Auto-calibration Method Using Stop Signs for Urban Autonomous Driving Applications

10/14/2020

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by   Yunhai Han, et al.

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For use of cameras on an intelligent vehicle, driving over a major bump could challenge the calibration. It is then of interest to do dynamic calibration. What structures can be used for calibration? How about using traffic signs that you recognize? In this paper an approach is presented for dynamic camera calibration based on recognition of stop signs. The detection is performed based on convolutional neural networks (CNNs). A recognized sign is modeled as a polygon and matched to a model. Parameters are tracked over time. Experimental results show clear convergence and improved performance for the calibration.