Hand-eye autocalibration of camera positions on vehicles

This paper introduces an approach to extrinsic autocalibration of vehicle mounted cameras for Bird´s Eye View applications. We extend existing self-calibration methods by estimation of two position parameters while assuming the camera height to be known. The presented algorithm is derived from classic hand-eye calibration and uses independent temporal feature correspondences to introduce constraints on the camera position. An error measure of the constraints´ degree of satisfaction is used to formulate the parameter search as a quadratic optimization problem. Temporal accumulation of correspondences over time improves robustness to potentially sparse interest points and pitch or roll movements of the vehicle.