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.