CN104021551B - A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration - Google Patents
A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration Download PDFInfo
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- CN104021551B CN104021551B CN201410229555.3A CN201410229555A CN104021551B CN 104021551 B CN104021551 B CN 104021551B CN 201410229555 A CN201410229555 A CN 201410229555A CN 104021551 B CN104021551 B CN 104021551B
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Abstract
A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration, the calibration mark thing is three-dimensional correction mark, and the calibration mark thing is marked including some three-dimensional symbols, and calibration mark thing adjacent surface color is different, and three-dimensional symbol mark includes LED light point.Calibration mark thing can be the forms such as cube, triangular pyramids, messenger wire, by three-dimensional mark, can facilitate position of the calculation flag mark point in world's coordinate, improve the precision and accuracy of demarcation.
Description
Technical field
The present invention relates to vehicle-mounted camera parameter calibration field, and in particular to one kind is used for vehicle-mounted viewing system camera ginseng
The calibration mark thing of number demarcation.
Background technology
Vehicle-mounted viewing system is constituted by being assemblied in many wide angle cameras on car body all around, and every video camera covers
Lid is certain interval, and image generates top view by viewpoint change, and splice and obtain vehicle-mounted looking around aerial view.In order that above-mentioned
The image that many wide angle cameras being assemblied on car body are absorbed can generate the seamless spelling not distorted by viewpoint change
Panoramic view is looked down in the synthesis connect, and inner parameter and the external parameter of the above-mentioned wide angle cameras being assemblied on car body must be accurate
Demarcation.Whether the inner parameter of video camera accurately directly affects the distortion correction effect of composite diagram.The external parameter of video camera is
It is no accurately to influence whether the camera image of each in composite diagram junction misplaces, it can also influence to look down panoramic view in final composite diagram
Whether the relative position relation with car body is correct.The scaling method of existing vehicle-mounted viewing system is to lay plane reference on the ground
Cloth, to be demarcated, on this basis, has derived the method for three-dimensional scaling.And existing calibration mark thing is generally scaling board,
The high-precision requirement of three-dimensional scaling can not be met.
A kind of easy to identify, correction marker for easily distinguishing how is designed, becomes the important side of vehicle-mounted viewing system research
To.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of for vehicle-mounted viewing system camera
The calibration mark thing of parameter calibration, by three-dimensional calibration mark thing, solves scaling board in the prior art and corrects thing precision not
High the problem of.
Technical scheme：A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration, it is characterised in that should
Calibration mark thing is three-dimensional correction mark, and the calibration mark thing is marked including some three-dimensional symbols.
Calibration mark thing adjacent surface color is different.Different colours are used to distinguish the corresponding camera of calibration mark thing, correspondence
A kind of color of front camera and rear camera demarcation, another color of correspondence left and right camera.The image so gathered in camera
In it is simultaneously easily distinguishable when occurring.
Three-dimensional symbol mark includes LED light point.LED light point has the characteristic that can actively light, when gathering flag tag,
LED light point can produce obvious contrast with surrounding environment, beneficial to collection.
Calibration mark thing is cube.Cubical calibration mark thing end points is clear, and mark can be clearly recognized in collection
Will mark point.
Three-dimensional symbol mark is on cubical eight summits or good 2, the outside plane of predefined.
Calibration mark thing is triangular pyramids.The calibration mark thing end points of triangular pyramids is clear, can adapt to different automobile types
Camera calibration.
Three-dimensional symbol mark is on five summits of triangular pyramids.
Calibration mark thing is the messenger wire perpendicular to the ground with the formation of line lift heavy thing, and the messenger wire length is high with vehicle to be measured
Degree is close.With messenger wire as calibration mark thing, materials are simple, the convenient position for adjusting calibration mark thing according to demand at any time.
Three-dimensional symbol mark includes having on messenger wire some luminous points being spaced apart.
Beneficial effect：
1st, by three-dimensional mark, the not enough problem of precision that plane reference is brought is solved.Simultaneously by various forms and
Material, the collocation of color etc. can facilitate position of the calculation flag mark point in world's coordinate, improve the precision and standard of demarcation
True property.
2nd, by three-dimensional mark, the environmental requirement such as strict place light required for solution plane reference is more suitable
For actual production environment.
3, by the passive illuminator such as the active such as LED illuminator or witch ball reflection plaster, solve in complex background and ring
Index point position is accurately identified in the case of border from image.
4. installing onboard diverse location camera by different colours or form correspondence, characteristic point position is solved easy
The problem of generation is obscured.
Brief description of the drawings
Fig. 1 calibration mark object location schematic diagrames
Fig. 2 cube calibration mark thing schematic diagrames
Fig. 3 triangular pyramids calibration mark things
Fig. 4 messenger wire calibration mark things
Embodiment
The present invention is done below in conjunction with the accompanying drawings and further explained.
As shown in figure 1, a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration, it is characterised in that
The calibration mark thing is three-dimensional correction mark, and the calibration mark thing is marked including some three-dimensional symbols.Use three-dimensional correction mark
Will thing demarcates one on the ground can accommodate the region of vehicle, wait vehicle to enter the demarcation that the region carries out camera parameter.
Calibration mark thing adjacent surface color is different.Different colours are used to distinguish the corresponding camera of calibration mark thing, correspondence
A kind of color of front camera and rear camera demarcation, another color of correspondence left and right camera.The image so gathered in camera
In it is simultaneously easily distinguishable when occurring.Adjacent face color should have contrast, it is impossible to close color.Calibration mark thing should be adopted in itself
With non-reflective material, such as non-woven fabrics or other similar non-reflective materials.Three-dimensional symbol mark point on calibration mark thing
Should be high-visible, the three-dimensional symbol mark point is considered as characteristic point, to be plotted in the point on calibration mark thing surface, for calibrated
Characteristic point collection in journey.
Three-dimensional symbol mark includes LED light point.LED light point has the characteristic that can actively light, when gathering flag tag,
LED light point can produce obvious contrast with surrounding environment, beneficial to collection.LED color can use white, or in order to be able to more enter
With the demarcation of left and right camera before and after the differentiation of one step, using the LED light point of different colours.For example, the demarcation of front camera and rear camera
Using a kind of color, the demarcation of left and right camera can therewith be distinguished using another color.
As shown in Fig. 2 calibration mark thing is cube.Cubical calibration mark thing end points is clear, can be clear in collection
The distinguishing mark mark point of Chu.
Three-dimensional symbol mark is on cubical eight summits or good 2, the outside plane of predefined.
As shown in figure 3, calibration mark thing is triangular pyramids.The calibration mark thing end points of triangular pyramids is clear, triangular pyramids
Shape can adapt to the camera calibrations of different automobile types.
Three-dimensional symbol mark is on five summits of triangular pyramids.
As shown in figure 4, calibration mark thing is the messenger wire perpendicular to the ground with the formation of line lift heavy thing, the messenger wire length with
Height of car to be measured is close.With messenger wire as calibration mark thing, materials are simple, convenient to adjust calibration mark thing according to demand at any time
Position.
Three-dimensional symbol mark includes having on messenger wire some luminous points being spaced apart.
In addition, the form of calibration mark thing is not limited to foregoing cube, triangular pyramids and messenger wire form,
Can be other conventional stereochemical structures, concrete form should be depending on vehicle and camera position.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration, it is characterised in that the calibration mark thing
For three-dimensional correction mark, the calibration mark thing is marked including some three-dimensional symbols；Wherein, the calibration mark thing for cube
Body or triangular pyramids；
Wherein, the calibration mark thing adjacent surface color is different, and different colours are used to distinguish the corresponding camera of calibration mark thing,
A kind of color of correspondence front camera and rear camera demarcation, another color of correspondence left and right camera, and adjacent face color have instead
Difference, calibration mark thing uses non-reflective material in itself；Also, the three-dimensional symbol mark includes LED light point, in order to be able to more enter
With the demarcation of left and right camera before and after the differentiation of one step, using the LED light point of different colours, wherein, the demarcation of front camera and rear camera
Using a kind of color, the demarcation of left and right camera is distinguished therewith using another color.
2. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 1, its feature exists
In the three-dimensional symbol mark is located on cubical eight summits.
3. a kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration as claimed in claim 1, its feature exists
In the three-dimensional symbol mark is on five summits of triangular pyramids.
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| CN201410229555.3A CN104021551B (en) | 2014-05-27 | 2014-05-27 | A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration |
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| CN201410229555.3A CN104021551B (en) | 2014-05-27 | 2014-05-27 | A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration |
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| CN104021551A CN104021551A (en) | 2014-09-03 |
| CN104021551B true CN104021551B (en) | 2017-07-18 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN101266652A (en) * | 2007-03-15 | 2008-09-17 | 佳能株式会社 | Information processing apparatus, information processing method, and calibration jig |
| CN101299270A (en) * | 2008-05-27 | 2008-11-05 | 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 |
| CN102034236A (en) * | 2010-12-01 | 2011-04-27 | 北京航空航天大学 | Multi-camera layered calibration method based on one-dimensional object |
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Patent Citations (4)
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|---|---|---|---|---|
| CN101266652A (en) * | 2007-03-15 | 2008-09-17 | 佳能株式会社 | Information processing apparatus, information processing method, and calibration jig |
| CN101299270A (en) * | 2008-05-27 | 2008-11-05 | 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 |
| CN102034236A (en) * | 2010-12-01 | 2011-04-27 | 北京航空航天大学 | Multi-camera layered calibration method based on one-dimensional object |
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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. |
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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. |
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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. |