CN106530354A - Image processing device, image correction method, system, calibration point search method and system - Google Patents
Image processing device, image correction method, system, calibration point search method and system Download PDFInfo
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- CN106530354A CN106530354A CN201610929244.7A CN201610929244A CN106530354A CN 106530354 A CN106530354 A CN 106530354A CN 201610929244 A CN201610929244 A CN 201610929244A CN 106530354 A CN106530354 A CN 106530354A
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Abstract
The present invention provides an image processing device, an image correction method, an image correction system, a calibration point search method and a calibration point search system. The calibration point search method includes the following steps that: after a first preset calibration point is found out in a first calibration region image, the image coordinates of the first preset calibration point are acquired; a corresponding conversion matrix is generated according to the pre-stored physical coordinates of the first preset calibration point; the conversion matrix is utilized to convert a second calibration region image, so that a second calibration region converted image can be generated; a second preset calibration point is searched in the second calibration region converted image; and the image coordinates of the second preset calibration point corresponding to the second calibration region image are obtained according to the conversion matrix. With the calibration point search method of the invention adopted, when the second calibration region image is small, and the deformation of the second calibration region image is large, and as a result, a calibration point cannot be distinguished, and the image coordinates of the calibration point corresponding to the second calibration region can be obtained accurately and quickly, and therefore, images captured by cameras can be corrected accurately and efficiently corrected, and smoother seamless stitching of the images captured by the cameras can be realized.
Description
Technical field
The present invention relates to image processing field, more particularly to a kind of image processing apparatus, image rectification, calibration point are searched
Method and system.
Background technology
In recent years, based on looking around the senior DAS (Driver Assistant System) (also cry and look around ADAS systems) of camera by increasingly
Many users are received.By the installation wide-angle camera all around in automobile, the image of vehicle body surrounding is gathered, through algorithm
Analyzing and processing, provides to driver and parks auxiliary, deviation warning, various senior including the vehicle detection of blind area including panorama
Auxiliary drives function, for the active safety for improving automobile has great importance.
Beginning to use before looking around ADAS systems, needing the corresponding relation set up between image coordinate and physical coordinates.
The foundation of the corresponding relation is completing by the demarcation of camera.As the calibration result of camera is installed with camera
Angle, it is highly closely related, so when actual production, the demarcation of four-way CCD camera must be installed to car in camera
Can just complete after with it.Although current calibration process is computer software automatic Calibration.But its calibration process may be subject to
Demarcate the outside causes such as space enrironment, light and cause the automatic Calibration of software inaccurate, it is necessary to be artificial repeatedly to intervene, adjust
It is whole, or failure is demarcated, cause production efficiency to decline.On the production line of actual depot, general producing line only one of which mark
Determine room, it means that the demarcation of the four-way CCD camera per chassis have to it is interior when very short be quickly accomplished, how
It is enough fast and accurately to complete to demarcate, and how the image that each camera shoots is carried out seamless spliced being those skilled in the art
The problem for needing to solve.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of image processing apparatus, image
Correction, calibration point lookup method and system, for solve fast and accurately can not to find in prior art image calibration point and
The seamless spliced problem of the image of each camera shooting can not be realized according to the calibration point for finding.
For achieving the above object and other related purposes, the present invention provides a kind of calibration point lookup method, for from shooting
Default calibration point is searched in the chessboard table images that head is obtained after shooting to gridiron pattern caliberating device, the gridiron pattern is demarcated
Device includes the first demarcation region and second demarcates region, corresponding, and the chessboard table images include and the described first mark
Determine region corresponding first to demarcate area image and demarcate area image with the described second demarcation region corresponding second, and,
The default calibration point includes the first preset calibrations point corresponding with the described first demarcation region, and demarcates with described second
The corresponding second preset calibrations point in region, methods described include：Described first is found in the described first demarcation area image
After preset calibrations point, the image coordinate of the first preset calibrations point is obtained；According to first preset calibrations for prestoring
The physical coordinates of point, generate corresponding transition matrix；The described second demarcation area image is carried out turning according to the transition matrix
Change, generate second and demarcate region transition diagram picture；Second preset calibrations are searched in the described second demarcation region transition diagram picture
Point；And the image seat that the second preset calibrations point correspondence described second demarcates area image is obtained according to the transition matrix
Mark.
In a specific embodiment of the invention, the first preset calibrations point is searched in the described first demarcation area image
The step of include：The corrosion of the first preset ratio is carried out to the lattice of the first color in the described first demarcation area image；Obtain
After corrosion described first demarcates the lattice and adjacent first color of all the first colors in separate state in area image
The image coordinate of the central point of the line of the opposite vertexes of lattice；Count the center with the default first preset calibrations Point matching
Point, and using statistics and the image coordinate of the central point of the default first preset calibrations Point matching as corresponding first
The image coordinate of preset calibrations point.
In a specific embodiment of the invention, the first preset calibrations point is searched in the described first demarcation area image
The step of also include：Judge whether all first preset calibrations points all find the central point for matching, if so, then
Lookup terminates；If it is not, the lattice for then returning first color in the described first demarcation area image carry out the first default ratio
The step of corrosion of example, continues to search for.
In a specific embodiment of the invention, the described second pre- bidding is searched in the described second demarcation region transition diagram picture
The step of fixed point, includes：The corrosion of the second preset ratio is carried out to the described second demarcation region transition diagram picture；After obtaining corrosion
Described second lattice and the lattice of adjacent first color for demarcating all the first colors in separate state in the transition diagram picture of region
The image coordinate of the central point of the line of opposite vertexes；In the second demarcation region transition diagram picture after corrosion count and preset
The second preset calibrations Point matching central point, be described second demarcation region transition diagram picture in search described second
Preset calibrations point.
In a specific embodiment of the invention, the described second pre- bidding is searched in the described second demarcation region transition diagram picture
The step of fixed point, also includes：Judge whether all second preset calibrations points all find the central point for matching, if
It is then to search and terminate；If it is not, then returning the corrosion that the second preset ratio is carried out to the described second demarcation region transition diagram picture
The step of continue to search for.
For achieving the above object and other related purposes, the present invention also provides a kind of method for correcting image, and application is such as taken up an official post
After calibration point lookup method described in one finds all of default calibration point, all default demarcation are obtained
The image coordinate of point, and according to the physical coordinates of all described calibration point for prestoring, corresponding correction rule is generated, with right
The correct image that the camera shoots.
For achieving the above object and other related purposes, the present invention also provides a kind of calibration point and searches system, for from taking the photograph
Default calibration point, the chessboard case marker are searched in the chessboard table images obtained after shooting to gridiron pattern caliberating device as head
Determining device includes the first demarcation region and the second demarcation region, and corresponding, the chessboard table images include and described first
Demarcate region corresponding first to demarcate area image and demarcate area image with the described second demarcation region corresponding second,
And, to there is the first preset calibrations point, described second demarcates region to there is the second preset calibrations point in the first demarcation region,
The system includes：First preset calibrations point searching modul, to find described the in the described first demarcation area image
After 1 preset calibrations point, the image coordinate of the first preset calibrations point is obtained；Image conversion module, prestores to basis
The first preset calibrations point physical coordinates, generate corresponding transition matrix；And according to the transition matrix to described
Two demarcation area images are changed, and are generated second and are demarcated region transition diagram picture；Second preset calibrations point searching modul, to
The second preset calibrations point is searched in the second demarcation region transition diagram picture；And described the is obtained according to the transition matrix
2 preset calibrations points correspondence described second demarcates the image coordinate of area image.
For achieving the above object and other related purposes, the present invention also provides a kind of image correction system, including as above institute
The calibration point stated searches system, and described image correction system also includes image correction module, searches system phase with the calibration point
Even, system searching is being searched to after all calibration points according to calibration point as above, obtain all demarcation
The image coordinate of point, and according to the physical coordinates of all described calibration point for prestoring, corresponding correction rule is generated, with right
The correct image that the camera shoots.
For achieving the above object and other related purposes, the present invention also provides a kind of image processing apparatus, at described image
Reason device is applied on the automobile with camera, and described image processing meanss include image correction system as above.
As described above, the image processing apparatus of the present invention, image rectification, calibration point lookup method and system, described
After the first preset calibrations point is found in one demarcation area image, the image coordinate of the first preset calibrations point is obtained；
According to the physical coordinates of the first preset calibrations point for prestoring, corresponding transition matrix is generated；According to the conversion square
Battle array is changed to the described second demarcation area image, is generated second and is demarcated region transition diagram picture；Region is demarcated described second
The second preset calibrations point is searched in transition diagram picture；And the second preset calibrations point correspondence is obtained according to the transition matrix
Described second image coordinate for demarcating area image.The present invention can deform larger in the second demarcation area image and cannot differentiate
During calibration point, the image coordinate of the corresponding calibration point in the second demarcation region is quickly and accurately found, and then can be with precise and high efficiency
The image that camera shoots is corrected accordingly, and is capable of achieving seamless spelling smoother between the image that each camera shoots
Connect.
Description of the drawings
Fig. 1 is shown as the calibration point lookup method schematic flow sheet in one embodiment of the present invention.
Fig. 2 is shown as the calibration point lookup method application schematic diagram in one embodiment of the present invention.
Fig. 3 is shown as the image schematic diagram of fish-eye camera shooting in a specific embodiment of the present invention.
Fig. 4 is shown as the image schematic diagram after once being corroded to the anteriomedial position of the image shown in Fig. 3.
Fig. 5 is shown as the calibration point of the present invention and searches system module diagram in one embodiment.
Fig. 6 is shown as the image correction system composition schematic diagram in one embodiment of the present invention.
Component label instructions
11～15 method and steps
21 automobiles
22 fish-eye cameras
23 black and white chessboard case markers determine cloth
231 anteriomedial positions
232 anterior left sides position
233 anterior right side portions
3 images
31 middle parts
32 left sides position
33 right side portions
4 images
5 calibration points search system
51 first preset calibrations point searching moduls
52 image conversion modules
53 second preset calibrations point searching moduls
6 image correction systems
61 image correction modules 61
Specific embodiment
Embodiments of the present invention are illustrated below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through concrete realities different in addition
The mode of applying is carried out or applies, the every details in this specification can also based on different viewpoints with application, without departing from
Various modifications and changes are carried out under the spirit of the present invention.It should be noted that, in the case where not conflicting, following examples and enforcement
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates the basic structure of the present invention in a schematic way
Think, the component relevant with the present invention is only shown in illustrating then rather than according to component count during actual enforcement, shape and size
Draw, which is actual when the implementing kenel of each component, quantity and ratio can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
In modern intelligent automobile field, it will usually obtain the panoramic view of automobile using the camera being arranged on automobile,
The angle of image taking is wide, but easily produces larger deformation, so before being taken into use, will obtain the figure obtained to camera
As the rule being corrected, when image is photographed subsequently through camera, automatically can be corrected to shooting image.
Then, the deformation of the centre of the image that camera is obtained is less, typically can find calibration point faster, but near image border
Position, deformation is very big, it is difficult to determine the position of calibration point, has considerable influence to the calibration result of the parts of images, can lead
Cause the splicing effect between the image of camera shooting and the image of adjacent camera shooting bad, it is impossible to realize seamless spelling
Connect.So the present invention proposes a kind of calibration point lookup method of innovation, for solving the above problems.Specifically show refering to Fig. 1
For calibration point lookup method of the invention schematic flow sheet in one embodiment.The calibration point lookup method, is used for
Default calibration point, the chessboard are searched in the chessboard table images obtained after shooting from camera to gridiron pattern caliberating device
Lattice include the lattice of the lattice of the first color and the second color, and the gridiron pattern caliberating device includes the first demarcation region and second
Region is demarcated, and corresponding, the chessboard table images include that region corresponding first is demarcated with described first demarcates area image
And demarcate region corresponding second with described second and demarcate area image, and, the default calibration point includes and described the
One demarcates the corresponding first preset calibrations point in region, and the second preset calibrations point corresponding with the described second demarcation region.Enter
One step refers to Fig. 2, is shown as the calibration point lookup method application schematic diagram in one embodiment of the present invention.The present embodiment
In, with the camera as fish-eye camera, and first color is black, and the second color is that the black and white gridiron pattern of white is
Example be specifically described, in other application example, the camera can also others shooting images can be deformed
Camera, the gridiron pattern can also be the gridiron pattern of other color combinations.Fig. 2 is specially the flake shooting to being applied on automobile
Head image is demarcated, wherein, fish-eye camera 22 is provided with automobile 21, being preferably provided with before be distributed in respectively automobile,
Afterwards, it is left, and right four positions on fish-eye camera, the black and white chessboard case marker determine device and is preferably laying in the present embodiment
Black and white chessboard case marker around the automobile 21 determines cloth 23.It can be such as Fig. 2 that the black and white chessboard case marker determines the shape of cloth 23
Shown polylith composition, in other embodiments, the black and white chessboard case marker determine the alternatively one piece of gridiron pattern cloth of cloth 23 or other
Composition form.Tessellated shape can be the shape that rectangle, square, triangle etc. can arbitrarily realize demarcation effect.In
In the present embodiment, in the image of the shooting of fish-eye camera 22 of 21 front portion of automobile, black and white chessboard case marker determines the front portion of cloth 23 by front
Portion middle part 231, anterior left side position 232 and anterior right side portion 233 are constituted, and in practical application, front portion is by centre
The calibration point of 231 correspondence image of position is easier to determine, and 233 corresponding diagram of anterior left side position 232 and anterior right side portion
As due to deformation, too greatly, calibration point is difficult to determine.Described first demarcates the region for example, anteriomedial position 231, described
Second demarcation region is, for example, that the anterior left side position 232 and anterior right side portion 233 are constituted.
Methods described includes：
11：After the first preset calibrations point is found in the described first demarcation area image, described first is obtained pre-
The image coordinate of bidding fixed point；The first demarcation region is, for example, the anteriomedial position that the black and white chessboard case marker determines cloth 23
231 corresponding regions, described second demarcates the region for example, anterior left side position 232 and anterior 233 groups of right side portion
Into.And the image demarcated after cloth 23 shoots of automotive front fish-eye camera 22 pairs is the image 3 shown in Fig. 3.And Fig. 3
Middle middle part 31 is and 231 corresponding image of the anteriomedial position that left side position 32 is and the anterior left side in Fig. 3
232 corresponding image of position, in Fig. 3, right side portion 33 is and 233 corresponding image of the anterior right side portion.
In a specific embodiment of the invention, search described the in area image (middle part 31) being demarcated described first
The step of 1 preset calibrations point, includes：
The corrosion of the first preset ratio is carried out to the black square in the described first demarcation area image；The corruption of the preset ratio
Erosion, for example, carries out the corrosion of a pixel size of a week to black square.Image 4 shown in Fig. 4 is the middle part to Fig. 3
31 carry out the result after first time corrosion.
Obtain after corrosion described first and demarcate all black squares in separate state and adjacent black square in area image
The image coordinate of the central point of the line of opposite vertexes；As the position of the opposite vertexes between black square is relative to the summit of single black square
Position more preferably determines, so the present invention is behind the position for looking for opposite vertexes, obtains the image of the central point of the line of opposite vertexes
Coordinate is the image coordinate on the summit of corresponding black square, specifically, the black square for obtaining separate state respectively is right with adjacent black square
The image coordinate on summit, and two coordinates are averaged, you can obtain the coordinate of corresponding central point.For example, the centre to Fig. 3
After position 31 carries out first time corrosion, the corresponding adjacent black squares of calibration point A are in separate state, the calibration point A and Fig. 4 in Fig. 3
In central point A ' correspondence, wherein after the image coordinate of the opposite vertexes A1 and A2 of adjacent black square gets, carrying out averagely to both
Calculate, obtain central point A ' image coordinate, will the central point A ' image coordinate as the calibration point A image sit
Mark.
Wherein, it is preferred that judge whether the mode in separate state is included when the black and white chessboard trrellis diagram black square
A black square as in is with having white pixel point between the opposite vertexes of adjacent black square when, judge that the black square is in separate state.
Count and the central point of the default first preset calibrations Point matching, and by statistics and default described first
Image coordinate of the image coordinate of the central point of preset calibrations Point matching as corresponding first preset calibrations point.
And as the distance apart from fish-eye camera 22 is more remote, the size of the black square is less, so corroding in first time
When, the less black square of size can be easier to be isolated, and may not between the opposite vertexes of larger-size black square
There is any white pixel point and can not be isolated, so when corrosion for the first time is carried out, it may only be possible to find
The partial preset calibrations point.So it is further, in a specific embodiment of the invention, administrative division map is demarcated described first
The step of the first preset calibrations point is searched as in also includes：Judge whether all first preset calibrations points all find
The central point for matching, if so, then searches and terminates；If it is not, then returning described in the described first demarcation area image
The step of black square carries out the corrosion of the first preset ratio.The calibration point that will be obtained after searching every time time is retained, and is being entered
After row is repeatedly searched, repeatedly searched the calibration point for obtaining and merged.Ten calibration points are required to look up for example, for the first time
Two calibration points are found after corrosion, retain the twoth calibration point, after carrying out anticaustic, newly find three calibration points,
Retain three calibration points, after carrying out third time corrosion, and newly find five calibration points, the calibration point that will be found for this three times
Merged or merged, you can obtained all of described ten calibration points.And traditional calibration point lookup mode will not be to each
Calibration point after lookup is retained, and when searching next time, is taken all calibration points for newly finding and calculated.And this
It is bright using this calibration point fusion by the way of make a look up, not only can ensure search efficiency and accuracy, and can in case
Only there is the situation that part black square disappears due to repeatedly corroding, if so searching mode using traditional calibration point, will
The calibration point of part is caused to lose.When the judgement for carrying out preset times, however it remains be not matched to the demarcation of central point
During point, in the calibration point certain limit for do not match central point specify corresponding central point to be new calibration point, and terminate institute
State search operation.For example the first preset calibrations point has 5, and circulation the step of the above-mentioned corrosion and lookup of preset times
Afterwards, 2 calibration points still do not find out, i.e., with currently can be more clear in the calibration point certain limit for do not match central point
Two points of others of Chu's centre mark coordinate really are used as the first new preset calibrations point, and first preset when pre-test is new
The physical coordinates of calibration point, that is, obtain all of first preset calibrations point.
12：According to the physical coordinates of the first preset calibrations point for prestoring, corresponding transition matrix is generated；It is described
Transition matrix is, for example, the transition matrix between image coordinate and physical coordinates.
13：The described second demarcation area image is changed according to the transition matrix, generate second and demarcate region turn
Change image；
14：The second preset calibrations point is searched in the described second demarcation region transition diagram picture；
In a specific embodiment of the invention, the described second pre- bidding is searched in the described second demarcation region transition diagram picture
The step of fixed point, includes：The corrosion of the second preset ratio is carried out to the described second demarcation region transition diagram picture；After obtaining corrosion
It is described second demarcate region transition diagram picture in all black squares in separate state with the line of the opposite vertexes of adjacent black square
The image coordinate of heart point；Count pre- with default described second in the second demarcation region transition diagram picture after corrosion to be marked with
The central point of fixed point matching, is the second preset calibrations point searched in the described second demarcation region transition diagram picture.
In a specific embodiment of the invention, the described second pre- bidding is searched in the described second demarcation region transition diagram picture
The step of fixed point, also includes：Judge whether all second preset calibrations points all find the central point for matching, if
It is then to search and terminate；If it is not, then returning the corrosion that the second preset ratio is carried out to the described second demarcation region transition diagram picture
The step of.The calibration point that will be obtained after searching every time time is retained, and after repeatedly being searched, will repeatedly search acquisition
The calibration point merged.Ten calibration points are for example required to look up, after corroding for the first time, two calibration points is found, is retained
Twoth calibration point, after carrying out anticaustic, newly finds three calibration points, retains three calibration points, carries out third time
After corrosion, and five calibration points are newly found, the calibration point that will be found for this three times is merged or merged, you can owned
Described ten calibration points.And traditional calibration point is searched mode and the calibration point after searching every time will not be retained, and
When next time searches, take all calibration points for newly finding and calculated.And the present invention is by the way of the fusion of this calibration point
Make a look up, not only can ensure efficiency and the accuracy searched, and can prevent due to multiple corrosion and to there is part black
The situation that lattice disappear, if so searching mode using traditional calibration point, the calibration point that will result in part is lost.
15：And the second preset calibrations point correspondence the second demarcation area image is obtained according to the transition matrix
Image coordinate.
In another specific embodiment, the present invention also proposes a kind of method for correcting image, application calibration point as described in Figure 1
After lookup method finds all of default calibration point, the image coordinate of all default calibration points is obtained, and
According to the physical coordinates of all described calibration point for prestoring, corresponding correction rule is generated, with to the fish-eye camera
The correct image of shooting.
Described image bearing calibration is preferably applicable in image correction apparatus of the automobile 21, to the automobile 21
The correct image shot by fish-eye camera 22, described image means for correcting can be integrated in the intelligence control of the automobile 21
In system processed.
The present invention is corroded to image in the search procedure of calibration point, and adjacent black in the image after lookup corrosion
The coordinate of the opposite vertexes of lattice, and the coordinate of central point between two opposite vertexes coordinates is calculated according to this, for the summit of black square,
The position of opposite vertexes more accurately can be identified, and then can obtain the image coordinate of more accurate calibration point.And due to
Size between each black square is isoparametric inconsistent, is once corroded, it may not be possible to find all of calibration point, now can be with
Multiple iteration corrosion is carried out to the image after corrosion, and corresponding marking is searched according to aforesaid way to the image after corrosion every time
The image coordinate of fixed point, when all of calibration point finds, stops the etching operation to image.
And after the present invention is confirmed to the calibration point for being easier to the image section for determining calibration point, obtain image coordinate and physics
Transition matrix between coordinate, and according to the transition matrix to deforming larger image section (such as near front portion left side position 232
And 233 corresponding image of anterior right side portion) changed, the image section for deforming larger is carried out into a certain degree of exhibition
Put down, and corroded and searched the mode of calibration point to the image after flattening and search corresponding calibration point, and it is right finding
The calibration point answered and acquisition according to the transition matrix, obtain current lookup after the coordinate on the image after flattening
Image coordinate of the calibration point in original fish eye images, and then find the image of all of calibration point in original fish eye images
Coordinate.And then realize smoother seamless spliced between image that each fish-eye camera shoots.
Fig. 5 is further regarded to, the calibration point for being shown as the present invention searches system module signal in one embodiment.
The calibration point searches system 5, for the chessboard obtained after shooting from camera to gridiron pattern caliberating device
Default calibration point is searched in table images, the gridiron pattern caliberating device includes the first demarcation region and the second demarcation region,
It is corresponding, the chessboard table images include with described first demarcate region corresponding first demarcate area image and with it is described
Second demarcates region corresponding second demarcates area image, and, described first demarcates region to having the first preset calibrations point, institute
The second demarcation region is stated to there is the second preset calibrations point, the system 5 includes：
First preset calibrations point searching modul 51, it is pre- to find described first in the described first demarcation area image
After bidding fixed point, the image coordinate of the first preset calibrations point is obtained；
Image conversion module 52, to the physical coordinates according to the first preset calibrations point for prestoring, generates phase
The transition matrix answered；And the described second demarcation area image is changed according to the transition matrix, generate second and demarcate area
Domain transition diagram picture；
Second preset calibrations point searching modul 53, to search described second in the described second demarcation region transition diagram picture
Preset calibrations point；And the second preset calibrations point correspondence the second demarcation area image is obtained according to the transition matrix
Image coordinate.
It is system entries corresponding with the calibration point lookup method shown in Fig. 1 that the calibration point searches system 5, both technical sides
Case is corresponded, and the description of all about calibration point lookup method can be applicable to the calibration point and search in system 5,
This is not added with repeating.
In another specific embodiment, refering to Fig. 6, it is also proposed that a kind of image correction system 6, including demarcation as above
Point lookup system 5, described image correction system 6 also include image correction module 61, to search system according to the calibration point
After system 5 finds all calibration points, the image coordinate of all calibration points is obtained, and according to all institutes for prestoring
The physical coordinates of calibration point are stated, corresponding correction rule is generated, with the correct image shot to the camera.
Likewise, described image correction system 6 applies also for being integrated in the described image processing meanss of the automobile 21
On.
In sum, image processing apparatus of the invention, image rectification, calibration point lookup method and system, described the
After the first preset calibrations point is found in one demarcation area image, the image coordinate of the first preset calibrations point is obtained；
According to the physical coordinates of the first preset calibrations point for prestoring, corresponding transition matrix is generated；According to the conversion square
Battle array is changed to the described second demarcation area image, is generated second and is demarcated region transition diagram picture；Region is demarcated described second
The second preset calibrations point is searched in transition diagram picture；And the second preset calibrations point correspondence is obtained according to the transition matrix
Described second image coordinate for demarcating area image.The present invention can deform larger in the second demarcation area image and cannot differentiate
During calibration point, the image coordinate of the corresponding calibration point in the second demarcation region is quickly and accurately found, and then can be with precise and high efficiency
The image that camera shoots is corrected accordingly, and is capable of achieving seamless spelling smoother between the image that each camera shoots
Connect.So, the present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
The principle and its effect of above-described embodiment only illustrative present invention, it is of the invention not for limiting.It is any ripe
The personage for knowing this technology all can carry out modifications and changes to above-described embodiment under the spirit and the scope without prejudice to the present invention.Cause
This, those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (9)
1. a kind of calibration point lookup method, it is characterised in that for obtaining after shooting from camera to gridiron pattern caliberating device
Default calibration point is searched in the chessboard table images for taking, the gridiron pattern caliberating device includes the lattice and the second color of the first color
Lattice, the gridiron pattern caliberating device include the first demarcation region and second demarcate region, corresponding, the chessboard trrellis diagram
As including that demarcating region corresponding first with described first demarcates area image and demarcate region corresponding the with described second
Two demarcate area image, and, the default calibration point includes the first preset calibrations point corresponding with the described first demarcation region,
And the corresponding second preset calibrations point in region is demarcated with described second, methods described includes：
After the first preset calibrations point is found in the described first demarcation area image, the first preset calibrations point is obtained
Image coordinate；
According to the physical coordinates of the first preset calibrations point for prestoring, corresponding transition matrix is generated；
The described second demarcation area image is changed according to the transition matrix, generate second and demarcate region transition diagram picture；
The second preset calibrations point is searched in the described second demarcation region transition diagram picture；
The image coordinate that the second preset calibrations point correspondence described second demarcates area image is obtained according to the transition matrix.
2. calibration point lookup method according to claim 1, it is characterised in that look in the described first demarcation area image
The step of looking for the first preset calibrations point includes：
The corrosion of the first preset ratio is carried out to the lattice of the first color in the described first demarcation area image；
Obtain after corrosion described first and demarcate the lattice of all the first colors in separate state and adjacent the in area image
The image coordinate of the central point of the line of the opposite vertexes of the lattice of one color；
Count the central point with the default first preset calibrations Point matching, and presetting statistics with default described first
Image coordinate of the image coordinate of the central point of demarcation Point matching as corresponding first preset calibrations point.
3. calibration point lookup method according to claim 2, it is characterised in that look in the described first demarcation area image
The step of looking for the first preset calibrations point also includes：Judge whether all first preset calibrations points all find the phase
The central point of matching, if so, then searches and terminates；If it is not, then returning described to the described first the first face demarcated in area image
The step of lattice of color carry out the corrosion of the first preset ratio continues to search for.
4. calibration point lookup method according to claim 1, it is characterised in that demarcate region transition diagram picture described second
The step of middle lookup the second preset calibrations point, includes：
The corrosion of the second preset ratio is carried out to the described second demarcation region transition diagram picture；
Obtain the after corrosion described second lattice and phase for demarcating all the first colors in separate state in the transition diagram picture of region
The image coordinate of the central point of the line of the opposite vertexes of the lattice of adjacent first color；
Count as in and the default second preset calibrations Point matching in the second demarcation region transition diagram after corrosion
Central point, is the second preset calibrations point searched in the described second demarcation region transition diagram picture.
5. calibration point lookup method according to claim 4, it is characterised in that demarcate region transition diagram picture described second
The step of middle lookup the second preset calibrations point, also includes：Judge whether all second preset calibrations points all find institute
The central point for matching is stated, is if so, then searched and is terminated；If it is not, then return it is described to described second demarcation region transition diagram picture enter
The step of corrosion of the second preset ratio of row, continues to search for.
6. a kind of method for correcting image, it is characterised in that calibration point lookup of the application as any one of Claims 1 to 5
After method finds all of default calibration point, the image coordinate of all default calibration points of acquisition, and according to
The physical coordinates of all described calibration point for prestoring, generate corresponding correction rule, with the figure shot to the camera
As being corrected.
7. a kind of calibration point searches system, it is characterised in that for obtaining after shooting from camera to gridiron pattern caliberating device
Default calibration point is searched in the chessboard table images for taking, the gridiron pattern caliberating device includes the first demarcation region and the second mark
Determine region, it is corresponding, the chessboard table images include with described first demarcate region it is corresponding first demarcate area image with
And area image is demarcated with the described second demarcation region corresponding second, and, the first demarcation region is to having first to preset
Calibration point, described second demarcates region to there is the second preset calibrations point, and the system includes：
First preset calibrations point searching modul, to find first preset calibrations in the described first demarcation area image
After point, the image coordinate of the first preset calibrations point is obtained；
Image conversion module, to the physical coordinates according to the first preset calibrations point for prestoring, generates corresponding turning
Change matrix；And the described second demarcation area image is changed according to the transition matrix, generate second and demarcate region conversion
Image；
Second preset calibrations point searching modul, the described second pre- bidding is searched in the described second demarcation region transition diagram picture
Fixed point；And the image seat that the second preset calibrations point correspondence described second demarcates area image is obtained according to the transition matrix
Mark.
8. a kind of image correction system, it is characterised in that search system, the figure including calibration point as claimed in claim 7
As correction system also includes：
Image correction module, searches system with the calibration point and is connected, to be looked into according to calibration point as claimed in claim 7
System searching is looked for after all calibration points, the image coordinate of all calibration points is obtained, and according to the institute for prestoring
There are the physical coordinates of the calibration point, generate corresponding correction rule, with the correct image shot to the camera.
9. a kind of image processing apparatus, it is characterised in that described image processing meanss are applied on the automobile with camera, institute
Stating image processing apparatus includes image correction system as claimed in claim 8.
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