METHOD, APPARATUS, SYSTEM, AND STORAGE MEDIUM FOR CALIBRATING EXTERIOR PARAMETER OF ON-BOARD CAMERA

The present application discloses a method, an apparatus, a system, and a storage medium for calibrating an exterior parameter of an on-board camera, relating to the field of autonomous driving technologies. A specific implementation scheme of the method in the application is: preprocessing two frames of images of a former frame and a latter frame collected by the on-board camera; performing feature point matching on the two preprocessed frames of images to obtain matched feature points; determining a moving posture of the on-board camera according to the matched feature points; determining a conversion relationship between a vehicle coordinate system and an on-board camera coordinate system according to the moving posture, and obtaining the external parameter of the on-board camera relative to a vehicle body. The present application can automatically calibrate the external parameter of the on-board camera based on images of natural scenes collected by the on-board camera, and calibrating speed is faster and additional calibration object is not required, thereby improving efficiency and universality of external parameter calibration of the on-board camera.