Computer Engineering Paper Massimo Bertozzi, Alberto Broggi, and Alessandra Fascioli, Self-Calibration of a Stereo Vision System for Automotive Applications, In Procs. IEEE Intl. Conf. on Robotics and Automation, volume 4, pages 3698-3703, Seoul, Korea, May 2001.
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In this paper a calibration method for on-board cameras used on the ARGO autonomous vehicle is presented. A number of markers have been placed on the vehicle's hood, which is framed by the vision system. Thanks to the knowledge of the markers' position it is possible to compute camera position and orientation with respect to the vehicle. Being based on fast computations, this procedure -of basic importance when the camera head has pan-tilt capabilities- can be performed during autonomous driving, without slowing down normal operations.

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