Calibration Accuracy Assessment Methods for Stereovision Sensors Used in Vehicles

Stereovision systems mounted in vehicles are generally used by obstacle and lane detection applications with working ranges up to 100 m. The stereo reconstruction process for such depths is a high demanding one, regarding increased accuracy camera parameters. Among the parameters, some of them have a critical influence in the quality of the 3D reconstruction process and need special attention during calibration and should be monitored during time. This paper presents a set of original methods used to evaluate the accuracy of the camera parameters. The methods can be applied off-line using a dedicated setup with a known ground-truth or online in week-structured road scenarios.