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Data Collection for Vehicle-Camera Calibration
Checkerboard of more than two horizontal inner corners and vertical inner corners.
You can use the attached pdf. It has seven internal corners horizontally and nine internal corners vertically. https://drive.google.com/file/d/1mTR8HTpvROE1Pv0rmXEBVLSxs_yMDnvf/view?usp=sharing
Paste the adhesive tape on the ground along the vehicle's edges based on the camera-facing direction. Assume calibrating the front-facing camera sensor as an example for this collection process. Paste the adhesive tape shown in the image below for the front-facing camera. (See How to paste adhesive tape along the vehicle for different camera-facing directions?)
Adhesive tape on vehicle's edges for the front-facing camera
To maintain a fixed distance between the target and the vehicle, paste the adhesive tape parallel to the vehicle with a 1-10m distance between the target and the vehicle, as shown in the below image. It acts as a Reference Line (RL) for the target.
Reference line 1-10m in camera's direction
The adhesive tape's left intersection point (from the camera perspective) along the vehicle's edges, as shown in the below image.
This is the left intersection point of the adhesive tape from the vehicle with the adhesive tape from the reference line, as shown in the below image.
This is the bottom-left edge corner of the target, as shown in the below image.
Target reference point
Distance between the center of the front left wheel to the center of the rear left wheel.
Distance between the center of the front right wheel to the center of the rear right wheel.
Note: For a rectangular vehicle, Left wheelbase = Right wheelbaseDistance between the outer edge of the front left wheel to the outer edge of the front right wheel.
Distance between the outer edge of the rear left wheel to the outer edge of the rear right wheel.
Note: For a rectangular vehicle, Front track = Rear trackDistance between the center of the front left/right wheel to the vehicle's front.
Distance between the center of the rear left/right wheel to the vehicle's rear.
- 1.Mount the camera onto the vehicle and note the distance between VRP and IRP.
- 2.Place the board at the Reference Line and ensure the board is parallel or perpendicular to the car.
- 3.Take an image from the mounted camera and note the distance between IRP and TRP.
- 4.Move the board along the Reference Line, and at every placement, take an image from the mounted camera and note the distance between IRP and TRP.
Note: We recommend capturing at least three images with the target perpendicular to the ground and at least three images parallel to the ground in different positions on the Reference Line to maximize accuracy.
Calibration target parallel to the ground
Calibration target perpendicular to ground
Adhesive tape for front-facing camera
Adhesive tape for rear-facing camera
Adhesive tape for left-facing camera
Adhesive tape for right-facing camera