CN102342088B - 用于校正车载照相机的校正装置及校正方法 - Google Patents

用于校正车载照相机的校正装置及校正方法 Download PDF

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Publication number
CN102342088B
CN102342088B CN201080010032.XA CN201080010032A CN102342088B CN 102342088 B CN102342088 B CN 102342088B CN 201080010032 A CN201080010032 A CN 201080010032A CN 102342088 B CN102342088 B CN 102342088B
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China
Prior art keywords
vehicle
camera
pair
calibration
onboard camera
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CN201080010032.XA
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English (en)
Chinese (zh)
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CN102342088A (zh
Inventor
乾阳司
齐木充义
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Aisin Corp
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Aisin Seiki Co Ltd
Toyota Motor Corp
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
    • B60R2300/402—Image calibration
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20076—Probabilistic image processing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
CN201080010032.XA 2009-03-31 2010-03-19 用于校正车载照相机的校正装置及校正方法 Active CN102342088B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2009085536A JP5091902B2 (ja) 2009-03-31 2009-03-31 車載カメラの校正に用いられる校正指標と、当該校正指標を用いた車載カメラの校正方法と、システムと、当該システムのためのプログラム
JP2009-085536 2009-03-31
PCT/JP2010/054764 WO2010113672A1 (ja) 2009-03-31 2010-03-19 車載カメラの校正に用いられる校正指標と、当該校正指標を用いた車載カメラの校正方法と、当該校正指標を用いた車載カメラの校正装置のためのプログラム

Publications (2)

Publication Number Publication Date
CN102342088A CN102342088A (zh) 2012-02-01
CN102342088B true CN102342088B (zh) 2015-04-29

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CN201080010032.XA Active CN102342088B (zh) 2009-03-31 2010-03-19 用于校正车载照相机的校正装置及校正方法

Country Status (6)

Country Link
US (1) US8717442B2 (enExample)
EP (1) EP2416558B1 (enExample)
JP (1) JP5091902B2 (enExample)
KR (1) KR101245906B1 (enExample)
CN (1) CN102342088B (enExample)
WO (1) WO2010113672A1 (enExample)

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US20130215280A1 (en) * 2011-09-13 2013-08-22 Kyocera Corporation Camera calibration device, camera and camera calibration method
KR101256861B1 (ko) 2011-12-27 2013-04-22 전자부품연구원 칼리브레이션을 위한 체커 보드 장치 및 이를 이용한 칼리브레이션 방법
JP5921320B2 (ja) * 2012-04-27 2016-05-24 富士通テン株式会社 表示システム、携帯装置、車載装置、及び、プログラム
TW201344592A (zh) * 2012-04-27 2013-11-01 Altek Autotronics Corp 影像校正系統及其影像校正方法
JP6009894B2 (ja) * 2012-10-02 2016-10-19 株式会社デンソー キャリブレーション方法、及びキャリブレーション装置
FR3015660B1 (fr) 2013-12-19 2020-06-05 Continental Automotive France Procede, support et systeme de calibration d'une camera d'un vehicule
KR101583663B1 (ko) 2014-04-30 2016-01-12 아진산업(주) 차량용 카메라의 교정판 제공 방법
CN104008548B (zh) * 2014-06-04 2017-04-19 无锡维森智能传感技术有限公司 一种用于车载环视系统摄像头参数标定的特征点抽取方法
CN104132818B (zh) * 2014-07-11 2016-07-06 中国科学院深圳先进技术研究院 三维四轮定位仪及其测量方法
JP6678404B2 (ja) * 2015-07-08 2020-04-08 Koa株式会社 赤外線サーモグラフの性能評価方法
JP6688989B2 (ja) * 2016-01-29 2020-04-28 パナソニックＩｐマネジメント株式会社 カメラ校正装置およびカメラ校正方法
CN105763854B (zh) * 2016-04-18 2019-01-08 扬州航盛科技有限公司 一种基于单目摄像头的全景成像系统及其成像方法
DE102016218360B4 (de) * 2016-09-23 2019-08-29 Carl Zeiss Industrielle Messtechnik Gmbh Kalibrierstruktur und Kalibrierverfahren zur Kalibrierung von optischen Messgeräten
US10304210B2 (en) * 2017-05-25 2019-05-28 GM Global Technology Operations LLC Method and apparatus for camera calibration
CN113170079A (zh) 2018-07-30 2021-07-23 小马智行 用于校准车载摄像头的系统和方法
ES2968764T3 (es) * 2018-09-28 2024-05-13 Nexion Spa Calibración de una cámara de vehículo
CN111491093B (zh) * 2019-01-26 2021-12-31 魔门塔(苏州)科技有限公司 一种摄像头视场角的调整方法和装置
DE102020131778A1 (de) 2020-12-01 2022-06-02 Zf Cv Systems Global Gmbh Verfahren zum Kalibrieren einer rückschauenden Kamera und Fahrzeug
JP7740131B2 (ja) * 2022-05-27 2025-09-17 株式会社デンソー カメラの校正確認方法、校正確認プログラムおよび校正確認装置
US12244912B1 (en) 2023-04-03 2025-03-04 Rockwell Collins, Inc. System and method for determining performance of an imaging device in real-time
CN119445057B (zh) * 2025-01-09 2025-04-15 浙江吉利控股集团有限公司 一种机械车位的车位方向检测方法、装置、设备及介质

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JP2008131250A (ja) * 2006-11-20 2008-06-05 Aisin Seiki Co Ltd 車載カメラの校正装置及び当該装置を用いた車両の生産方法

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JP5091902B2 (ja) * 2009-03-31 2012-12-05 アイシン精機株式会社 車載カメラの校正に用いられる校正指標と、当該校正指標を用いた車載カメラの校正方法と、システムと、当該システムのためのプログラム
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JP2008131250A (ja) * 2006-11-20 2008-06-05 Aisin Seiki Co Ltd 車載カメラの校正装置及び当該装置を用いた車両の生産方法

Also Published As

Publication number Publication date
US20110310250A1 (en) 2011-12-22
CN102342088A (zh) 2012-02-01
WO2010113672A1 (ja) 2010-10-07
EP2416558B1 (en) 2019-06-19
EP2416558A1 (en) 2012-02-08
EP2416558A4 (en) 2017-06-07
US8717442B2 (en) 2014-05-06
KR101245906B1 (ko) 2013-03-20
KR20110120301A (ko) 2011-11-03
JP5091902B2 (ja) 2012-12-05
JP2010239411A (ja) 2010-10-21

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