Setup considerations for calibration of a stereovision system for long range obstacle detection

Stereo vision systems require calibration to allow ranging to be successfully used for obstacle detection purposes. For long range (>50 m) obstacle detection, two types of calibration processes are required in order to quantify the intrinsic and extrinsic properties of the optical setup. This paper addresses the scope of these two calibration processes and presents the results of a study that focuses on the impact of the number of calibration images used in intrinsic calibration and the effect of positional errors in extrinsic calibration on ranging accuracy.