Self-calibration of a stereo vision system for automotive applications

In this paper a calibration method for on-board cameras used on the ARGO autonomous vehicle is presented. A number of markers have been placed on the vehicle's hood, which is framed by the vision system. Due to the knowledge of the markers' position it is possible to compute the camera position and orientation with respect to the vehicle. By using fast computations, this procedure, of basic importance when the camera head has pan-tilt capabilities, can be performed during autonomous driving, without slowing down normal operations.