Surround Fisheye Camera Extrinsic Online Calibration

The top-down (bird’s-eye) view produced by a surround-view fisheye system is a fundamental input for many autonomous-driving functions. After offline intrinsic and extrinsic calibration, a seamlessly stitched top-down view can be obtained. Based on the photometric-consistency assumption between adjacent images, the camera extrinsics can be effectively calibrated online.