CN110378962B - Calibration method and device for vehicle-mounted camera and computer readable storage medium - Google Patents
Calibration method and device for vehicle-mounted camera and computer readable storage medium Download PDFInfo
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Abstract
The disclosure provides a calibration method and device of a vehicle-mounted camera and a computer-readable storage medium, and relates to the technical field of camera calibration. The calibration method comprises the following steps: determining position information and posture information of the vehicle-mounted camera in a calibration identification coordinate system by utilizing an image which is acquired by the vehicle-mounted camera and contains a calibration identification; determining the height information of the vehicle-mounted camera in the ground coordinate system by utilizing the position information of the vehicle-mounted camera in the calibration identification coordinate system and the height information of the origin of the calibration identification coordinate system in the ground coordinate system; and determining the attitude information of the vehicle-mounted camera in the ground coordinate system by utilizing the attitude information of the vehicle-mounted camera in the calibration identification coordinate system and the rotation relation between the calibration identification coordinate system and the ground coordinate system. The method and the device can simply and efficiently realize the calibration of the external parameters of the vehicle-mounted camera, are easy to implement, and can correct the calibration parameters in time.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a calibration method and device for a vehicle-mounted camera, and a computer-readable storage medium.
Background
The camera is used as a common sensor, can sense the direction information of objects around the vehicle, lane lines and other information, and has wide application scenes in both manned vehicles and unmanned vehicles.
In the field of vision measurement related to vehicles, external parameters such as the installation position and the posture of an on-board camera on a vehicle are calibrated firstly. External parameter calibration of the vehicle-mounted camera is the key of vehicle positioning and sensing and measuring of obstacles around the vehicle.
Disclosure of Invention
The technical problem solved by the present disclosure is how to simply and efficiently calibrate the external parameters of the vehicle-mounted camera.
According to an aspect of the embodiments of the present disclosure, a calibration method for a vehicle-mounted camera is provided, including: determining position information and attitude information of the vehicle-mounted camera in a calibration identifier coordinate system by using an image which is acquired by the vehicle-mounted camera and contains a calibration identifier; determining the height information of the vehicle-mounted camera in the ground coordinate system by utilizing the position information of the vehicle-mounted camera in the calibration identification coordinate system and the height information of the origin of the calibration identification coordinate system in the ground coordinate system; the horizontal axis of the ground coordinate system points to the advancing direction of the vehicle, the vertical axis of the ground coordinate system is vertical to the ground, and the longitudinal axis of the ground coordinate system is vertical to the horizontal axis of the ground coordinate system and the longitudinal axis of the ground coordinate system; and determining the attitude information of the vehicle-mounted camera in the ground coordinate system by utilizing the attitude information of the vehicle-mounted camera in the calibration identification coordinate system and the rotation relation between the calibration identification coordinate system and the ground coordinate system.
In some embodiments, the plane of the calibration mark is perpendicular to the ground, the origin of the calibration mark coordinate system is the center of the calibration mark, the longitudinal axis of the calibration mark coordinate system is perpendicular to the ground, the vertical axis of the calibration mark coordinate system is perpendicular to the plane of the calibration mark, and the horizontal axis of the calibration mark is perpendicular to the longitudinal axis of the calibration mark coordinate system and the vertical axis of the calibration mark coordinate system.
In some embodiments, the position information of the vehicle-mounted camera in the calibration identification coordinate system is a vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system; and the attitude information of the vehicle-mounted camera in the calibration identification coordinate system is the pitch angle and the roll angle of the vehicle-mounted camera in the calibration identification coordinate system.
In some embodiments, determining the height information of the vehicle-mounted camera in the ground coordinate system by using the position information of the vehicle-mounted camera in the coordinate system of the calibration identifier and the height information of the coordinate origin of the calibration identifier in the ground coordinate system comprises: and adding the vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system and the vertical coordinate of the coordinate origin of the calibration identification in the ground coordinate system to obtain the height information of the vehicle-mounted camera in the ground coordinate system.
In some embodiments, determining the pose information of the vehicle-mounted camera in the ground coordinate system by using the pose information of the vehicle-mounted camera in the calibration identification coordinate system and the rotation relationship between the calibration identification coordinate system and the ground coordinate system comprises: taking the pitch angle of the vehicle-mounted camera in the calibration identification coordinate system as the pitch angle of the vehicle-mounted camera in the ground coordinate system; and taking the roll angle of the vehicle-mounted camera in the calibration identification coordinate system as the roll angle of the vehicle-mounted camera in the ground coordinate system.
In some embodiments, the calibration flag is an aprilatag cooperation flag.
According to another aspect of the embodiments of the present disclosure, there is provided a calibration apparatus for an onboard camera, including: the information determining module is configured to determine position information and posture information of the vehicle-mounted camera in a calibration identifier coordinate system by utilizing an image which is acquired by the vehicle-mounted camera and contains a calibration identifier; the height calibration module is configured to determine the height information of the vehicle-mounted camera in the ground coordinate system by utilizing the position information of the vehicle-mounted camera in the calibration identification coordinate system and the height information of the origin of the calibration identification coordinate system in the ground coordinate system; the horizontal axis of the ground coordinate system points to the advancing direction of the vehicle, the vertical axis of the ground coordinate system is vertical to the ground, and the longitudinal axis of the ground coordinate system is vertical to the horizontal axis of the ground coordinate system and the longitudinal axis of the ground coordinate system; and the attitude calibration module is configured to determine the attitude information of the vehicle-mounted camera in the ground coordinate system by utilizing the attitude information of the vehicle-mounted camera in the calibration identification coordinate system and the rotation relation between the calibration identification coordinate system and the ground coordinate system.
In some embodiments, the plane of the calibration mark is perpendicular to the ground, the origin of the coordinate system of the calibration mark is the center of the calibration mark, the longitudinal axis of the coordinate system of the calibration mark is perpendicular to the ground, the vertical axis of the coordinate system of the calibration mark is perpendicular to the plane of the calibration mark, and the horizontal axis of the calibration mark is perpendicular to the longitudinal axis of the coordinate system of the calibration mark and the vertical axis of the coordinate system of the calibration mark.
In some embodiments, the position information of the vehicle-mounted camera in the calibration identification coordinate system is a vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system; and the attitude information of the vehicle-mounted camera in the calibration identification coordinate system is the pitch angle and the roll angle of the vehicle-mounted camera in the calibration identification coordinate system.
In some embodiments, the height calibration module is configured to: and adding the vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system and the vertical coordinate of the coordinate origin of the calibration identification in the ground coordinate system to obtain the height information of the vehicle-mounted camera in the ground coordinate system.
In some embodiments, the attitude calibration module is configured to: taking the pitch angle of the vehicle-mounted camera in the calibration identification coordinate system as the pitch angle of the vehicle-mounted camera in the ground coordinate system; and taking the roll angle of the vehicle-mounted camera in the calibration identification coordinate system as the roll angle of the vehicle-mounted camera in the ground coordinate system.
In some embodiments, the calibration flag is an aprilatag cooperation flag.
According to still another aspect of the embodiments of the present disclosure, there is provided another calibration apparatus for a vehicle-mounted camera, including: a memory; and a processor coupled to the memory, the processor configured to execute the aforementioned calibration method for an in-vehicle camera based on instructions stored in the memory.
According to still another aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, where the computer-readable storage medium stores computer instructions, and the instructions, when executed by a processor, implement the foregoing calibration method for an in-vehicle camera.
The method can simply and efficiently calibrate the external parameters of the vehicle-mounted camera, is easy to implement, and can correct the calibration parameters in time.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
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In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 shows a schematic flow chart of a calibration method of an in-vehicle camera according to some embodiments of the present disclosure.
Fig. 2 shows a specific placement of a calibration mark.
Fig. 3 shows a schematic diagram of the PNP algorithm.
Fig. 4 shows a schematic structural diagram of a calibration device of an in-vehicle camera according to some embodiments of the present disclosure.
Fig. 5 is a schematic structural diagram illustrating a calibration apparatus of a vehicle-mounted camera according to another embodiment of the disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The inventor researches and discovers that a related camera external parameter calibration scheme needs a professional calibration tool, is complex in operation and high in cost, is not easy to deploy in a large scale, and therefore camera installation parameters of the existing unmanned vehicle are mostly uniformly preset according to the designed installation position of a vehicle-mounted camera on a vehicle body. In the method for presetting the camera installation parameters, errors of different degrees occur during the installation of the vehicle-mounted camera, so that the preset installation parameters are inaccurate; in addition, the vehicle-mounted camera can shift position to cause larger external parameter deviation after long-term running of the vehicle in the later period; furthermore, large-scale deployment of onboard cameras on existing vehicles is also not possible.
In order to solve the problems, the disclosure provides a calibration method for a vehicle-mounted camera, which can simply and efficiently calibrate external parameters of the vehicle-mounted camera, is easy to implement, and can correct the calibrated parameters in time. As described in detail below.
Some embodiments of the calibration method of the vehicle-mounted camera of the present disclosure are described first with reference to fig. 1.
Fig. 1 shows a schematic flow chart of a calibration method of an onboard camera according to some embodiments of the present disclosure. As shown in fig. 1, the present embodiment includes steps S102 to S110.
In step S102, position information and posture information of the vehicle-mounted camera in the calibration identifier coordinate system are determined by using the image containing the calibration identifier collected by the vehicle-mounted camera.
For example, the calibration flag may be an AprilTag cooperation flag. The coordinate system of the calibration mark can be correspondingly set according to the placement condition of the calibration mark. The vehicle-mounted camera obtains the position information and the attitude information of the vehicle-mounted camera in an AprilTag cooperation mark coordinate system through the shot sizes of the visual cooperation mark and the visual cooperation mark, is a process for solving a PnP (transparent-N-Point) problem, and can use a classical PnP algorithm. The PnP problem is a pose estimation problem of a given point, a point with a known relative spatial position on a cooperative mark is used as a control point, a picture containing the cooperative mark is acquired by a video camera, and the pose of a vehicle-mounted camera relative to the cooperative mark is calculated. In the present embodiment, the position information and the attitude information (x) of the vehicle-mounted camera in the coordinate system of the cooperation mark can be solved from the known spatial coordinate information of the four control points by calculating the four control points at the edge of the AprilTag cooperation mark c ,y c ,z c Roll, pitch, yaw). Wherein x is c 、y c 、z c Respectively representing the abscissa, the ordinate and the ordinate of the vehicle-mounted camera in the coordinate system of the cooperation mark, roll representing the roll angle of the vehicle-mounted camera in the coordinate system of the calibration mark, pitch representing the pitch angle of the vehicle-mounted camera in the coordinate system of the calibration mark, and yaw representing the yaw angle of the vehicle-mounted camera in the coordinate system of the calibration mark.
In step S104, the height information of the vehicle-mounted camera in the ground coordinate system is determined by using the position information of the vehicle-mounted camera in the calibration identification coordinate system and the height information of the origin of the calibration identification coordinate system in the ground coordinate system.
Wherein the horizontal axis x of the ground coordinate system w Is directed in the direction of travel of the vehicle,vertical axis z of the ground coordinate system w Perpendicular to the ground, longitudinal axis y of the ground coordinate system w Perpendicular to the horizontal axis of the ground coordinate system and the vertical axis of the ground coordinate system. The vertical height difference of the vehicle-mounted camera relative to the origin of the calibration identification coordinate can be obtained by utilizing the position information of the vehicle-mounted camera in the calibration identification coordinate system, and the vertical height of the vehicle-mounted camera relative to the horizontal road surface can be obtained by combining the height information of the origin of the calibration identification coordinate system in the ground coordinate system.
In step S106, the attitude information of the vehicle-mounted camera in the ground coordinate system is determined by using the attitude information of the vehicle-mounted camera in the calibration identification coordinate system and the rotation relationship between the calibration identification coordinate system and the ground coordinate system.
The attitude information of the vehicle-mounted camera in the ground coordinate system is a pitch angle and a roll angle of the vehicle-mounted camera relative to a horizontal road surface. The numerical altitude, the pitch angle and the roll angle are calibration parameters required by the vehicle-mounted camera during installation.
In the above embodiment, this disclosure can realize demarcating the external reference of on-vehicle camera by simple efficient, not only easy to carry out, can also in time revise the demarcation parameter.
Fig. 2 shows a specific placement of a calibration mark. Under the placing condition, the calibration mark and the ground are vertically placed in front of the static parked unmanned vehicle, so that the external parameters of the vehicle-mounted camera can be calibrated more simply and efficiently.
The specific placement position of the calibration mark can be on a movable support or on a wall surface. The vehicle-mounted camera calibration device is preferably placed on a wall surface opposite to a parking space of the unmanned vehicle, so that the vehicle-mounted camera can be calibrated when the vehicle is started every time, and external parameters of the vehicle are corrected in time. When the plane of the calibration mark is vertical to the ground, the origin of the calibration mark coordinate system is the center of the calibration mark, the longitudinal axis y of the calibration mark coordinate system is vertical to the ground, the vertical axis z of the calibration mark coordinate system is vertical to the plane of the calibration mark, and the horizontal axis x of the calibration mark is vertical to the longitudinal axis y of the calibration mark coordinate system and the vertical axis z of the calibration mark coordinate system.
When the plane of the calibration marker is perpendicular to the ground, in step S102, the position information of the vehicle-mounted camera in the calibration marker coordinate system is the ordinate of the vehicle-mounted camera in the calibration marker coordinate system, and the posture information of the vehicle-mounted camera in the calibration marker coordinate system is the pitch angle and the roll angle of the vehicle-mounted camera in the calibration marker coordinate system. The process of determining the position information and the posture information of the vehicle-mounted camera in the calibration identifier coordinate system by using the image containing the calibration identifier acquired by the vehicle-mounted camera is briefly introduced as follows.
Fig. 3 shows a schematic diagram of the PNP algorithm. Firstly, four edges of AprilTag in an image are detected, and four vertexes p of the AprilTag are extracted 1c 、p 2c 、p 3c 、p 4c And interprets the encoded information of AprilTag. Four vertices p due to AprilTag 1c 、p 2c 、p 3c 、p 4c The method is characterized in that the camera pose is solved by the observed values of the four points in the image, the observed values are positioned on the same plane, the problem is a coplanar P4P, and a direct linear transformation DLT (reference paper Apriltag: A robust and flexible visual custom system literature [22 ]]) Solving a homography matrix H by an algorithm:
the homography matrix H describes four vertices p lying on the AprilTag plane 1 、p 2 、p 3 、p 4 With four vertices p observed in the image 1c 、p 2c 、p 3c 、p 4c The transformation relationship between them. With p 1 (x 1 ,y 1 0) and p 1c (u 1 ,v 1 ) For example, where p 1 Lying in the plane of AprilTag, with a z coordinate of 0 1 And p 1c The relationship of (a) is described as follows using a homography matrix:
therefore, the homography matrix H describes p 1 、p 2 、p 3 、p 4 And to p 1c 、p 2c 、p 3c 、p 4c The projection relationship of (1). Let P denote the projection matrix of the camera and E denote the extrinsic parameter matrix describing the position and pose of the camera in the AprilTag coordinate system, since P 1 、p 2 、p 3 、p 4 Can be seen as a 2D point lying on the plane of AprilTag with a z coordinate of 0, so the matrix E is made up of a rotation matrix R and a translation matrix T, and the third column of R, which is related to the rotation of the ordinate, can be removed, resulting in the following equation:
wherein only the parameters in the scale s and the matrix E are unknown to be solved. In the above formula, 9 equations can be constructed to obtain 9 other unknowns except s, and by using the property that the rotation matrix R is an unit orthogonal matrix, the third column of R and the absolute value of s can be obtained, and the sign of s can be positioned in front of the camera T according to AprilTag z <The fact of 0.
Finally, the position and attitude (x) of the camera in the aprilat coordinate system is calculated from the rotation matrix R and the translation matrix T c ,y c ,z c Roll, pitch, yaw). Wherein:
roll＝arctan(-R 21 /R 22 )
pitch＝arcsin(-R 20 )
yaw＝arctan(-R 10 /R 00 )
x c ＝T x
y c ＝T y
z c ＝T z
at this time, in step S104, the vertical coordinate of the vehicle-mounted camera in the coordinate system of the calibration marker and the vertical coordinate of the coordinate origin of the calibration marker in the ground coordinate system may be added to obtain the height information of the vehicle-mounted camera in the ground coordinate system.
For example, the cooperation mark is a square with a side length d and a lower edge with a height h from the ground, where h and d are known parameters and can be obtained by pre-design or measurement. The camera is fixedly installed on a central axis of a vehicle, small fixed deviation exists in the deflection angle of the optical axis direction of the camera relative to the direction of a vehicle body, the deviation cannot influence the calculation of the deflection angle of the camera relative to markers such as a ground lane line and the like, and the calculation error of the deflection angle of the vehicle cannot have an accumulative effect, so that the installation error of the optical axis direction of the camera relative to the fixed deflection angle of the vehicle body direction is not considered. The vertical height of the vehicle-mounted camera relative to the horizontal road surface is H = y c +h+d/2。
In step S106, the pitch angle of the vehicle-mounted camera in the calibration identification coordinate system is used as the pitch angle of the vehicle-mounted camera in the ground coordinate system; and taking the roll angle of the vehicle-mounted camera in the calibration identification coordinate system as the roll angle of the vehicle-mounted camera in the ground coordinate system.
The calibration method of the vehicle-mounted camera provided by the embodiment has good applicability and is easy to deploy, the calibration difficulty is reduced, the implementation is easy, and the external parameters of the camera can be corrected in time.
The calibration apparatus of the in-vehicle camera according to some embodiments of the present disclosure is described below with reference to fig. 4.
Fig. 4 shows a schematic structural diagram of a calibration device of an onboard camera according to some embodiments of the present disclosure. As shown in fig. 4, the calibration device 40 of the onboard camera in the present embodiment includes:
an information determining module 402, configured to determine position information and posture information of the vehicle-mounted camera in a calibration identifier coordinate system by using an image containing a calibration identifier and acquired by the vehicle-mounted camera;
a height calibration module 404 configured to determine height information of the vehicle-mounted camera in the ground coordinate system by using position information of the vehicle-mounted camera in the calibration identification coordinate system and height information of an origin of the calibration identification coordinate system in the ground coordinate system; the horizontal axis of the ground coordinate system points to the advancing direction of the vehicle, the vertical axis of the ground coordinate system is vertical to the ground, and the longitudinal axis of the ground coordinate system is vertical to the horizontal axis of the ground coordinate system and the longitudinal axis of the ground coordinate system;
and the attitude calibration module 406 is configured to determine attitude information of the vehicle-mounted camera in the ground coordinate system by using the attitude information of the vehicle-mounted camera in the calibration identification coordinate system and the rotation relationship between the calibration identification coordinate system and the ground coordinate system.
In the above embodiment, this disclosure can realize that the external parameter of on-vehicle camera is markd by simple efficient, not only easy to carry out, can also in time revise the calibration parameter.
In some embodiments, the plane of the calibration mark is perpendicular to the ground, the origin of the calibration mark coordinate system is the center of the calibration mark, the longitudinal axis of the calibration mark coordinate system is perpendicular to the ground, the vertical axis of the calibration mark coordinate system is perpendicular to the plane of the calibration mark, and the horizontal axis of the calibration mark is perpendicular to the longitudinal axis of the calibration mark coordinate system and the vertical axis of the calibration mark coordinate system.
In some embodiments, the position information of the vehicle-mounted camera in the calibration identification coordinate system is a vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system; and the attitude information of the vehicle-mounted camera in the calibration identification coordinate system is the pitch angle and the roll angle of the vehicle-mounted camera in the calibration identification coordinate system.
In some embodiments, the height calibration module 404 is configured to: and adding the vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system and the vertical coordinate of the coordinate origin of the calibration identification in the ground coordinate system to obtain the height information of the vehicle-mounted camera in the ground coordinate system.
In some embodiments, the pose calibration module 406 is configured to: taking the pitch angle of the vehicle-mounted camera in the calibration identification coordinate system as the pitch angle of the vehicle-mounted camera in the ground coordinate system; and taking the roll angle of the vehicle-mounted camera in the calibration identification coordinate system as the roll angle of the vehicle-mounted camera in the ground coordinate system.
In some embodiments, the calibration flag is an AprilTag cooperation flag.
The calibration method of the vehicle-mounted camera provided by the embodiment has good applicability and is easy to deploy, the calibration difficulty is reduced, the implementation is easy, and the external parameters of the camera can be corrected in time.
Fig. 5 is a schematic structural diagram illustrating a calibration apparatus of a vehicle-mounted camera according to another embodiment of the disclosure. As shown in fig. 5, the calibration device 50 of the onboard camera of the embodiment includes: a memory 510 and a processor 520 coupled to the memory 510, the processor 520 being configured to perform the calibration method of the vehicle-mounted camera in any of the foregoing embodiments based on instructions stored in the memory 510.
The calibration apparatus 50 of the onboard camera may further include an input/output interface 530, a network interface 540, a storage interface 550, and the like. These interfaces 530, 540, 550 and the connections between the memory 610 and the processor 520 may be, for example, via a bus 560. The input/output interface 530 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 540 provides a connection interface for various networking devices. The storage interface 550 provides a connection interface for external storage devices such as an SD card and a usb disk.
The present disclosure also includes a computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement a calibration method for an in-vehicle camera in any of the foregoing embodiments.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is meant to be illustrative of the preferred embodiments of the present disclosure and not to be taken as limiting the disclosure, and any modifications, equivalents, improvements and the like that are within the spirit and scope of the present disclosure are intended to be included therein.
Claims (14)
1. A calibration method of a vehicle-mounted camera comprises the following steps:
determining position information and posture information of the vehicle-mounted camera in a calibration identification coordinate system by utilizing an image which is acquired by the vehicle-mounted camera and contains a calibration identification, and correspondingly setting the calibration identification coordinate system according to the placement condition of the calibration identification;
determining the height information of the vehicle-mounted camera in the ground coordinate system by utilizing the position information of the vehicle-mounted camera in the calibration identification coordinate system and the height information of the origin of the calibration identification coordinate system in the ground coordinate system; the horizontal axis of the ground coordinate system points to the advancing direction of the vehicle, the vertical axis of the ground coordinate system is vertical to the ground, and the longitudinal axis of the ground coordinate system is vertical to the horizontal axis of the ground coordinate system and the vertical axis of the ground coordinate system;
and determining the attitude information of the vehicle-mounted camera in the ground coordinate system by utilizing the attitude information of the vehicle-mounted camera in the calibration identification coordinate system and the rotation relation between the calibration identification coordinate system and the ground coordinate system.
2. The calibration method according to claim 1, wherein the plane of the calibration mark is perpendicular to the ground, the origin of the coordinate system of the calibration mark is the center of the calibration mark, the longitudinal axis of the coordinate system of the calibration mark is perpendicular to the ground, the vertical axis of the coordinate system of the calibration mark is perpendicular to the plane of the calibration mark, and the horizontal axis of the coordinate system of the calibration mark is perpendicular to the longitudinal axis of the coordinate system of the calibration mark and the vertical axis of the coordinate system of the calibration mark.
3. The calibration method according to claim 2, wherein,
the position information of the vehicle-mounted camera in the calibration identification coordinate system is a vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system;
and the attitude information of the vehicle-mounted camera in the calibration identification coordinate system is the pitch angle and the roll angle of the vehicle-mounted camera in the calibration identification coordinate system.
4. The calibration method as claimed in claim 3, wherein determining the height information of the vehicle-mounted camera in the ground coordinate system by using the position information of the vehicle-mounted camera in the calibration identification coordinate system and the height information of the origin of the calibration identification coordinate system in the ground coordinate system comprises: and adding the vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system and the vertical coordinate of the coordinate origin of the calibration identification in the ground coordinate system to obtain the height information of the vehicle-mounted camera in the ground coordinate system.
5. The calibration method according to claim 3, wherein the determining the attitude information of the vehicle-mounted camera in the ground coordinate system by using the attitude information of the vehicle-mounted camera in the calibration identification coordinate system and the rotation relationship between the calibration identification coordinate system and the ground coordinate system comprises:
taking the pitch angle of the vehicle-mounted camera in the calibration identification coordinate system as the pitch angle of the vehicle-mounted camera in the ground coordinate system;
and taking the roll angle of the vehicle-mounted camera in the calibration identification coordinate system as the roll angle of the vehicle-mounted camera in the ground coordinate system.
6. A calibration method according to claim 1, wherein the calibration flag is an aprilatag cooperation flag.
7. A calibration device of an on-vehicle camera comprises:
the information determination module is configured to determine position information and posture information of the vehicle-mounted camera in a calibration identification coordinate system by utilizing an image which is acquired by the vehicle-mounted camera and contains a calibration identification, and the calibration identification coordinate system is correspondingly set according to the placement condition of the calibration identification;
the height calibration module is configured to determine the height information of the vehicle-mounted camera in the ground coordinate system by utilizing the position information of the vehicle-mounted camera in the calibration identification coordinate system and the height information of the origin of the calibration identification coordinate system in the ground coordinate system; the horizontal axis of the ground coordinate system points to the advancing direction of the vehicle, the vertical axis of the ground coordinate system is vertical to the ground, and the longitudinal axis of the ground coordinate system is vertical to the horizontal axis of the ground coordinate system and the vertical axis of the ground coordinate system;
and the attitude calibration module is configured to determine the attitude information of the vehicle-mounted camera in the ground coordinate system by utilizing the attitude information of the vehicle-mounted camera in the calibration identification coordinate system and the rotation relation between the calibration identification coordinate system and the ground coordinate system.
8. The calibration device as claimed in claim 7, wherein the plane of the calibration mark is perpendicular to the ground, the origin of the coordinate system of the calibration mark is the center of the calibration mark, the longitudinal axis of the coordinate system of the calibration mark is perpendicular to the ground, the vertical axis of the coordinate system of the calibration mark is perpendicular to the plane of the calibration mark, and the horizontal axis of the coordinate system of the calibration mark is perpendicular to the longitudinal axis of the coordinate system of the calibration mark and the vertical axis of the coordinate system of the calibration mark.
9. The calibration device according to claim 8,
the position information of the vehicle-mounted camera in the calibration identification coordinate system is a vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system;
and the attitude information of the vehicle-mounted camera in the calibration identification coordinate system is the pitch angle and the roll angle of the vehicle-mounted camera in the calibration identification coordinate system.
10. The calibration arrangement of claim 9, wherein the height calibration module is configured to:
and adding the vertical coordinate of the vehicle-mounted camera in the calibration identification coordinate system and the vertical coordinate of the coordinate origin of the calibration identification in the ground coordinate system to obtain the height information of the vehicle-mounted camera in the ground coordinate system.
11. The calibration arrangement of claim 9, wherein the attitude calibration module is configured to:
taking the pitch angle of the vehicle-mounted camera in the calibration identification coordinate system as the pitch angle of the vehicle-mounted camera in the ground coordinate system;
and taking the roll angle of the vehicle-mounted camera in the calibration identification coordinate system as the roll angle of the vehicle-mounted camera in the ground coordinate system.
12. The calibration device of claim 7, wherein the calibration flag is an aprilatag cooperation flag.
13. A calibration device of an on-vehicle camera comprises:
a memory; and
a processor coupled to the memory, the processor configured to perform the calibration method of the in-vehicle camera of any one of claims 1 to 6 based on instructions stored in the memory.
14. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions which, when executed by a processor, implement a calibration method of an in-vehicle camera according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811424783.0A CN110378962B (en) | 2018-11-27 | 2018-11-27 | Calibration method and device for vehicle-mounted camera and computer readable storage medium |
Applications Claiming Priority (1)
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| CN111563936A (en) * | 2020-04-08 | 2020-08-21 | 蘑菇车联信息科技有限公司 | Camera external parameter automatic calibration method and automobile data recorder |
| CN111862231B (en) * | 2020-06-15 | 2024-04-12 | 南方科技大学 | Camera calibration method, lane departure early warning method and system |
| CN111767843B (en) * | 2020-06-29 | 2024-01-02 | 阿波罗智联(北京)科技有限公司 | Three-dimensional position prediction method, device, equipment and storage medium |
| CN112384952A (en) * | 2020-09-22 | 2021-02-19 | 深圳市锐明技术股份有限公司 | Camera calibration method and device and electronic equipment |
| CN113490967A (en) * | 2020-09-22 | 2021-10-08 | 深圳市锐明技术股份有限公司 | Camera calibration method and device and electronic equipment |
| CN112927303B (en) * | 2021-02-22 | 2023-01-24 | 中国重汽集团济南动力有限公司 | Lane line-based automatic driving vehicle-mounted camera pose estimation method and system |
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| CN104318581A (en) * | 2014-11-14 | 2015-01-28 | 成都华川电装有限责任公司 | Vehicle-mounted early-warning system camera calibration method |
| US10203209B2 (en) * | 2016-05-25 | 2019-02-12 | Regents Of The University Of Minnesota | Resource-aware large-scale cooperative 3D mapping using multiple mobile devices |
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