Online stereo camera calibration from scratch

Stereo cameras are among the most promising sensors for automated driving. For their deployment, however, calibration should be automated and possible in-situ. We propose a restructuring of bundle adjustment into an incremental online calibration system. It allows us to estimate all observable camera parameters on the fly. Both simulations and experiments with real world cameras show its capability to calibrate stereo rigs in real time while driving. With this method, cameras can be employed with almost no calibration overhead. Only the non-observable parameter of scale has to be defined in advance.