CN101040298A - Device for calibrating an image sensor system in a motor vehicle - Google Patents
Device for calibrating an image sensor system in a motor vehicle Download PDFInfo
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- CN101040298A CN101040298A CN 200580034823 CN200580034823A CN101040298A CN 101040298 A CN101040298 A CN 101040298A CN 200580034823 CN200580034823 CN 200580034823 CN 200580034823 A CN200580034823 A CN 200580034823A CN 101040298 A CN101040298 A CN 101040298A
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- 230000008447 perception Effects 0.000 description 9
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000000465 moulding Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
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- 238000003384 imaging method Methods 0.000 description 1
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Abstract
A device for calibrating an image sensor system (3) in a motor vehicle (1) comprises an on-board calibrating object (4) that is mounted, for example, on the engine hood (2) of the vehicle (1).
Description
Background technology
The present invention relates to a kind of as claim 1 device of calibrating at least one image sensor system that is connected with vehicle by at least one calibration target as described in the preamble.
Imagination is used the image sensor system that obtains vehicle-periphery in vehicle.Especially the plan use image sensor system that combines with driver assistance system.For example can use the image sensor system of the automatic adjustable range of vehicle that is used to make vehicle and travels previously thus.In order to strengthen the Image Acquisition scope, also plan in vehicle, to use a plurality of image sensor systems, wherein their scope of obtaining also can be overlapping at least in part.Especially also use stereo camera, it is made up of two image sensor systems, and they absorb Same Scene substantially.
Known method and apparatus by the image sensor system in the calibration target calibration vehicle.For example by the known apparatus and method of DE 10229336.8 A1 by calibration target and position reference pick up calibration image sensor system.Also become known for calibrating the method for the image sensor system in the vehicle by calibration target by EP 1 120 746 A2.Be connected with vehicle and adjust with respect to vehicle at this calibration target by mechanical speed-control device.Calibrate with reference to the vehicle longitudinal axis at this.The symmetrical mark that this longitudinal axis can pass through on vehicle, the especially vehicle body is set up.But because this longitudinal axis of mismachining tolerance is not consistent with how much axis that travel, this axis sub-multiple angle definition of travelling by the total toe-in angle of rear axle.Longitudinal axis and how much travels deviation between the axis for the measurement image sensing system, especially can not ignore when time in the driver assistance system of its use in vehicle, because how much travel directions of axis when determining straight-line travelling of travelling, and with the location independent of longitudinal axis.In EP 1 120 746 A2, image sensor system is not determined to aim at so that the explanation of calibration image sensing system with respect to how much axis that travel.
Calibrate the method that at least one is positioned at the image sensor system on vehicle side and/or vehicle and/or the vehicle by DE 102 46 066 A1 are also known by at least one calibration target, wherein image sensor system produces first image information of calibration target, best form with at least one image data set, wherein to occupy with the calibration target be the primary importance of benchmark to vehicle, image sensor system produces second image information of calibration target then, best form with at least one image data set, wherein to occupy with the calibration target be the second place of benchmark to vehicle, producing vehicle then is the primary importance of calibration and the change in location that occupies the second place by moving vehicle with the calibration target, determines that by first and second image informations of the calibration target that is produced image sensor system is the adjustment of benchmark with how much axis that travel of vehicle at least then.By the document also known by at least one calibration target and at least one by the computing unit of at least one image sensor system computed image information calibrate at least one be positioned on the vehicle and/or and/or the device of top image sensor system, wherein computing unit has means, they can determine that by first and second image informations of calibration target image sensor system is the adjustment of benchmark with how much axis that travel of vehicle at least, and wherein image information preferably occurs with the form of at least one image data set.Calibration target is arranged on beyond the vehicle in these known solutions, for example must self move in workshop and for calibration process.
Become known for obtaining the method for image by the video camera that is connected with vehicle by JP 06-215 134 A1.In this calibration camera thus: obtain the seamed edge of the part of vehicle, especially hood and according to the position correction picture position of hood seamed edge by video camera.Although can realize the calibration of image sensor system thus in principle by the means of car itself, therefore no longer need independent shop test, be used for calibrating by the calibration target that exists there.But in practice because the Modern Vehicle Body shape produces tangible problem, because common hood no longer has tangible seamed edge usually at present.Because hood or its seamed edge no longer have definite 3D structure, there is not depth information for using for image sensor system.Therefore the calibration that no longer can aim at seamed edge.Therefore design known image sensor system usually like this, make and during travelling, can't see vehicle part in the scope obtaining of imageing sensor.
Summary of the invention
The present invention with claim 1 feature can avoid this defective and make the calibration that also can realize image sensor system in the vehicle with modern vehicle moulding by car-mounted device.
Be derived from this knowledge in this present invention: if vehicle-mounted, especially can be placed in such position at least at calibration process the duration at the calibration target of fixing assembling on the vehicle, make calibration target and to be positioned in the field depth of imageing sensor by the imageing sensor perception of image sensor system, then calibration image sensing system on the spot promptly need not to seek the workshop.
Description of drawings
Describe embodiments of the invention in detail by means of accompanying drawing below.Accompanying drawing illustrates:
Fig. 1 has the vehicle of image sensor system and calibration target,
First embodiment of Fig. 2 calibration target,
Second embodiment of Fig. 3 calibration target.
Embodiment
Fig. 1 letter illustrates the vehicle 1 with vehicle-mounted image sensor system 3.Image sensor system 3 in the vehicle 1 is preferably in the zone that the windshield back is placed in room mirror in this embodiment.The direction to overtake that vehicle 1 is aimed in the perception zone 3.1 of this image sensor system 3.This image sensor system 3 is video sensor preferably, and it for example or with ccd video camera or with cmos camera constitutes.Image sensor system 3 is the ingredient of driver assistance system preferably, and the pilot control vehicle 1 of this system's support unit 1 for example can be realized controlling from principal direction of vehicle 1 by it.For this reason, image sensor system 3 is from the sensing image data on every side of vehicle 1, and they are from the perception zone 3.1 of image sensor system 3.Precision to image sensor system 3 proposes very high requirement.They can only reach by periodic calibration image sensor system 3 in practice, and this calibration will be when vehicle be made, carry out under repair and in the periodic maintenance interval procedure.For calibration image sensing system 3, need special calibration target or alignment target so far, they are placed on the vehicle front usually and must aim at vehicle exactly when stopping in the workshop.Accurate aligning with respect to vehicle is that take a lot of trouble and technical device need be special.Although advise, independently carry out the calibration of vehicle-mounted image sensor system and utilize seamed edge by the vehicle startup cover of image sensor system perception for this reason as calibration target by car-mounted device.But this frequent failure in practice, because the modern vehicle moulding, the hood of vehicle no longer has the seamed edge that is suitable as calibration target.The invention enables and can independently, promptly rely on image sensor system own on the workshop ground calibration car by car-mounted device, its mode is calibration target own on the car to be set, by means of the image sensor system of its adjustable vehicle.Calibration target is in during optical effect is connected with the imageing sensor of image sensor system duration of calibration process at least.This realizes thus in simple especially favourable mode: as shown in Figure 1, calibration target 4 is arranged on the medial surface of hood 2 of vehicle 1 like this, makes after opening hood 2 this calibration target be positioned at the field depth of the imageing sensor of the perception zone 3.1 of image sensor system 3 and image sensor system 3.The state that opens of hood 2 shown in Figure 1.Be arranged on hood 2 medial surfaces by calibration target 4, no longer need outside calibration target.Obtain thus when making vehicle, in the workshop and also in the cost advantage of vehicle Parking.That is, do not use just calibration image sensing system 3 and the calibration more at any time under the situation of needs first of bothersome external instrument technology.Because hood 2 is accurately aimed at vehicle 1 by the version decision, the calibration target 4 that is arranged on hood 2 medial surfaces has had accurate reference position, and it is essential for the good alignment of image sensor system 3.Because hood 2 is in service original just as the vehicle frame of reference that is used for its visual sense feeling at cruising for the driver with its vehicle 1 crossbeam of carrying, so image sensor system 3 is also well as one man calibrated with this frame of reference.The accurate aligning of hood 2 can also advantageously add by monitoring gap size or controlling by the additional reference marker of settling.Therefore because calibration target 4 is arranged on the medial surface of hood 2, the moulding of vehicle 1 is not had a negative impact.Also advantageously obtain more configuration possibility thus, also will describe them in detail below for the preferred configuration that is arranged on the fixed reference feature 4.1,4.2,4.3,4.4 on the calibration target 4.By the vertical substantially position of the hood 2 dug for calibration process, between calibration target 4 and image sensor system 3 to be calibrated, obtain than the device situation that must aim at reference to the seamed edge of the hood 2 of closing at image sensor system 3 under much better optical effect be connected.In order to carry out calibration process, hood 2 can be opened and can be brought to one or more definite positions.When fixing in front hood 2 is substantially vertically erect, reach almost desirable calibrating position.If vehicle 1 is equipped with the executive component that is used to adjust hood 2, they come into question relatively with guard rows people better, and this executive component also can be used for hood 2 is adjusted to calibrating position according to purpose.For the vehicle with very short front truck, what confirmation was suitable in case of necessity is that the hood 2 of carrying calibration target 4 also is to construct movably on longitudinal direction of car.At this, hood 2 according to structure or dig preceding or digging after additionally also on the longitudinal axis of vehicle 1, move so that strengthen the distance of calibration target 4 and image sensor system 3.This point may be necessary, so that calibration target 4 is arranged in the field depth of image sensor system 3 best.Implement in the modification at of the present invention another, hood can be fixed on the vehicle like this, makes it sufficiently dig through the front of vehicle in order to carry out calibration process at least.The calibration target that is fixed on the hood can also be taken in the field depth of imageing sensor reliably in this way.
Two enforcement modification of calibration target 4 are described by means of Fig. 2 and 3 below.Fig. 2 illustrates first with front elevation and implements modification.This calibration target 4 constitutes at this carrier element with basic plane.Mark to example four fixed reference features 4.1,4.2,4.3,4.4 in Fig. 2, they are arranged on the calibration target 4.For perception fixed reference feature 4.1,4.2,4.3,4.4 reliably, they preferably have the geometry that is easy to discern.Especially as shown in Figure 2 constitute with circular face.Fixed reference feature 4.1,4.2,4.3,4.4 advantageously have good contrast with environment.Fixed reference feature 4.1,4.2 in addition, and 4.3,4.4 can be active constitutes beamingly or constitute with the mark of retrodirective reflection.Fixed reference feature 4.1,4.2,4.3,4.4 advantageously such configurations make it possible to perception automatically simply in the image of image sensor system 3.At the fixed reference feature shown in Fig. 2 4.1,4.2,4.3,4.4th, optics diffuse reflection circle and best ground constitutes.They have the diameter of selecting according to the imaging ratio of image sensor system 3.Fixed reference feature 4.1,4.2,4.3,4.4 preferably differences automatically thus: at least one fixed reference feature 4.1,4.2 4.3,4.4 be loaded with can be by the coding and/or the fixed reference feature 4.1 of image sensor system 3 perception, 4.2 4.3,4.4 to have the group layout of definite geometric properties.For the fixed reference feature 4.1,4.2 that throws light on, 4.3,4.4 use at least one light source 5, help the sentience of fixed reference feature 90 by this measure.In one embodiment of the present of invention modification, calibration target itself can be equipped with light source for this reason, and it is for example also powered by vehicle battery.Especially at least one is arranged on the sentience that light source 5 image sensor system 3 target proximitys, that throw light on calibration target helps the fixed reference feature of retrodirective reflection.Calibration target 4 also can advantageously comprise its fixed reference feature 4.1,4.2,4.3,4.4 be configured to be printed onto on the hood medial surface together, especially be placed in the there isolating pad (D mmatte) on object.In order to realize the three-dimensional calibration of image sensor system 3, fixed reference feature 4.1,4.2 in another embodiment variant, and 4.3,4.4 three-dimensional ground, for example punch type ground constitute.This is for example illustrated by Fig. 3, and this figure illustrates calibration target 4 with side view.Can see two fixed reference features 4.1 and 4.4 that are arranged on the calibration target 4, their stageds constitute and surperficial outstanding from calibration target 4.The light of in another embodiment variant, launching in the infrared spectrums by light source 5.Can avoid light characteristic to have a negative impact thus and/or can consider the imageing sensor of infrared-sensitive for the personnel on the place of measuring.If fixed reference feature 4.1,4.2,4.3,4.4 be arranged on the calibration target 4 with respect to image sensor system 3 as shown in Figure 3, then with the fixed reference feature 4.1,4.2 of floor plan with spatially also staggering, 4.3,4.4 simplified in comparison evaluation calculate and measurement result more reliable.If owing to structural reason hood 2 can not be adjusted to the upright position fully, calibration target 4 also can advantageously connect by hinge and be connected with hood.This hinge connects can make calibration target 4 free sagging after opening hood 2, makes calibration target be arranged on best in the sensing range 3.1 of image sensor system 3.If the longitudinal axis of the longitudinal axis of hood and vehicle is inconsistent, in an advantageous embodiments modification of the present invention, calibration target 4 also can construct at it with respect to scalable aspect the position of hood 2, it can be adjusted with respect to image sensor system 3 by plain mode thus.
Described the present invention by means of embodiment above, wherein, image sensor system 3 perception of direction of observation aligning vehicle heading are arranged on the calibration target 4 on the vehicle startup cover 2.Certainly, can calibrate to the side and/or the device of the image sensor system of observing rearwards 3 also within the scope of the present invention.Calibration target 4 is advantageously provided on rear cover of vehicle and/or car door in these embodiment variant.Can calibration target be brought in the sensing range of image sensor system 3 like a cork by opening car door and/or bonnet.
Claims (15)
1. be used for calibrating the device of the image sensor system (3) of vehicle (1), it is characterized in that, described device comprises calibration target intrinsic on the car (4).
2. device as claimed in claim 1 is characterized in that, described calibration target (4) can be placed in the duration of calibration process at least with image sensor system (3) optical effect and be connected.
3. as one of above-mentioned claim described device, it is characterized in that described calibration target (4) is arranged on the hood (2) of vehicle (1).
4. as one of above-mentioned claim described device, it is characterized in that described calibration target (4) is arranged on the medial surface of hood (2).
5. as the described device of one of above-mentioned claim, it is characterized in that described calibration target (4) is configured to be printed onto the object on the isolating pad of hood (2).
6. as one of above-mentioned claim described device, it is characterized in that described calibration target (4) comprises fixed reference feature (4.1,4.2,4.3,4.4).
7. as one of above-mentioned claim described device, it is characterized in that described fixed reference feature (4.1,4.2,4.3,4.4) is three-dimensional to be constituted.
8. as one of above-mentioned claim described device, it is characterized in that described calibration target (4) is arranged on the hood (2) that can be adjusted at least one calibrating position.
9. as one of above-mentioned claim described device, it is characterized in that described calibration target (4) is arranged on the hood (2) that is fixed in front on the vehicle (1).
10. as the described device of one of above-mentioned claim, it is characterized in that, described calibration target (4) be arranged on vehicle (1) vertically on movably on the hood (2).
11., it is characterized in that described calibration target (4) is connected through the hinge and is connected with hood (2) as one of above-mentioned claim described device.
12., it is characterized in that described calibration target (4) is constructed to such an extent that can adjust with regard to the position of vehicle with regard to it as one of above-mentioned claim described device.
13., it is characterized in that a calibration target (4) is arranged on the Vehicular door as one of above-mentioned claim described device.
14., it is characterized in that a calibration target (4) is arranged on the rear cover of vehicle as one of above-mentioned claim described device.
15. as the described device of one of above-mentioned claim, it is characterized in that described device comprises the light source (5) of calibration target (4) that are used to throw light on.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102004049869 | 2004-10-13 | ||
| DE102004049869.5 | 2004-10-13 | ||
| DE102004056669.0 | 2004-11-24 |
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| Publication Number | Publication Date |
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| CN101040298A true CN101040298A (en) | 2007-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200580034823 Pending CN101040298A (en) | 2004-10-13 | 2005-08-26 | Device for calibrating an image sensor system in a motor vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103636201A (en) * | 2011-07-05 | 2014-03-12 | 罗伯特·博世有限公司 | Arrangement and method for determining imaging deviation of camera |
| CN107727364A (en) * | 2016-08-04 | 2018-02-23 | 谷歌有限责任公司 | Test 3D imaging systems |
| US10152794B2 (en) | 2013-12-19 | 2018-12-11 | Continental Automotive France | Method and system for calibrating a camera of a vehicle |
| CN114402218A (en) * | 2019-09-24 | 2022-04-26 | 纬湃科技有限责任公司 | Method and device for determining a target position of an environmental sensor of a vehicle |
-
2005
- 2005-08-26 CN CN 200580034823 patent/CN101040298A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103636201A (en) * | 2011-07-05 | 2014-03-12 | 罗伯特·博世有限公司 | Arrangement and method for determining imaging deviation of camera |
| CN103636201B (en) * | 2011-07-05 | 2016-12-21 | 罗伯特·博世有限公司 | For determining the apparatus and method of the imaging deviation of camera |
| US10152794B2 (en) | 2013-12-19 | 2018-12-11 | Continental Automotive France | Method and system for calibrating a camera of a vehicle |
| CN105814400B (en) * | 2013-12-19 | 2019-04-12 | 法国大陆汽车公司 | Calibrate the method and system of the camera of vehicle |
| CN107727364A (en) * | 2016-08-04 | 2018-02-23 | 谷歌有限责任公司 | Test 3D imaging systems |
| US10321114B2 (en) | 2016-08-04 | 2019-06-11 | Google Llc | Testing 3D imaging systems |
| CN107727364B (en) * | 2016-08-04 | 2019-10-01 | 谷歌有限责任公司 | Test 3D imaging system |
| CN114402218A (en) * | 2019-09-24 | 2022-04-26 | 纬湃科技有限责任公司 | Method and device for determining a target position of an environmental sensor of a vehicle |
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