CN105894511B - Demarcate target setting method, device and parking assistance system - Google Patents
Demarcate target setting method, device and parking assistance system Download PDFInfo
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- CN105894511B CN105894511B CN201610197190.XA CN201610197190A CN105894511B CN 105894511 B CN105894511 B CN 105894511B CN 201610197190 A CN201610197190 A CN 201610197190A CN 105894511 B CN105894511 B CN 105894511B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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; CALCULATING OR 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
- G06T2207/30208—Marker matrix
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Abstract
The embodiment of the present invention provides a kind of calibration target setting method, device and parking assistance system, comprising: by being located at the positioning device above calibrating table, determines vehicle actual position coordinate to be calibrated；Vehicle actual position coordinate and vehicle standard position coordinates are subjected to projective transformation, obtain projection matrix；According to projection matrix and the normal place coordinate of calibration target, the actual position coordinate of calibration target is obtained；The calibration target is projected into the corresponding position of actual position coordinate according to the actual position coordinate of calibration target；Wherein, the normal place coordinate of vehicle to be calibrated includes position coordinates when vehicle is located at immediately below positioning device, and the normal place coordinate for demarcating target includes the projected position coordinate for the calibration target being arranged when vehicle is located at immediately below positioning device.Calibration target setting method, device and parking assistance system provided in an embodiment of the present invention accurately place the calibration target without the geometric center of artificial precise measurement vehicle and according to predeterminated position, simple and convenient and not easy to make mistakes.
Description
Technical field
The present embodiments relate to vehicle networking technical field more particularly to a kind of calibration target setting methods, device and parking
Auxiliary system.
Background technique
Panorama parking assistance system of parking includes being mounted on four cameras and image processing unit of vehicle body all around,
Four cameras acquire the image of vehicle's surroundings simultaneously, and collected four images pass through the distortion of image processing unit also
The treatment processes such as original, visual angle conversion, image mosaic, image enhancement ultimately form 360 degree of seamless panoramas of a width vehicle's surroundings
Top view.
After the camera is installed on vehicle, need to demarcate each output parameter of the camera, to ensure
The 360 degree panoramas high with actual scene matching degree can be obtained after four collected four image joints of camera to overlook
Figure；Existing scaling scheme include: vehicle is parked on horizontal plane, choose vehicle geometric center；Around four angles of vehicle
A calibration target is placed respectively, and four calibration pinwheels are symmetrical, and symmetrical centre is the geometric center of the vehicle；Acquire vehicle
Paripheral zone has the image of the calibration target to be sent to image processing unit, and described image processing unit detects the target of the calibration target
Face image, and the target surface image is adjusted according to pre-set programs to standard picture, output extremely marks the target surface Image Adjusting
The calibrating parameters of quasi- image demarcate the camera with the calibrating parameters.
For the accuracy for guaranteeing calibration, need to place calibration target, above-mentioned mark in strict accordance with design position when demarcating camera
Determine in method, need the geometric center of first precise measurement vehicle, according still further to predeterminated position accurately place calibration target, it is cumbersome and
It is error-prone.
Summary of the invention
The embodiment of the present invention provides a kind of calibration target setting method, device and parking assistance system, to solve existing skill
User needs the geometric center of first precise measurement vehicle in art, and the defect of calibration target is accurately placed according still further to predeterminated position.
The embodiment of the present invention provides a kind of calibration target setting method, comprising: by being located at the positioning device above calibrating table,
Determine vehicle actual position coordinate to be calibrated；
The vehicle actual position coordinate and vehicle standard position coordinates are subjected to projective transformation, obtain projection matrix；
According to the projection matrix and the normal place coordinate of calibration target, the actual position coordinate of the calibration target is obtained；
It is corresponding that the calibration target projected into the actual position coordinate according to the actual position coordinate of the calibration target
Position；
Wherein, when the normal place coordinate of the vehicle to be calibrated includes that the vehicle is located at immediately below the positioning device
Position coordinates, the normal place coordinate of the calibration target includes that the vehicle is arranged when being located at immediately below the positioning device
The projected position coordinate of the calibration target.
The embodiment of the present invention provides a kind of calibration target setting device, comprising:
Locating module, for determining vehicle actual position coordinate to be calibrated above calibrating table；
Processing module is obtained for the vehicle actual position coordinate and vehicle standard position coordinates to be carried out projective transformation
To projection matrix, and according to the projection matrix and the normal place coordinate of calibration target, obtain the actual bit of the calibration target
Set coordinate；
Projection module, for the calibration target to be projected to physical location according to the actual position coordinate；
Wherein, when the normal place coordinate of the vehicle to be calibrated includes that the vehicle is located at immediately below the positioning device
Position coordinates, the normal place coordinate of the calibration target includes that the vehicle is arranged when being located at immediately below the positioning device
The projected position coordinate of the calibration target.
The embodiment of the present invention provides a kind of parking assistance system, and device is arranged including above-mentioned calibration target.
Calibration target setting method, device and parking assistance system provided in an embodiment of the present invention, by that will measure wait mark
The normal place coordinate of the actual position coordinate and preset vehicle to be calibrated of determining vehicle carries out projective transformation, obtains vehicle to be calibrated
Actual position coordinate and the projection matrix of normal place coordinate of vehicle to be calibrated will be preset according to the projection matrix
Calibration target normal place coordinate be converted into calibration target actual position coordinate, the calibration target is projected into the actual bit
The corresponding position of coordinate is set, this method is not necessarily to the geometric center of artificial precise measurement vehicle and accurately places institute according to predeterminated position
Calibration target is stated, it is simple and convenient and not easy to make mistakes.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the calibration target setting method flow chart that the embodiment of the present invention 1 provides；
Fig. 2 is the top view of calibrating table provided in an embodiment of the present invention and vehicle to be calibrated；
Fig. 3 is the schematic side view of laser radar provided in an embodiment of the present invention and vehicle；
Fig. 4 is the method schematic diagram of determination provided in an embodiment of the present invention vehicle actual position coordinate to be measured；
Fig. 5 is the positional diagram of calibration target and vehicle to be calibrated provided in an embodiment of the present invention；
Fig. 6 is the calibration target setting method flow chart that the embodiment of the present invention 2 provides；
A kind of Fig. 7 calibration target setting apparatus structure schematic diagram provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Embodiment 1
Referring to Fig. 1, the embodiment of the invention provides a kind of calibration target setting methods, comprising:
Step 101: by being located at the positioning device above calibrating table, determining vehicle actual position coordinate to be calibrated；
Specifically, Fig. 2 is the top view of calibrating table and vehicle to be calibrated, as shown in Fig. 2, calibrating table is a levelling bench,
Positioning device and projection arrangement, probe and the projection arrangement of the positioning device are installed right above the calibrating table
Probe both faces towards the calibrating table and vertical with the calibrating table；The positioning device includes the ranging localizations device such as radar, institute
Stating projection arrangement includes the device that projector etc. is able to carry out projection transform, and the present invention is without limitation；
Illustrate how the embodiment of the present invention determines the actual position coordinate of vehicle to be calibrated by taking laser radar as an example below:
Fig. 3 is the schematic side view of laser radar and vehicle, referring also to Fig. 2 and Fig. 3, and laser radar C is apart from the mark
The height for determining platform is h, the range of the calibrating table can be determined according to the detection boundary of laser radar C, so that the calibrating table
In the investigative range of laser radar C, it is ensured that laser radar C can obtain the institute in the corresponding stereo scene of the calibrating table
Distance and angle information a little；As illustrated in fig. 2, it is assumed that the width of the calibrating table is w, the corresponding three-dimensional field of the calibrating table
The height of scape is the setting height h of laser radar C, sets the top left co-ordinate of the calibrating table as (0,0), the calibrating table pair
The width for the stereo scene answered is a height of (w, h), and each coordinate mentioned below is opposite seat corresponding with the coordinate in the upper left corner
Mark；It can depth map according to the barrier (vehicle i.e. to be calibrated) that the height and laser radar C of laser radar C detects and angle
Degree information determines the position coordinates of the vehicle each point to be calibrated, and the position coordinates of each point are the vehicle to be calibrated
Actual position coordinate；The depth map is the corresponding each point of the vehicle to be calibrated that detects of laser radar C in the mark
The relative depth for determining the short transverse of the corresponding stereo scene of platform, by the way that the different relative depths is marked as different colours
Etc. modes form the depth map of the entire vehicle to be calibrated；
Specifically, the embodiment of the present invention determines the actual position coordinate of the vehicle to be calibrated by following methods:
Fig. 4 is the method schematic diagram that the embodiment of the present invention determines vehicle actual position coordinate to be measured, as shown in Figure 4:
Step 201: determining that vehicle to be calibrated is projected in the position on calibrating table by being located at the positioning device above calibrating table
Set figure；
Specifically, according to the distance map of the laser radar C corresponding stereo scene of the calibrating table obtained, available institute
The depth map for stating vehicle to be calibrated can detecte vehicle projection by the distance mutation on the distance map or the depth map
To the location graphic of the calibrating table, the location graphic is, for example, rectangle shown in Fig. 2；Wherein laser radar C is detected
In the corresponding stereo scene of the calibrating table each point the calibrating table short transverse relative distance, by by the different phases
It adjusts the distance and is marked as the distance map that the modes such as different colours form the entire stereo scene, the distance map of the stereo scene can
To embody the mutation of distance by the difference of color；
Step 202: choosing four angle points of four vertex as vehicle to be calibrated of the location graphic；
As shown in Fig. 2, choosing four angle points of four vertex as vehicle to be calibrated of the rectangle；
Step 203: the actual position coordinate of four angle points is determined by the positioning device.
As shown in Fig. 2, by laser radar C measure four angle points actual position coordinate be respectively (x0, y0),
(x1, y1), (x2, y2) and (x3, y3)；Above-mentioned coordinate is only used to mark the actual position coordinate of four angle points, and does not have to
In restriction four angle points.
It is used as by four angle points that the selection vehicle to be calibrated is projected in the location graphic on calibrating table described wait mark
The representative position coordinates for determining vehicle, can either determine the physical location of vehicle to be calibrated, in turn avoid determining the vehicle to be calibrated
The huge DATA REASONING of the actual position coordinate bring of each point and statistics calculate work.
Step 102: the vehicle actual position coordinate and vehicle standard position coordinates being subjected to projective transformation, projected
Matrix；The normal place coordinate of the vehicle includes the position coordinates when vehicle is located at immediately below the positioning device；
Since vehicle to be calibrated may not be located at laser radar C directly vertically below, as shown in figure 3, due to left and right
The detection angle of the corresponding laser radar C of two angle points is different, and the angle point on the left side correspond to a1 angle, the angle point correspondence on the right
A2 angle causes the corresponding height of the angle point of the left and right two also different, and the corresponding height of the angle point on the left side is h1, described
The corresponding height of the angle point on the right is h2, therefore causes four angle points practical not in the same plane, four angle points
Projecting figure on the calibrating table is not a standard rectangular；The normal place coordinate of the vehicle to be calibrated includes institute
State position coordinates when vehicle to be calibrated is located at immediately below the positioning device, still by taking four angle points as an example, it is described to
The normal place coordinate of calibration vehicle includes four angle points when the vehicle to be calibrated is located at immediately below the positioning device
Position coordinates, labeled as (x0 ', y0 '), (x1 ', y1 '), (x2 ', y2 ') and (x3 ', y3 '), i.e., the standard of described four angle points
Position coordinates；Referring to following formula 1-1, by the normal place coordinate of the actual position coordinate of described four each angle points and four angle points
Projective transformation is carried out, projection matrix M is obtained；The projective transformation may include analytic trnasformation method, numerical inversion method and numerical solution
The transform methods such as converter technique are analysed, without limitation, the M is only used to mark the projection matrix present invention, is not used to limit institute
Projection matrix is stated, when the vehicle is located just at immediately below the positioning device, M 1；
Formula 1-1:
Step 103: according to the projection matrix and the normal place coordinate of calibration target, obtaining the actual bit of the calibration target
Set coordinate；The normal place coordinate of the calibration target include be arranged when the vehicle is located at immediately below the positioning device it is described
Demarcate the projected position coordinate of target；
The normal place coordinate of the calibration target includes the institute being arranged when the vehicle is located at immediately below the positioning device
State the projected position coordinate of calibration target；The normal place coordinate of the calibration target is pre-stored in the projection arrangement, the calibration
The specific setting position of target can voluntarily adjust according to actual needs, and the present invention is without limitation；Fig. 5 is calibration target and vehicle to be calibrated
Positional diagram, as shown in figure 5, by taking one calibration target of each correspondence of four angle points as an example, the calibration target
Setting principle may include two calibration targets positioned at vehicle front to be calibrated, and being equidistant for vehicle body, positioned at wait mark
Two calibration targets for determining rear of vehicle are also equal at a distance from vehicle body, and the corresponding position of the two neighboring calibration target
Line be parallel to a side of the vehicle body；According to formula 1-1, the normal place coordinate projection of the calibration target is converted into institute
State the actual position coordinate of calibration target；
Step 104: the calibration target being projected to by the physical location according to the actual position coordinate of the calibration target and is sat
Mark corresponding position；
Referring to Fig. 5, when the vehicle is located just at immediately below the positioning device, projection matrix M is 1, according to described
Four calibration targets are projected to the surrounding of the vehicle by normal place coordinate；When the vehicle is not located at the positioning device
Underface when, according to formula 1-1 to it is described calibration target normal place coordinate carry out projection transform, obtain it is described calibration target reality
Border position coordinates project the calibration target according to the specified position of the actual position coordinate of the calibration target.
Calibration target setting method provided in an embodiment of the present invention, by by the actual position coordinate of the vehicle to be calibrated measured
Carry out projective transformation with the normal place coordinate of preset vehicle to be calibrated, obtain the actual position coordinate of vehicle to be calibrated with to
The projection matrix for demarcating the normal place coordinate of vehicle sits the normal place of preset calibration target according to the projection matrix
Mark is converted into the actual position coordinate of calibration target, and the calibration target is projected to the corresponding position of the actual position coordinate, should
Method without artificial precise measurement vehicle geometric center and the calibration target is accurately placed according to predeterminated position, it is easy to operate just
It is prompt and not easy to make mistakes.
Embodiment 2
Referring to Fig. 6, referring to Fig. 1, the embodiment of the invention provides a kind of calibration target setting methods, comprising:
Step 301: by being located at the positioning device above calibrating table, determining vehicle actual position coordinate to be calibrated；
Specifically, Fig. 2 is the top view of calibrating table and vehicle to be calibrated, as shown in Fig. 2, calibrating table is a levelling bench,
Positioning device and projection arrangement, probe and the projection arrangement of the positioning device are installed right above the calibrating table
Probe both faces towards the calibrating table and vertical with the calibrating table；The positioning device includes the ranging localizations device such as radar, institute
Stating projection arrangement includes the device that projector etc. is able to carry out projection transform, and the present invention is without limitation；
Illustrate how the embodiment of the present invention determines the actual position coordinate of vehicle to be calibrated by taking laser radar as an example below:
Fig. 3 is the schematic side view of laser radar and vehicle, referring also to Fig. 2 and Fig. 3, and laser radar C is apart from the mark
The height for determining platform is h, the range of the calibrating table can be determined according to the detection boundary of laser radar C, so that the calibrating table
In the investigative range of laser radar C, it is ensured that laser radar C can obtain the institute in the corresponding stereo scene of the calibrating table
Distance and angle information a little；As illustrated in fig. 2, it is assumed that the width of the calibrating table is w, the corresponding three-dimensional field of the calibrating table
The height of scape is the setting height h of laser radar C, sets the top left co-ordinate of the calibrating table as (0,0), the calibrating table pair
The width for the stereo scene answered is a height of (w, h), and each coordinate mentioned below is opposite seat corresponding with the coordinate in the upper left corner
Mark；It can depth map according to the barrier (vehicle i.e. to be calibrated) that the height and laser radar C of laser radar C detects and angle
Degree information determines the position coordinates of the vehicle each point to be calibrated, and the position coordinates of each point are the vehicle to be calibrated
Actual position coordinate；Laser radar C detects the corresponding each point of the vehicle to be calibrated in the corresponding three-dimensional field of the calibrating table
The relative depth of the short transverse of scape forms entire institute by the way that the different relative depths is marked as the modes such as different colours
State the depth map of vehicle to be calibrated；
Specifically, the embodiment of the present invention determines the actual position coordinate of the vehicle to be calibrated by following methods:
Fig. 4 is the method schematic diagram that the embodiment of the present invention determines vehicle actual position coordinate to be measured, as shown in Figure 4:
Step 201: determining that vehicle to be calibrated is projected in the position on calibrating table by being located at the positioning device above calibrating table
Set figure；
Specifically, according to the distance map of the laser radar C corresponding stereo scene of the calibrating table obtained, available institute
The depth map for stating vehicle to be calibrated can detecte vehicle projection by the distance mutation on the distance map or the depth map
To the location graphic of the calibrating table, the location graphic is, for example, rectangle shown in Fig. 2；Laser radar C detects described
In the corresponding stereo scene of calibrating table each point the calibrating table short transverse relative distance, by by it is different it is described it is opposite away from
From the distance map for being marked as the modes such as different colours and being formed the entire stereo scene, the distance map of the stereo scene can lead to
The difference for crossing color embodies the mutation of distance；
Step 202: choosing four angle points of four vertex as vehicle to be calibrated of the location graphic；
As shown in Fig. 2, choosing four angle points of four vertex as vehicle to be calibrated of the rectangle；
Step 203: the actual position coordinate of four angle points is determined by the positioning device.
As shown in Fig. 2, by laser radar C measure four angle points actual position coordinate be respectively (x0, y0),
(x1, y1), (x2, y2) and (x3, y3)；Above-mentioned coordinate is only used to mark the actual position coordinate of four angle points, and does not have to
In restriction four angle points.
It is used as by four angle points that the selection vehicle to be calibrated is projected in the location graphic on calibrating table described wait mark
The representative position coordinates for determining vehicle, can either determine the physical location of vehicle to be calibrated, in turn avoid determining the vehicle to be calibrated
The huge DATA REASONING of the actual position coordinate bring of each point and statistics calculate work.
Step 302: vehicle standard position coordinates include vehicle standard position coordinates mark, according to the vehicle standard position
Coordinates logo determines vehicle standard position coordinates；
Specifically, the vehicle standard position coordinates mark may include the mark such as model, volume of vehicle to be calibrated, with
Just the normal place coordinate of the different vehicles is determined according to different vehicle normal place coordinates logo；It can be manual by user
The mode of setting obtains the vehicle standard position coordinates mark, can also be by modes such as the design parameters of measurement vehicle, directly
It obtains and vehicle standard position coordinates corresponding with the design parameter is taken to identify；
For convenient for obtaining the corresponding vehicle standard position coordinates of the vehicle to be calibrated, step 302 can also include: to deposit
The mapping for establishing and storing vehicle to be calibrated, vehicle standard position coordinates mark and vehicle standard position coordinates in storage module is closed
System；Table 1 is the mapping table of vehicle to be calibrated, vehicle standard position coordinates mark and vehicle standard position coordinates, referring to table
1, by taking vehicle identifies as an example, when the vehicle of vehicle to be calibrated is A, corresponding vehicle standard position coordinates are identified as A1, vehicle
Normal place coordinate is A2.
The mapping relations of the vehicle to be calibrated of table 1, vehicle standard position coordinates mark and vehicle standard position coordinates:
| Vehicle mark | Vehicle standard position coordinates mark | Vehicle standard position coordinates |
| A | A1 | A2 |
| B | B1 | B2 |
Step 303: the vehicle actual position coordinate and the vehicle standard position coordinates being subjected to projective transformation, obtained
Projection matrix；
Since vehicle to be calibrated may not be located at laser radar C directly vertically below, as shown in figure 3, due to left and right
The detection angle of the corresponding laser radar C of two angle points is different, and the angle point on the left side correspond to a1 angle, the angle point correspondence on the right
A2 angle causes the corresponding height of the angle point of the left and right two also different, and the corresponding height of the angle point on the left side is h1, described
The corresponding height of the angle point on the right is h2, therefore causes four angle points practical not in the same plane, four angle points
Projecting figure on the calibrating table is not a standard rectangular；The normal place coordinate of the vehicle to be calibrated includes institute
State position coordinates when vehicle to be calibrated is located at immediately below the positioning device, still by taking four angle points as an example, it is described to
The normal place coordinate of calibration vehicle includes four angle points when the vehicle to be calibrated is located at immediately below the positioning device
Position coordinates, labeled as (x0 ', y0 '), (x1 ', y1 '), (x2 ', y2 ') and (x3 ', y3 '), i.e., the standard of described four angle points
Position coordinates；Referring to following formula 1-1, by the normal place coordinate of the actual position coordinate of described four each angle points and four angle points
Projective transformation is carried out, projection matrix M is obtained；The projective transformation may include analytic trnasformation method, numerical inversion method and numerical solution
The transform methods such as converter technique are analysed, without limitation, the M is only used to mark the projection matrix present invention, is not used to limit institute
Projection matrix is stated, when the vehicle is located just at immediately below the positioning device, M 1；
Step 304: the normal place coordinate for demarcating target includes the normal place coordinates logo for demarcating target, according to the calibration
The normal place coordinates logo of target determines the normal place coordinate of calibration target；
Specifically, the normal place coordinates logo of the calibration target may include the mark such as the model of vehicle to be calibrated, volume
Know, to determine the normal place coordinate of the different calibration targets according to the normal place coordinates logo of different calibration targets；It can be with
The normal place coordinates logo that the calibration target is obtained by way of user's manual setting, can also pass through the tool of measurement vehicle
The modes such as body parameter directly acquire the normal place coordinates logo of the calibration target corresponding with the design parameter；
For the normal place coordinate convenient for obtaining the corresponding calibration target of the calibration target, step 304 can also include: to deposit
It is established in storage module and stores vehicle, the normal place coordinates logo of the calibration target and the normal bit of the calibration target to be calibrated
Set the mapping relations between coordinate；Table 2 is the normal place coordinates logo and the calibration target of vehicle to be calibrated, the calibration target
Normal place coordinate between mapping table, referring to table 2, by taking vehicle identifies as an example, when vehicle to be calibrated vehicle be A
When, it is a1 that the level of corresponding calibration target, which sets coordinates logo, and the normal place coordinate for demarcating target is a2.
The normal place coordinate of the vehicle to be calibrated of table 2, the normal place coordinates logo of the calibration target and the calibration target
Between mapping relations:
| Vehicle mark | Demarcate target normal place coordinates logo | Demarcate the normal place coordinate of target |
| A | a1 | a2 |
| B | b1 | b2 |
Step 305: according to the projection matrix and the normal place coordinate of the calibration target, obtaining the reality of the calibration target
Border position coordinates；
The normal place coordinate of the calibration target includes the institute being arranged when the vehicle is located at immediately below the positioning device
State the projected position coordinate of calibration target；The normal place coordinate of the calibration target is pre-stored in the projection arrangement, the calibration
The specific setting position of target can voluntarily adjust according to actual needs, and the present invention is without limitation；Fig. 5 is calibration target and vehicle to be calibrated
Positional diagram, as shown in figure 5, by taking one calibration target of each correspondence of four angle points as an example, the calibration target
Setting principle may include two calibration targets positioned at vehicle front to be calibrated, and being equidistant for vehicle body, positioned at wait mark
Two calibration targets for determining rear of vehicle are also equal at a distance from vehicle body, and the corresponding position of the two neighboring calibration target
Line be parallel to a side of the vehicle body；According to formula 1-1, the normal place coordinate projection of the calibration target is converted into institute
State the actual position coordinate of calibration target；
Step 306: the calibration target being projected to by the physical location according to the actual position coordinate of the calibration target and is sat
Mark corresponding position；
Referring to Fig. 5, when the vehicle is located just at immediately below the positioning device, projection matrix M is 1, according to described
Four calibration targets are projected to the surrounding of the vehicle by normal place coordinate；When the vehicle is not located at the positioning device
Underface when, according to formula 1-1 to it is described calibration target normal place coordinate carry out projection transform, obtain it is described calibration target reality
Border position coordinates project the calibration target according to the specified position of the actual position coordinate of the calibration target.
Calibration target setting method provided in an embodiment of the present invention, by by the actual position coordinate of the vehicle to be calibrated measured
Carry out projective transformation with the normal place coordinate of preset vehicle to be calibrated, obtain the actual position coordinate of vehicle to be calibrated with to
The projection matrix for demarcating the normal place coordinate of vehicle sits the normal place of preset calibration target according to the projection matrix
Mark is converted into the actual position coordinate of calibration target, and the calibration target is projected to the corresponding position of the actual position coordinate, should
Method without artificial precise measurement vehicle geometric center and the calibration target is accurately placed according to predeterminated position, it is easy to operate just
It is prompt and not easy to make mistakes；Meanwhile also by the normal place coordinates logo of setting up vehicle and demarcating the normal place coordinates logo of target,
It is suitable for the normal place coordinate and the calibration target of the vehicle of the vehicle to be calibrated according to vehicle to be calibrated selection
Normal place coordinate further improves setting precision；Also by establishing and storing vehicle to be calibrated, vehicle standard position coordinates
The normal place coordinates logo of the mapping relations and vehicle to be calibrated of mark and vehicle standard position coordinates, the calibration target
And the mapping relations between the normal place coordinate of the calibration target, facilitate and obtains the corresponding vehicle standard of the vehicle to be calibrated
Position coordinates and the normal place coordinate for demarcating target.
Embodiment 3
Referring to Fig. 7, the embodiment of the invention provides a kind of calibration targets, and device is arranged, comprising:
Locating module 10, for determining vehicle actual position coordinate to be calibrated above calibrating table；
Processing module 20, for the vehicle actual position coordinate and vehicle standard position coordinates to be carried out projective transformation,
Projection matrix is obtained, and according to the projection matrix and the normal place coordinate of calibration target, obtains the reality of the calibration target
Position coordinates；
Projection module 30, for the calibration target to be projected to physical location according to the actual position coordinate；
Wherein, when the normal place coordinate of the vehicle to be calibrated includes that the vehicle is located at immediately below the positioning device
Position coordinates, the normal place coordinate of the calibration target includes that the vehicle is arranged when being located at immediately below the positioning device
The projected position coordinate of the calibration target.
Specifically, the locating module chooses the position for determining that vehicle is projected in the location graphic on calibrating table
Four angle points of four vertex of figure as vehicle to be calibrated, determine the actual position coordinate of four angle points.
Specifically, the vehicle standard position coordinates include vehicle standard position coordinates mark, and the processing module is also used
Vehicle standard position coordinates are determined in identifying according to the vehicle standard position coordinates.
Further, device is arranged in the calibration target further include:
Memory module 40, for establishing and storing vehicle, vehicle standard position coordinates mark and vehicle standard position to be calibrated
Set the mapping relations of coordinate.
Specifically, the normal place coordinate of the calibration target includes the normal place coordinates logo for demarcating target, the processing
Module is also used to determine the normal place coordinate of calibration target according to the normal place coordinates logo of the calibration target.
Further, memory module 40 is also used to establish and store vehicle to be calibrated, the normal place of the calibration target is sat
Mapping relations between the normal place coordinate of mark mark and the calibration target.
Device is arranged in calibration target provided in an embodiment of the present invention, by processing module 20 by locating module 10 measure wait mark
The normal place coordinate of the actual position coordinate and preset vehicle to be calibrated of determining vehicle carries out projective transformation, obtains vehicle to be calibrated
Actual position coordinate and the projection matrix of normal place coordinate of vehicle to be calibrated will be pre- and according to the projection matrix
If the normal place coordinate of calibration target be converted into the actual position coordinate of calibration target, then by projection module 30 by the mark
Targeting projects to the corresponding position of the actual position coordinate, and this method is not necessarily to the geometric center of artificial precise measurement vehicle and presses
The calibration target is accurately placed according to predeterminated position, it is simple and convenient and not easy to make mistakes；Standard also by setting up vehicle simultaneously
The normal place coordinates logo of position coordinates mark and calibration target is suitable for the vehicle to be calibrated according to vehicle to be calibrated selection
The vehicle normal place coordinate and it is described calibration target normal place coordinate, further improve setting precision；It is also logical
Cross the mapping that vehicle to be calibrated, vehicle standard position coordinates mark and vehicle standard position coordinates were established and stored to memory module 40
The normal place coordinate of relationship and vehicle to be calibrated, the normal place coordinates logo of the calibration target and the calibration target it
Between mapping relations, facilitate to obtain the corresponding vehicle standard position coordinates of the vehicle to be calibrated and demarcate the normal place of target and sit
Mark.
Embodiment 4
The embodiment of the invention provides a kind of parking assistance systems, including calibration target described in embodiment 3, and device is arranged.
The parking assistance system leads to after the calibration target setting device provided by embodiment 3 sets the calibration target
Cross be arranged in vehicle body surrounding camera acquire the vehicle periphery contain it is described calibration target image, described image is sent to
Image processing unit, described image processing unit detect the target surface image of the calibration target, and by the target surface image according to pre-
If program is adjusted to standard picture, and is exported by the calibrating parameters of the target surface Image Adjusting to standard picture, with the calibration
Camera described in parameter calibration.The embodiment of the invention provides a kind of parking assistance systems, by using the calibration in embodiment 3
Device is arranged in target, the beneficial effect with embodiment 3.The apparatus embodiments described above are merely exemplary, wherein institute
Stating unit as illustrated by the separation member may or may not be physically separated, and component shown as a unit can
To be or may not be physical unit, it can it is in one place, or may be distributed over multiple network units.
Some or all of the modules therein can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.This field is general
Logical technical staff is without paying creative labor, it can understands and implements.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (13)
1. a kind of calibration target setting method characterized by comprising
By being located at the positioning device above calibrating table, vehicle actual position coordinate to be calibrated is determined；
The vehicle actual position coordinate and vehicle standard position coordinates are subjected to projective transformation, obtain projection matrix；
According to the projection matrix and the normal place coordinate of calibration target, the actual position coordinate of the calibration target is obtained；
The calibration target is projected into the corresponding position of the actual position coordinate according to the actual position coordinate of the calibration target；
Wherein, the normal place coordinate of the vehicle to be calibrated includes the position when vehicle is located at immediately below the positioning device
Set coordinate, the normal place coordinate of the calibration target include be arranged when the vehicle is located at immediately below the positioning device it is described
Demarcate the projected position coordinate of target.
2. the method according to claim 1, wherein it is described by be located at calibrating table above positioning device, really
The actual position coordinate of fixed vehicle to be calibrated, comprising:
Determine that vehicle to be calibrated is projected in the location graphic on calibrating table by being located at the positioning device above calibrating table；
Choose four angle points of four vertex as vehicle to be calibrated of the location graphic；
The actual position coordinate of four angle points is determined by the positioning device.
3. method according to claim 1 or 2, which is characterized in that the vehicle standard position coordinates include vehicle standard
Position coordinates mark, the method also includes:
It is identified according to the vehicle standard position coordinates and determines vehicle standard position coordinates.
4. according to the method described in claim 3, it is characterized by further comprising:
Establish and store the mapping relations of vehicle to be calibrated, vehicle standard position coordinates mark and vehicle standard position coordinates.
5. method according to claim 1 or 2, which is characterized in that the normal place coordinate of the calibration target includes calibration
The normal place coordinates logo of target, the method also includes:
The normal place coordinate of calibration target is determined according to the normal place coordinates logo of the calibration target.
6. according to the method described in claim 3, it is characterized by further comprising:
It establishes and stores vehicle, the normal place coordinates logo of the calibration target and the normal place of the calibration target to be calibrated and sit
Mapping relations between mark.
7. device is arranged in a kind of calibration target characterized by comprising
Locating module, for determining vehicle actual position coordinate to be calibrated above calibrating table；
Processing module is thrown for the vehicle actual position coordinate and vehicle standard position coordinates to be carried out projective transformation
Shadow matrix, and according to the projection matrix and the normal place coordinate of calibration target, the physical location for obtaining the calibration target is sat
Mark；
Projection module, for the calibration target to be projected to physical location according to the actual position coordinate；
Wherein, the normal place coordinate of the vehicle to be calibrated includes the position when vehicle is located at immediately below the locating module
Set coordinate, the normal place coordinate of the calibration target include be arranged when the vehicle is located at immediately below the locating module it is described
Demarcate the projected position coordinate of target.
8. device according to claim 7, it is characterised in that further include:
The locating module, for determining that vehicle is projected in the location graphic on calibrating table, four for choosing the location graphic
Four angle points of the vertex as vehicle to be calibrated, determine the actual position coordinate of four angle points.
9. device according to claim 7 or 8, which is characterized in that the vehicle standard position coordinates include vehicle standard
Position coordinates mark, further includes:
The processing module is also used to identify determining vehicle standard position coordinates according to the vehicle standard position coordinates.
10. device according to claim 9, which is characterized in that further include:
Memory module, for establishing and storing vehicle, vehicle standard position coordinates mark and vehicle standard position coordinates to be calibrated
Mapping relations.
11. device according to claim 7 or 8, which is characterized in that the normal place coordinate of the calibration target includes calibration
The normal place coordinates logo of target, further includes:
The processing module is also used to determine that the normal place of calibration target is sat according to the normal place coordinates logo of the calibration target
Mark.
12. device according to claim 10, which is characterized in that further include:
The memory module is also used to establish and store vehicle, the normal place coordinates logo for demarcating target and institute to be calibrated
State the mapping relations between the normal place coordinate of calibration target.
13. a kind of parking assistance system, which is characterized in that including the described in any item calibration target setting dresses of claim 7-12
It sets.
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| CN107886039A (en) * | 2016-09-30 | 2018-04-06 | 法乐第(北京)网络科技有限公司 | Parking system panoramic view generation method and device |
| CN106851201A (en) * | 2017-02-09 | 2017-06-13 | 苏州慧景光电科技有限公司 | Vehicle-mounted panoramic image system and its scaling method based on fibre optic image transmission technology |
| CN109509231A (en) * | 2017-09-14 | 2019-03-22 | 宝沃汽车（中国）有限公司 | Panorama system calibration facility |
| CN109544460A (en) * | 2017-09-22 | 2019-03-29 | 宝沃汽车（中国）有限公司 | Image correction method, device and vehicle |
| US10482626B2 (en) * | 2018-01-08 | 2019-11-19 | Mediatek Inc. | Around view monitoring systems for vehicle and calibration methods for calibrating image capture devices of an around view monitoring system using the same |
| CN108133497B (en) * | 2018-01-12 | 2023-11-07 | 力帆实业(集团)股份有限公司 | Calibration field and calibration method of 360-degree panoramic system |
| CN113513988B (en) * | 2021-07-12 | 2023-03-31 | 广州小鹏自动驾驶科技有限公司 | Laser radar target detection method and device, vehicle and storage medium |
| CN113984342A (en) * | 2021-11-01 | 2022-01-28 | 南斗六星系统集成有限公司 | Automobile all-round looking system calibration device and method suitable for different wheelbase lengths |
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