CN104021551A - Correction marker used for bird's eye view system camera parameter calibration - Google Patents
Correction marker used for bird's eye view system camera parameter calibration Download PDFInfo
- Publication number
- CN104021551A CN104021551A CN201410229555.3A CN201410229555A CN104021551A CN 104021551 A CN104021551 A CN 104021551A CN 201410229555 A CN201410229555 A CN 201410229555A CN 104021551 A CN104021551 A CN 104021551A
- Authority
- CN
- China
- Prior art keywords
- calibration
- mark thing
- camera parameter
- vehicle
- system camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a correction marker used for bird's eye view system camera parameter calibration. The correction marker is a three-dimensional correction marker; the correction marker comprises a plurality of three-dimensional marking signs; the adjacent faces of the correction marker have different colors; and the three-dimensional marking sign comprises an LED light point. The correction marker can be a cube, a triangular pyramid body, a suspension wire and other forms, the position of the marking point in the world coordinate can be calculated conveniently through the three-dimensional marker, and the precision and the accuracy of calibration can be improved.
Description
Technical field
The present invention relates to vehicle-mounted camera parameter calibration field, be specifically related to a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration.
Background technology
Vehicle-mounted viewing system is to be become by the Duo Tai wide-angle imaging mechanism being assemblied on car body all around, and it is certain interval that every video camera covers, and image generates vertical view through viewpoint change, and splices and obtain the vehicle-mounted aerial view of looking around.In order to make the image that above-mentioned many wide-angle imaging machines that are assemblied on car body absorb can generate the not seamless spliced synthetic panoramic view of looking down of distortion through viewpoint change, above-mentioned inner parameter and the external parameter that is assemblied in the wide-angle imaging machine on car body must be by Accurate Calibration.Whether the inner parameter of video camera accurately directly affects the distortion correction effect of composite diagram.Whether whether the external parameter of video camera accurately can affect each camera image junction in composite diagram misplaces, and also can affect whether in final composite diagram, look down the relative position relation of panoramic view and car body correct.The scaling method of existing vehicle-mounted viewing system is to lay on the ground plane reference cloth, to demarcate, on this basis, has derived the method for three-dimensional scaling.And existing calibration mark thing mostly is scaling board, the high-precision requirement of cannot capable of meeting requirements on three-dimensional demarcating.
How to design a kind of correction marker of easy to identify, easy differentiation, become the important directions of vehicle-mounted viewing system research.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration, by three-dimensional calibration mark thing, solved scaling board in prior art and proofreaied and correct the not high problem of thing precision.
Technical scheme: a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration, it is characterized in that, this calibration mark thing is three-dimensional correction mark, described calibration mark thing comprises some three-dimensional symbol marks.
Calibration mark thing adjacent surface color is different.Different colours is for distinguishing the camera that calibration mark thing is corresponding, and corresponding front camera and rear camera is demarcated and used a kind of color, corresponding left and right another color of camera.While occurring in the image of camera collection like this, be easy to distinguish simultaneously.
Three-dimensional symbol mark comprises LED luminous point.LED luminous point has characteristic that can active illuminating, and when gathering sign mark, LED luminous point can produce obvious contrast with surrounding environment, is beneficial to collection.
Calibration mark thing is cube.Cubical calibration mark thing end points is clear, distinguishing mark gauge point clearly in collection.
Three-dimensional symbol mark is positioned in cubical eight summits or good 2, the outside plane of predefined.
Calibration mark thing is triangle cone.The calibration mark thing end points of triangle cone is clear, can adapt to the camera calibration of different automobile types.
Three-dimensional symbol mark is positioned on five summits of pyrometric cone body.
The perpendicular to the ground messenger wire of calibration mark thing for forming with line lift heavy thing, described messenger wire length is close with height of car to be measured.With messenger wire, as calibration mark thing, draw materials simple, the convenient position of calibration mark thing of adjusting according to demand at any time.
Three-dimensional symbol mark comprises some luminous points spaced apart on messenger wire.
Beneficial effect:
1,, by three-dimensional mark, solve the not enough problem of precision that plane reference brings.By various forms and material, the collocation of color etc., can facilitate the position of calculation flag gauge point in world's coordinate simultaneously, improves precision and the accuracy of demarcating.
2, by three-dimensional mark, solve the needed strict environmental requirements such as place light of plane reference, be more suitable for actual production environment.
3, by passive luminophors such as the active illuminating bodies such as LED or witch ball reflection plasters, solve under complex background and ambient conditions from image accurately distinguishing mark point position.
4. by different colours or form correspondence, diverse location camera is onboard installed, has been solved characteristic point position and easily produced the problem of obscuring.
Accompanying drawing explanation
Fig. 1 calibration mark object location schematic diagram
Fig. 2 cube calibration mark thing schematic diagram
The positive mark of Fig. 3 pyrometric cone sports school
Fig. 4 messenger wire calibration mark thing
Embodiment
Below in conjunction with accompanying drawing, the present invention is done further and explained.
As shown in Figure 1, a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration, is characterized in that, this calibration mark thing is three-dimensional correction mark, and described calibration mark thing comprises some three-dimensional symbol marks.With three-dimensional correction mark, demarcate on the ground a region that can hold vehicle, wait for that vehicle enters the demarcation that camera parameter is carried out in this region.
Calibration mark thing adjacent surface color is different.Different colours is for distinguishing the camera that calibration mark thing is corresponding, and corresponding front camera and rear camera is demarcated and used a kind of color, corresponding left and right another color of camera.While occurring in the image of camera collection like this, be easy to distinguish simultaneously.Adjacent face look should have contrast, can not be by close color.Itself should adopt opaque material calibration mark thing, for example the similar reflectorized material not of nonwoven fabrics or other.Three-dimensional symbol gauge point on calibration mark thing should be high-visible, and this three-dimensional symbol gauge point is considered as unique point, for being plotted in the point on calibration mark thing surface, for the unique point collection of calibration process.
Three-dimensional symbol mark comprises LED luminous point.LED luminous point has characteristic that can active illuminating, and when gathering sign mark, LED luminous point can produce obvious contrast with surrounding environment, is beneficial to collection.The color of LED can adopt white, or in order further to distinguish the demarcation of front and back and left and right camera, adopts the LED luminous point of different colours.For example, the demarcation of front camera and rear camera adopts a kind of color, and the demarcation of left and right camera can adopt another kind of color to distinguish with it.
As shown in Figure 2, calibration mark thing is cube.Cubical calibration mark thing end points is clear, distinguishing mark gauge point clearly in collection.
Three-dimensional symbol mark is positioned in cubical eight summits or good 2, the outside plane of predefined.
As shown in Figure 3, calibration mark thing is triangle cone.The calibration mark thing end points of triangle cone is clear, and the shape of triangle cone can adapt to the camera calibration of different automobile types.
Three-dimensional symbol mark is positioned on five summits of pyrometric cone body.
As shown in Figure 4, the perpendicular to the ground messenger wire of calibration mark thing for forming with line lift heavy thing, described messenger wire length is close with height of car to be measured.With messenger wire, as calibration mark thing, draw materials simple, the convenient position of calibration mark thing of adjusting according to demand at any time.
Three-dimensional symbol mark comprises some luminous points spaced apart on messenger wire.
In addition, the form of calibration mark thing is not limited to above said cube, triangle cone and messenger wire form, can be also other conventional spatial structures, and concrete form should be depending on vehicle and camera position.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. for a calibration mark thing for vehicle-mounted viewing system camera parameter calibration, it is characterized in that, this calibration mark thing is three-dimensional correction mark, and described calibration mark thing comprises some three-dimensional symbol marks.
2. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 1, is characterized in that, described calibration mark thing adjacent surface color is different.
3. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 1, is characterized in that, described three-dimensional symbol mark comprises LED luminous point.
4. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 1, is characterized in that, described calibration mark thing is cube.
5. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 3, is characterized in that, described three-dimensional symbol mark is positioned on cubical eight summits.
6. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 1, is characterized in that, described calibration mark thing is triangle cone.
7. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 5, is characterized in that, described three-dimensional symbol mark is positioned on five summits of pyrometric cone body.
8. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 1, is characterized in that, the perpendicular to the ground messenger wire of described calibration mark thing for forming with line lift heavy thing, and described messenger wire length is close with height of car to be measured.
9. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 7, is characterized in that, described three-dimensional symbol mark comprises some luminous points spaced apart on messenger wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410229555.3A CN104021551B (en) | 2014-05-27 | 2014-05-27 | A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410229555.3A CN104021551B (en) | 2014-05-27 | 2014-05-27 | A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104021551A true CN104021551A (en) | 2014-09-03 |
| CN104021551B CN104021551B (en) | 2017-07-18 |
Family
ID=51438289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410229555.3A Active CN104021551B (en) | 2014-05-27 | 2014-05-27 | A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104021551B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104315995A (en) * | 2014-11-15 | 2015-01-28 | 中国科学院光电研究院 | TOF depth camera three-dimensional coordinate calibration device and method based on virtual multi-cube standard target |
| CN106023163A (en) * | 2016-05-12 | 2016-10-12 | 昆明理工大学 | Color-interpolation-based color calibration and correction method for structured light projection system |
| CN107784627A (en) * | 2016-08-31 | 2018-03-09 | 车王电子(宁波)有限公司 | The method for building up of vehicle panorama image |
| CN108665501A (en) * | 2018-07-12 | 2018-10-16 | 合肥晟泰克汽车电子股份有限公司 | Automobile viewing system three-dimensional scaling scene and the scaling method for using the scene |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4886560B2 (en) * | 2007-03-15 | 2012-02-29 | キヤノン株式会社 | Information processing apparatus and information processing method |
| CN101299270B (en) * | 2008-05-27 | 2010-06-02 | 东南大学 | Multiple video cameras synchronous quick calibration method in three-dimensional scanning system |
| CN201616119U (en) * | 2009-12-21 | 2010-10-27 | 云南大学 | Regular tetrahedron calibrating block capable of solving internal parameters of camera |
| CN102034236B (en) * | 2010-12-01 | 2012-12-26 | 北京航空航天大学 | Multi-camera layered calibration method based on one-dimensional object |
-
2014
- 2014-05-27 CN CN201410229555.3A patent/CN104021551B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104315995A (en) * | 2014-11-15 | 2015-01-28 | 中国科学院光电研究院 | TOF depth camera three-dimensional coordinate calibration device and method based on virtual multi-cube standard target |
| CN104315995B (en) * | 2014-11-15 | 2017-02-01 | 中国科学院光电研究院 | TOF depth camera three-dimensional coordinate calibration device and method based on virtual multi-cube standard target |
| CN106023163A (en) * | 2016-05-12 | 2016-10-12 | 昆明理工大学 | Color-interpolation-based color calibration and correction method for structured light projection system |
| CN107784627A (en) * | 2016-08-31 | 2018-03-09 | 车王电子(宁波)有限公司 | The method for building up of vehicle panorama image |
| CN108665501A (en) * | 2018-07-12 | 2018-10-16 | 合肥晟泰克汽车电子股份有限公司 | Automobile viewing system three-dimensional scaling scene and the scaling method for using the scene |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104021551B (en) | 2017-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104021551A (en) | Correction marker used for bird's eye view system camera parameter calibration | |
| CN106797461B (en) | Stereo camera for motor vehicles | |
| CN102980528B (en) | Calibration method of pose position-free constraint line laser monocular vision three-dimensional measurement sensor parameters | |
| CN109242915A (en) | Multicamera system scaling method based on multi-face solid target | |
| CN103729837A (en) | Rapid calibration method of single road condition video camera | |
| CN104657982A (en) | Calibration method for projector | |
| CN104764440A (en) | Rolling object monocular pose measurement method based on color image | |
| CN103186892B (en) | Aerial Images is utilized to generate the method and system of equal proportion outdoor scene scene photo | |
| GB2564618A (en) | Imaging module and reader for, and method of, reading a target by image capture with a visually enhanced aiming light pattern | |
| CN108469254A (en) | A kind of more visual measuring system overall calibration methods of big visual field being suitable for looking up and overlooking pose | |
| CN109446973A (en) | A kind of vehicle positioning method based on deep neural network image recognition | |
| CN104732539A (en) | Projector calibration method | |
| CN103256896A (en) | Position and posture measurement method of high-speed rolling body | |
| CN104240221B (en) | Opposite-lens two-camera relative azimuth calibration device and method | |
| CN102062578A (en) | Handheld optical target for measuring visual coordinate and measuring method thereof | |
| CN110120099A (en) | Localization method, device, recognition and tracking system and computer-readable medium | |
| CN203274682U (en) | Special-purpose calibration board for light surface of line-structured light | |
| CN106405495A (en) | VR equipment positioning system and positioning method thereof | |
| CN103253194A (en) | Traveling vehicle auxiliary system | |
| CN203966198U (en) | A kind of auto-panorama camera calibration system | |
| CN102788573B (en) | Acquisition device for line-structure photo-fixation projection image | |
| CN110207605B (en) | Device and method for measuring metal structure deformation based on machine vision | |
| CN104276102B (en) | A kind of viewing system caliberating device detecting based on vehicle location | |
| CN208282814U (en) | The ranging localization device of unmanned container truck under gantry crane | |
| CN204010037U (en) | A kind of Simple television camera caliberating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170111 Address after: 214028 Jiangsu, Wuxi New District Longshan Road, No. 4 (Wang Zhuang science and Technology Venture Center) C building 203-204 Applicant after: Wuxi Wissen Intelligent Sensing Technology Co., Ltd. Address before: 214028 Wuxi Province, Jiangsu New District Longshan Road, No. 4 (Wang Zhuang science and Technology Venture Center) C building, floor 2 Applicant before: Wuxi Guan Zhi vision Science and Technology Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 214028 C 203-204, Longshan Road, Wuxi New District, Wuxi, Jiangsu, China (203-204) Patentee after: Wuxi wisdom Sensor Technology Co., Ltd. Address before: 214028 C 203-204, Longshan Road, Wuxi New District, Wuxi, Jiangsu, China (203-204) Patentee before: Wuxi Wissen Intelligent Sensing Technology Co., Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190605 Address after: 201203 Shanghai Pudong New Area free trade trial area, 1 spring 3, 400 Fang Chun road. Patentee after: Shanghai Sen Sen vehicle sensor technology Co., Ltd. Address before: 214028 C 203-204, Longshan Road, Wuxi New District, Wuxi, Jiangsu, China (203-204) Patentee before: Wuxi wisdom Sensor Technology Co., Ltd. |
|
| TR01 | Transfer of patent right |