CN106296642A - The method that vehicle-mounted viewing system photographic head inside and outside parameter is disposably demarcated - Google Patents
The method that vehicle-mounted viewing system photographic head inside and outside parameter is disposably demarcated Download PDFInfo
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- CN106296642A CN106296642A CN201510315232.0A CN201510315232A CN106296642A CN 106296642 A CN106296642 A CN 106296642A CN 201510315232 A CN201510315232 A CN 201510315232A CN 106296642 A CN106296642 A CN 106296642A
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Abstract
The present invention relates to a kind of method that vehicle-mounted viewing system photographic head inside and outside parameter is demarcated.Comprise the following steps: the vehicle after viewing system hardware has been assembled by a. is parked in desired position in the middle of network correction figure；B. the image of system all photographic head shooting is obtained；C. the rectification figure obtained photographic head carries out grid identification, carries out curve fitting, calculates the node coordinate of grid；D. hint obliquely at for desired value with netting twine known XY coordinate corresponding on standard correction figure, obtain the standard correction grid line each point XY coordinate in camera image respective pixel；E. using the data obtained by step d, progressively or column by column carries out curve fitting and coordinate points is hinted obliquely at, and is formed and hints obliquely at table, completes to demarcate；F., after conversion image coordinate is spelled, final top view is obtained.Processing procedure of the present invention is simple, processing accuracy is high, equipment cost and production cost is low, be suitable for assembly line work.
Description
Technical field
The present invention relates to image recognition and the processing method of vehicle-mounted camera, be specifically related to a kind of method that vehicle-mounted viewing system photographic head inside and outside parameter is demarcated.
Background technology
Vehicle-mounted viewing system is to be made up of the multiple stage wide angle cameras being assemblied on car body all around, and every video camera covers certain interval, and image generates top view through viewpoint change, and carries out splicing and obtain vehicle-mounted looking around aerial view.Image in order to enable the above-mentioned multiple stage wide angle cameras being assemblied on car body to be absorbed generates, through viewpoint change, the seamless spliced synthesis not distorted and looks down panoramic view, and the inner parameter of the above-mentioned wide angle cameras being assemblied on car body and external parameter must be by Accurate Calibrations.The inner parameter of video camera the most accurately directly affects the distortion correction effect of composite diagram.The external parameter of video camera the most accurately can affect whether each camera image junction in composite diagram misplaces, and also can affect that to look down panoramic view in final composite diagram the most correct with the relative position relation of car body.How to be designed to a kind of correction efficiency scaling method high, easy-operating, become the important directions of vehicle-mounted viewing system research.
Summary of the invention
The technical problem to be solved is to provide that a kind of processing procedure is simple, processing accuracy is high, equipment cost and production cost is low, be suitable for vehicle-mounted viewing system camera internal reference number and the method for external parameters calibration of assembly line work.
The method that the vehicle-mounted viewing system photographic head inside and outside parameter of the present invention is demarcated comprises the following steps:
A. the vehicle after having been assembled by viewing system hardware is parked in desired position in the middle of network correction figure, described network correction figure be unit size, vertical and horizontal unit number known to standard drawing；
B. the image of system all photographic head shooting is obtained, before and after described photographic head includes being positioned at vehicle and at least four of both sides, and that the image of each photographic head at least includes in network correction figure in four angles；
C. the rectification figure obtained photographic head carries out grid identification, uses known mathematical method to carry out curve fitting netting twine, calculates the node coordinate of grid；
D. to the curve after above-mentioned matching and the parameter of node, on standard correction figure, corresponding netting twine known XY coordinate is hinted obliquely at for desired value, obtains the standard correction grid line each point XY coordinate in camera image respective pixel；
E., by the data obtained by step d, in units of showing pixel, progressively or column by column carries out curve fitting and coordinate points is hinted obliquely at, formed top view the camera image location of pixels corresponding to each pixel hint obliquely at table, complete to demarcate；
F. with the summit of each figure as reference point, according to the position of its photographic head, conversion image coordinate, to displaing coordinate, after intersection is spelled, obtains final top view；
G. outside dimensions and the shape of car body is calculated according to the inside casing of image after split；
H. calculate relative distance according to the coordinate points of image after split, be used for filling warning line；
I. backsight image shares tailstock image, calculates backing distance by coordinate association from the data of overhead view image.
The present invention is the distortion (intrinsic parameter) of photographic head, visual angle deformation (outer parameter), with spatial view conversion as the deformation mixed and conversion, disposably correct by the standard network lattice calibration maps of a known units lattice size and quantity and hint obliquely at, directly obtaining the top view with grid calibration maps as standard.Overcome the limitation of existing correction algorithm, have the advantage that
1, eliminate camera internal reference number to demarcate, thus have: save camera internal reference number and demarcate operation and intrinsic parameter calibration facility, saved production and equipment cost；Need not preset camera position and vehicle dimensional parameters before system assembling, facilitate polytypic, jumbo vehicle assembly line；System assembling need not to photographic head and the pairing of display control unit, it is to avoid because of doing over again that pairing mistake causes, reduce manpower and time cost；Photographic head interchangeability is good, convenient maintenance；
2, using standard network lattice calibration maps, demarcate by the method for grid lines curve matching, thus have: calibration information amount is big, the SOL that photographic head obtains image is insensitive to final stated accuracy；Having the demarcation of dimensional standard, can calculate relative distance easily and accurately according to the coordinate points of image after demarcating, it is thus possible to obtain the warning line that accuracy to size is the highest, the precision of size can reach the picture size that mono-pixel of CCD is characterized；If backsight image (reverse image) shares tailstock image, regardless of whether backsight image is carried out further distortion correction, backing distance can be accurately calculated from the data of overhead view image by coordinate association；Time required for demarcation is the time obtaining uncalibrated image, and demarcating computing can be carried out with off-line, is suitable for quick assembly line work；The photographic head displacement caused such as touch in use slightly wiping due to vehicle, have only to differentiate the mark objects information that adjacent image overlay region is randomly derived, nominal data is carried out simple linear transformation correct in real time, it is not necessary to special demarcation mark objects or image.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that in embodiment of the present invention step a, vehicle is parked in the middle of network correction figure；
Fig. 2 is the typical image that in embodiment of the present invention step b, left photographic head obtains；
Fig. 3 is the typical image that in embodiment of the present invention step b, tail photographic head obtains；
Fig. 4 is the result images after the typical image that left photographic head is obtained by embodiment of the present invention step c processes；
Fig. 5 is the result images after the typical image that tail photographic head is obtained by embodiment of the present invention step c processes；
Fig. 6 is the result images after Fig. 4 is processed by embodiment of the present invention step e；
Fig. 7 is the result images after Fig. 5 is processed by embodiment of the present invention step e；
Fig. 8 is the final top view that embodiment of the present invention step f obtains.
Detailed description of the invention
The embodiment of the present invention is that the viewing system to four photographic head configurations carries out inside and outside parameter demarcation, and its step is as follows:
A. the vehicle after viewing system hardware has assembled is parked in desired position in the middle of network correction figure, as shown in Figure 1.Network correction figure is unified standard drawing, its unit size, and the unit number of vertical and horizontal is known.
B. obtaining the image of system all photographic head shooting, the quantity of photographic head is not limited by practical embodiments, as long as the image of each photographic head at least includes in network correction figure in four angles.The present embodiment viewing system uses four photographic head configurations, Fig. 2 and Fig. 3 is the typical image that in four photographic head configurations, left shooting head and tail photographic head obtains respectively.
C. the rectification figure obtained photographic head carries out grid identification, carries out curve fitting netting twine, calculates the node coordinate of grid.Fig. 4 and Fig. 5 is shown that Fig. 2 and Fig. 3 result after above-mentioned process.
D. to each figure parameter of curve after its each matching and node parameter, on standard correction figure, corresponding netting twine known XY coordinate is hinted obliquely at for desired value, obtains the standard correction grid line each point XY coordinate in camera image respective pixel.
E., by the data obtained by step 4, in units of showing pixel, progressively or column by column carries out curve fitting and coordinate points is hinted obliquely at, formed top view the camera image location of pixels corresponding to each pixel hint obliquely at table, complete to demarcate.Fig. 6 and Fig. 7 is the result of Fig. 4 and Fig. 5 respectively.
F. with the summit of each figure as reference point, according to the position of its photographic head, conversion image coordinate, to displaing coordinate, after intersection is spelled, obtains final top view.Fig. 8 is shown that the 4 width figures without brightness correction through Coordinate Conversion and the result of split.
G. outside dimensions and the shape of car body can be calculated according to the inside casing of image after split.
H. can calculate relative distance easily and accurately according to the coordinate points of image after split, be used for filling warning line.
I. backsight image (reverse image) can share tailstock image.Regardless of whether backsight image is carried out further distortion correction, backing distance can be accurately calculated from the data of overhead view image by coordinate association.
Claims (4)
1. the method that vehicle-mounted viewing system photographic head inside and outside parameter is demarcated, is characterized in that: comprise the following steps,
A. the vehicle after having been assembled by viewing system hardware is parked in desired position in the middle of network correction figure, described network correction figure be unit size, vertical and horizontal unit number known to standard drawing；
B. the image of system all photographic head shooting is obtained, before and after described photographic head includes being positioned at vehicle and at least four of both sides, and that the image of each photographic head at least includes in network correction figure in four angles；
C. the rectification figure obtained photographic head carries out grid identification, uses known mathematical method to carry out curve fitting netting twine, calculates the node coordinate of grid；
D. to the curve after above-mentioned matching and the parameter of node, on standard correction figure, corresponding netting twine known XY coordinate is hinted obliquely at for desired value, obtains the standard correction grid line each point XY coordinate in camera image respective pixel；
E., by the data obtained by step d, in units of showing pixel, progressively or column by column carries out curve fitting and coordinate points is hinted obliquely at, formed top view the camera image location of pixels corresponding to each pixel hint obliquely at table, complete to demarcate；
F. with the summit of each figure as reference point, according to the position of its photographic head, conversion image coordinate, to displaing coordinate, after intersection is spelled, obtains final top view.
The method that vehicle-mounted viewing system photographic head inside and outside parameter the most according to claim 1 is demarcated, is characterized in that: further comprising the steps of,
G. outside dimensions and the shape of car body is calculated according to the inside casing of image after split.
The method that vehicle-mounted viewing system photographic head inside and outside parameter the most according to claim 1 is demarcated, is characterized in that: further comprising the steps of,
H. calculate relative distance according to the coordinate points of image after split, be used for filling warning line.
The method that vehicle-mounted viewing system photographic head inside and outside parameter the most according to claim 1 is demarcated, is characterized in that: further comprising the steps of,
I. backsight image shares tailstock image, calculates backing distance by coordinate association from the data of overhead view image.
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| CN111783597A (en) * | 2020-06-24 | 2020-10-16 | 中国第一汽车股份有限公司 | Method and device for calibrating driving trajectory, computer equipment and storage medium |
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Application publication date: 20170104 |