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A Generic Method to Estimate Camera Extrinsic Parameters

Citation Author(s):
Submitted by:
Neel Badadare
Last updated:
14 May 2022 - 1:12pm
Document Type:
Presentation Slides
Document Year:
Neel Badadare


In this paper, an approach to self-calibrate an outward-looking camera from camera images is presented. Ego lane boundaries are detected in the image frame. A straight line is fitted to each detected boundary. Vanishing point in image space is computed as the intersection of the fitted straight lines. A closed-form solution is obtained for camera pitch and yaw angles using vanishing points coordinates. A particle filter is initialized using pitch and yaw angles from closed-form solution and the rest of the camera extrinsic parameters (viz., roll, and translation parameters) obtained from approximate measurements.

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