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Vehicle environment cameras observing traffic participants in the area around a car and interior cameras observing the car driver\udare important data sources for driver intention recognition algorithms. To combine information from both camera groups, a camera\udsystem calibration can be performed. Typically, there is no overlapping field-of-view between environment and interior cameras. Often\udno marked reference points are available in environments, which are a large enough to cover a car for the system calibration. In\udthis contribution, a calibration method for a vehicle camera system with non-overlapping camera groups in an urban environment is\uddescribed. A-priori images of an urban calibration environment taken with an external camera are processed with the structure-frommotion\udmethod to obtain an environment point cloud. Images of the vehicle interior, taken also with an external camera, are processed\udto obtain an interior point cloud. Both point clouds are tied to each other with images of both image sets showing the same real-world\udobjects. The point clouds are transformed into a self-defined vehicle coordinate system describing the vehicle movement. On demand,\udvideos can be recorded with the vehicle cameras in a calibration drive. Poses of vehicle environment cameras and interior cameras are\udestimated separately using ground control points from the respective point cloud. All poses of a vehicle camera estimated for different\udvideo frames are optimized in a bundle adjustment. In an experiment, a point cloud is created from images of an underground car\udpark, as well as a point cloud of the interior of a Volkswagen test car is created. Videos of two environment and one interior cameras\udare recorded. Results show, that the vehicle camera poses are estimated successfully especially when the car is not moving. Position\udstandard deviations in the centimeter range can be achieved for all vehicle cameras. Relative distances between the vehicle cameras\uddeviate between one and ten centimeters from tachymeter reference measurements

the international archives of the photogrammetry, remote sensing and spatial information sciences/international archives of the photogrammetry, remote sensing and spatial information sciences

STRUCTURE-FROM-MOTION FOR CALIBRATION OF A VEHICLE CAMERA SYSTEM WITH NON-OVERLAPPING FIELDS-OF-VIEW IN AN URBAN ENVIRONMENT