{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,5]],"date-time":"2026-05-05T23:33:00Z","timestamp":1778023980398,"version":"3.51.4"},"reference-count":45,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2020,6,16]],"date-time":"2020-06-16T00:00:00Z","timestamp":1592265600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>We propose an automatic camera calibration method for a side-rear-view monitoring system in natural driving environments. The proposed method assumes that the camera is always located near the surface of the vehicle so that it always shoots a part of the vehicle. This method utilizes photographed vehicle information because the captured vehicle always appears stationary in the image, regardless of the surrounding environment. The proposed algorithm detects the vehicle from the image and computes the similarity score between the detected vehicle and the previously stored vehicle model. Conventional online calibration methods use additional equipment or operate only in specific driving environments. On the contrary, the proposed method is advantageous because it can automatically calibrate camera-based monitoring systems in any driving environment without using additional equipment. The calibration range of the automatic calibration method was verified through simulations and evaluated both quantitatively and qualitatively through actual driving experiments.<\/jats:p>","DOI":"10.3390\/s20123407","type":"journal-article","created":{"date-parts":[[2020,6,16]],"date-time":"2020-06-16T13:20:43Z","timestamp":1592313643000},"page":"3407","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["A Hough-Space-Based Automatic Online Calibration Method for a Side-Rear-View Monitoring System"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9347-7232","authenticated-orcid":false,"given":"Jung Hyun","family":"Lee","sequence":"first","affiliation":[{"name":"Department of Electronics and Electrical Engineering, Dongguk University, Seoul 04620, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0504-3590","authenticated-orcid":false,"given":"Dong-Wook","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Electronics and Electrical Engineering, Dongguk University, Seoul 04620, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2020,6,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Zhang, B., Appia, V., Pekkucuksen, I., Liu, Y., Umit Batur, A., Shastry, P., Liu, S., Sivasankaran, S., and Chitnis, K. (2014, January 24\u201327). A surround view camera solution for embedded systems. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops, Columbus, OH, USA.","DOI":"10.1109\/CVPRW.2014.103"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"19","DOI":"10.4271\/2014-01-0157","article-title":"360 surround view system with parking guidance","volume":"7","author":"Yu","year":"2014","journal-title":"SAE Int. J. Commer. Veh."},{"key":"ref_3","unstructured":"Lee, J.H., Han, J.Y., You, Y.J., and Lee, D.W. (2017). Apparatus and Method for Matching Images. (101,781,172), KR Patent."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Pan, J., Appia, V., Villarreal, J., Weaver, L., and Kwon, D.K. (2017, January 21\u201326). Rear-stitched view panorama: A low-power embedded implementation for smart rear-view mirrors on vehicles. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops, Honolulu, HI, USA.","DOI":"10.1109\/CVPRW.2017.157"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Mammeri, A., Lu, G., and Boukerche, A. (2015, January 26\u201329). Design of lane keeping assist system for autonomous vehicles. Proceedings of the International Conference on New Technologies, Mobility and Security, Paris, France.","DOI":"10.1109\/NTMS.2015.7266483"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1003","DOI":"10.1109\/TITS.2012.2233736","article-title":"Enhancing light blob detection for intelligent headlight control using lane detection","volume":"14","author":"Eum","year":"2013","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_7","unstructured":"Azim, E. (2012). Vision-based blind spot monitoring. Handbook of Intelligent Vehicles, Springer."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Suzuki, S., Raksincharoensak, P., Shimizu, I., Nagai, M., and Adomat, R. (2010, January 21\u201324). Sensor fusion-based pedestrian collision warning system with crosswalk detection. Proceedings of the IEEE Intelligent Vehicles Symposium, San Diego, CA, USA.","DOI":"10.1109\/IVS.2010.5548120"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1109\/TITS.2008.2011702","article-title":"Traffic sign recognition using evolutionary adaboost detection and forest-ECOC classification","volume":"10","author":"Escalera","year":"2009","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Liu, J.F., Su, Y.F., Ko, M.K., and Yu, P.N. (2008, January 1\u20133). Development of a vision-based driver assistance system with lane departure warning and forward collision warning functions. Proceedings of the Digital Image Computing: Techniques and Applications, Canberra, Australia.","DOI":"10.1109\/DICTA.2008.78"},{"key":"ref_11","unstructured":"Chen, M., Jochem, T., and Pomerleau, D. (1995, January 5\u20139). AURORA: A vision-based roadway departure warning system. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, USA."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1330","DOI":"10.1109\/34.888718","article-title":"A flexible new technique for camera calibration","volume":"22","author":"Zhang","year":"2000","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_13","unstructured":"(2020, May 12). Camera Calibration Facility. Available online: http:\/\/www.angtec.com\/."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"065005","DOI":"10.1088\/1361-6501\/aab028","article-title":"Global calibration of multi-cameras with non-overlapping fields of view based on photogrammetry and reconfigurable target","volume":"29","author":"Xia","year":"2018","journal-title":"Meas. Sci. Technol."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Mazzei, L., Medici, P., and Panciroli, M. (2012, January 3\u20137). A lasers and cameras calibration procedure for VIAC multi-sensorized vehicles. Proceedings of the IEEE Intelligent Vehicles Symposium, Alcala de Henares, Spain.","DOI":"10.1109\/IVS.2012.6232214"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Hold, S., Nunn, C., Kummert, A., and Muller-Schneiders, S. (2009, January 3\u20135). Efficient and robust extrinsic camera calibration procedure for lane departure warning. Proceedings of the IEEE Intelligent Vehicles Symposium, Xi\u2019an, China.","DOI":"10.1109\/IVS.2009.5164308"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Tan, J., Li, J., An, X., and He, H. (2011, January 5\u20139). An interactive method for extrinsic parameter calibration of onboard camera. Proceedings of the IEEE Intelligent Vehicles Symposium, Baden-Baden, Germany.","DOI":"10.1109\/IVS.2011.5940435"},{"key":"ref_18","unstructured":"Li, S., and Ying, H. (2010, January 3\u20137). Estimating camera pose from H-pattern of parking lot. Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, AK, USA."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"4646","DOI":"10.1109\/TII.2019.2894106","article-title":"Online Extrinsic Parameter Calibration for Robotic Camera-Encoder System","volume":"15","author":"Wang","year":"2019","journal-title":"IEEE Trans. Ind. Inform."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Schneider, S., Luettel, T., and Wuensche, H.J. (2013, January 3\u20137). Odometry-based online extrinsic sensor calibration. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan.","DOI":"10.1109\/IROS.2013.6696515"},{"key":"ref_21","unstructured":"Chien, H.J., Klette, R., Schneider, N., and Franke, U. (2016, January 4\u20138). Visual odometry driven online calibration for monocular lidar-camera systems. Proceedings of the International Conference on Pattern Recognition, Canc\u00fan, M\u00e9xico."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Li, M., and Mourikis, A.I. (2013, January 6\u201310). 3-D motion estimation and online temporal calibration for camera-IMU systems. Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, Germany.","DOI":"10.1109\/ICRA.2013.6631398"},{"key":"ref_23","unstructured":"Hemayed, E.E. (2003, January 22). A survey of camera self-calibration. Proceedings of the IEEE Conference on Advanced Video and Signal Based Surveillance, Miami, FL, USA."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1007\/BF00127171","article-title":"A theory of self-calibration of a moving camera","volume":"8","author":"Maybank","year":"1992","journal-title":"Int. J. Comput. Vis."},{"key":"ref_25","unstructured":"Catal\u00e1-Prat, \u00c1., Rataj, J., and Reulke, R. (2006, January 25\u201327). Self-calibration system for the orientation of a vehicle camera. Proceedings of the ISPRS Commission V Symposium: Image Engineering and Vision Metrology, Dresden, Germany."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"1626","DOI":"10.1016\/j.phpro.2012.05.262","article-title":"Camera calibration based on perspective geometry and its application in LDWS","volume":"33","author":"Xu","year":"2012","journal-title":"Phys. Procedia"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1997","DOI":"10.1016\/j.eswa.2013.08.096","article-title":"Automatic on-the-fly extrinsic camera calibration of onboard vehicular cameras","volume":"41","author":"Jung","year":"2014","journal-title":"Expert Syst. Appl."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"1033","DOI":"10.1080\/01691864.2014.902329","article-title":"A novel method for camera external parameters online calibration using dotted road line","volume":"28","author":"Wang","year":"2014","journal-title":"Adv. Robot."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Choi, K., Jung, H., and Suhr, J. (2018). Automatic calibration of an around view monitor system exploiting lane markings. Sensors, 18.","DOI":"10.3390\/s18092956"},{"key":"ref_30","unstructured":"Yang, K., Hu, X., Bergasa, L.M., Romera, E., and Wang, K. (2019). PASS: Panoramic Annular Semantic Segmentation. IEEE Trans. Intell. Transp. Syst., 1\u201315."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","article-title":"Distinctive image features from scale-invariant keypoints","volume":"60","author":"Lowe","year":"2004","journal-title":"Int. J. Comput. Vis."},{"key":"ref_32","first-page":"1","article-title":"Image alignment and stitching: A tutorial","volume":"37","author":"Szeliski","year":"2007","journal-title":"Found. Trends\u00ae Comput. Graph. Vis."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1016\/S0031-3203(03)00184-5","article-title":"Using orientation codes for rotation-invariant template matching","volume":"37","author":"Ullah","year":"2004","journal-title":"Pattern Recognit."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Kim, H.Y., and de Ara\u00fajo, S.A. (2007, January 17\u201319). Grayscale template-matching invariant to rotation, scale, translation, brightness and contrast. Proceedings of the Pacific-Rim Symposium on Image and Video Technology, Santiago, Chile.","DOI":"10.1007\/978-3-540-77129-6_13"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1016\/j.patcog.2019.03.003","article-title":"Large-scale and rotation-invariant template matching using adaptive radial ring code histograms","volume":"91","author":"Yang","year":"2019","journal-title":"Pattern Recognit."},{"key":"ref_36","unstructured":"Ruland, T., Pajdla, T., and Kr\u00fcger, L. (2010, January 3\u20135). Extrinsic autocalibration of vehicle mounted cameras for maneuvering assistance. Proceedings of the Computer Vision Winter Workshop, Nove Hrady, Czech Republic."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1145\/358669.358692","article-title":"Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography","volume":"24","author":"Fischler","year":"1981","journal-title":"Commun. ACM"},{"key":"ref_38","unstructured":"Unity Technologies (2020, March 26). What\u2019s New in Unity 5.0. Available online: https:\/\/unity3d.com\/unity\/whats-new\/unity-5.0."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1145\/361237.361242","article-title":"Use of the Hough transformation to detect lines and curves in pictures","volume":"15","author":"Duda","year":"1972","journal-title":"Commun. ACM"},{"key":"ref_40","unstructured":"Lewis, J.P. (2002, January 28\u201331). Fast template matching. Proceedings of the European Conference on Computer Vision, Copenhagen, Denmark."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Antonelli, G., Caccavale, F., Grossi, F., and Marino, A. (2010, January 3\u20137). Simultaneous calibration of odometry and camera for a differential drive mobile robot. Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, AK, USA.","DOI":"10.1109\/ROBOT.2010.5509954"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"4208","DOI":"10.1109\/JSEN.2017.2702283","article-title":"A fully automatic calibration algorithm for a camera odometry system","volume":"17","author":"Tang","year":"2017","journal-title":"IEEE Sens. J."},{"key":"ref_43","doi-asserted-by":"crossref","unstructured":"Guo, C.X., Mirzaei, F.M., and Roumeliotis, S.I. (2012, January 14\u201318). An analytical least-squares solution to the odometer-camera extrinsic calibration problem. Proceedings of the IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA.","DOI":"10.1109\/ICRA.2012.6225339"},{"key":"ref_44","unstructured":"Olson, D.L., and Delen, D. (2008). Advanced Data Mining Techniques, Springer."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"321","DOI":"10.1016\/j.cam.2004.03.015","article-title":"Withdrawn: Levenberg\u2013marquardt methods with strong local convergence properties for solving nonlinear equations with convex constraints","volume":"173","author":"Kanzow","year":"2005","journal-title":"J. Comput. Appl. Math."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/12\/3407\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T09:39:41Z","timestamp":1760175581000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/12\/3407"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,6,16]]},"references-count":45,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2020,6]]}},"alternative-id":["s20123407"],"URL":"https:\/\/doi.org\/10.3390\/s20123407","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,6,16]]}}}