A Data-Driven Miscalibration Detection Algorithm for a Vehicle-Mounted Camera

Figure 2

(a) The raw data from KITTI [34]. The three vertical lines that are pointed by the three arrows should normally be straight lines, but it is obvious that they are not straight, but curved with some curvature. (b) The result of calibrating the raw image with the correctly calibrated camera internal parameters, all three vertical lines have become straight.