manner. False lane markings are rejected by analyzing the statistical properties of the detected lane markings. Once the correct lane markings are sufficiently gathered, this method first calibrates the front and rear cameras, and then calibrates the left and right cameras with the help of the calibration results of the front and rear cameras. This two-step approach is essential because side cameras cannot be fully calibrated by themselves, due to insufficient lane marking information. After this initial calibration, this method collects corresponding lane markings appearing across images of adjacent cameras and simultaneously refines the initial calibration results of four cameras to obtain seamless AVM images. In the case of a long image sequence, this method conducts the camera calibration multiple times, and then selects the medoid as the final result to reduce computational resources and dependency on a specific place. In the experiment, the proposed method was quantitatively and qualitatively evaluated in various real driving situations and showed promising results. View Full-Text
Keywords: around view monitor (AVM) system; automatic calibration; lane marking; parking assist system; advanced driver assistance system (ADAS) around view monitor (AVM) system; automatic calibration; lane marking; parking assist system; advanced driver assistance system (ADAS)
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Choi, K.; Jung, H.G.; Suhr, J.K. Automatic Calibration of an Around View Monitor System Exploiting Lane Markings. Sensors 2018, 18, 2956.

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