CN106709956B - Remote calibration method and system of panoramic image system - Google Patents
Remote calibration method and system of panoramic image system Download PDFInfo
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- CN106709956B CN106709956B CN201611254337.0A CN201611254337A CN106709956B CN 106709956 B CN106709956 B CN 106709956B CN 201611254337 A CN201611254337 A CN 201611254337A CN 106709956 B CN106709956 B CN 106709956B
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Abstract
The invention relates to a remote calibration method and a remote calibration device for a panoramic image system, wherein the method comprises the following steps: acquiring image data remotely transmitted by a panoramic image system; the image data comprises image information of background patterns acquired by all the camera devices in the panoramic image system; the background patterns comprise a plurality of circular patterns, the circle centers of the circular patterns are respectively arranged at the image splicing positions of the camera devices, and the circle centers are distributed in a rectangular shape; processing the image data, analyzing the deformation state of the circular pattern in the image information acquired by each camera device, determining the installation position change information of each camera device, and generating the image adjustment parameters of each camera device according to the installation position change information; and remotely transmitting the image adjusting parameters to the panoramic image system. The scheme of the invention can remotely calibrate the panoramic image system without driving the vehicle to a specified calibration mechanism, thereby greatly improving the after-sale response speed, being flexible and convenient and reducing the calibration cost.
Description
Technical Field
The invention relates to the field of panoramic image systems, in particular to a remote calibration method and a remote calibration system for a panoramic image system.
Background
The panoramic image system calibration is to check the installation condition of the camera and repair the imaging effect in a software mode. The traditional calibration method of the panoramic image system requires that special calibration plates are laid around the whole vehicle and in the camera view range, the positioning precision of the whole vehicle is very high in the calibration process, and high-precision positioning equipment is often needed, so that the vehicle can be calibrated only after being driven to a specified calibration position to be accurately positioned.
For the market vehicles, the production line calibration before delivery already solves various calibration problems such as image distortion processing, picture adjustment parameter generation and the like, and in most cases, only the factor of the change of the installation position of the camera needs to be considered. However, the installation position of the camera slightly changes, and is limited by the traditional calibration mode, and the vehicle can only be sent to a specified calibration mechanism (such as an automobile sales service 4S shop) and can be calibrated after being accurately positioned by a calibration plate. If the vehicle is not near the designated calibration mechanism, the calibration of the panoramic image system cannot be realized within a short period of time, which may bring adverse effects to the use of the vehicle panoramic image system.
Disclosure of Invention
Based on this, in order to solve the problems existing in the conventional technology, the invention provides a remote calibration method and device of a panoramic image system.
The embodiment of the invention adopts the following technical scheme:
a remote calibration method of a panoramic image system comprises the following steps:
acquiring image data remotely transmitted by a panoramic image system; the image data comprises image information of background patterns acquired by all the camera devices in the panoramic image system; the background patterns comprise a plurality of circular patterns, the circle centers of the circular patterns are respectively arranged at the image splicing positions of the camera devices, and the circle centers of the circular patterns are distributed in a rectangular shape;
processing the image data, analyzing the deformation state of the circular pattern in the image information acquired by each camera device, determining the installation position change information of each camera device, and generating the image adjustment parameters of each camera device according to the installation position change information;
and remotely transmitting the image adjustment parameters to the panoramic image system so that the panoramic image system adjusts the corresponding camera device according to the image adjustment parameters.
A remote calibration device of a panoramic image system comprises:
the image acquisition module is used for acquiring image data remotely transmitted by the panoramic image system; the image data comprises image information of background patterns acquired by all the camera devices in the panoramic image system; the background patterns comprise a plurality of circular patterns, the circle centers of the circular patterns are respectively arranged at the image splicing positions of the camera devices, and the circle centers of the circular patterns are distributed in a rectangular shape;
the image processing module is used for processing the image data, analyzing the deformation state of the circular pattern in the image information acquired by each camera device and determining the installation position change information of each camera device;
the adjusting parameter generating module is used for generating image adjusting parameters of the camera devices according to the mounting position change information;
and the adjustment parameter sending module is used for remotely transmitting the image adjustment parameters to the panoramic image system so that the panoramic image system adjusts the corresponding camera device according to the image adjustment parameters.
The remote calibration method and the remote calibration device for the panoramic image system, provided by the embodiment of the invention, have the advantages that the image data of the panoramic image system is remotely transmitted by applying the Internet of vehicles technology, the image adjustment parameters are obtained by analyzing the deformation state of the circular patterns in the image data, and the image adjustment parameters are remotely fed back to the panoramic image system, so that the remote calibration of the panoramic image system is realized. The embodiment of the invention reduces the difficulty in realizing the calibration of the panoramic image system of the after-sale vehicle by easily realizing the modes of manufacturing the calibration pattern, remotely transmitting the image data, remotely analyzing and processing and the like, and does not need to drive the vehicle to a specified calibration mechanism, thereby greatly improving the after-sale response speed, being flexible, convenient, efficient and quick and reducing the calibration cost.
Drawings
Fig. 1 is a schematic diagram of a hardware environment for implementing a remote calibration method of a panoramic image system according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a remote calibration method of a panoramic image system according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating background patterns according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a circular pattern deformed in accordance with an embodiment of the present invention;
fig. 5 is a schematic flowchart of a method for determining the mounting position change information of the image pickup apparatus in the embodiment of the present disclosure;
fig. 6 is a schematic diagram of image information acquired by the front camera 901a in the embodiment of the present invention;
FIG. 7 is a schematic diagram of an image symmetry axis of a panoramic picture in an embodiment of the present invention;
FIG. 8 is a schematic flow chart illustrating a method for calculating an axial displacement of a camera device according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of calculating an axial displacement of a front camera in an embodiment of the present invention;
FIG. 10 is a flow chart illustrating a method for remotely calibrating a panoramic image system according to another embodiment of the present invention;
FIG. 11 is a schematic structural diagram of a remote calibration device of a panoramic image system according to an embodiment of the present invention;
FIG. 12 is a block diagram of an image processing module according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a remote calibration apparatus of a panoramic image system according to another embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to preferred embodiments and the accompanying drawings. It is to be understood that the following examples are illustrative only and are not intended to limit the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that although the terms "first", "second", etc. are used hereinafter to describe various information, these information should not be limited to these terms, which are used only to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.
Fig. 1 is a schematic diagram of a hardware environment for implementing a remote calibration method of a panoramic image system according to an embodiment of the present invention. The vehicle 900 in fig. 1 is provided with a panoramic image system 91, and the panoramic image system 91 is calibrated before the vehicle 900 is shipped. The panoramic image system 91 comprises a plurality of camera devices to collect image information of the environment where the vehicle 900 is located, and the panoramic image system 91 can form a panoramic picture by splicing the image information collected by the camera devices. The vehicle 900 is further provided with a remote communication module 92, and the panoramic image system 91 can remotely communicate with the background calibration apparatus 800 through the remote communication module 92. The background calibration device 800 may acquire image data remotely transmitted by the panoramic image system 91 through the remote communication module 92, and process the image data. The background calibration apparatus 800 may be various electronic apparatuses with data processing function, such as a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), and so on.
Fig. 2 is a flowchart illustrating a remote calibration method of a panoramic image system according to an embodiment of the present invention, where the remote calibration method of the panoramic image system according to the present embodiment may be executed by a background calibration device 800. As shown in fig. 2, the remote calibration method of the panoramic image system in this embodiment includes the following steps:
step S110, acquiring image data remotely transmitted by a panoramic image system; the image data comprises image information of background patterns acquired by all the camera devices in the panoramic image system; the background patterns comprise a plurality of circular patterns, the circle centers of the circular patterns are respectively arranged at the image splicing positions of the camera devices, and the circle centers of the circular patterns are distributed in a rectangular shape;
in this embodiment, the calibration of the panoramic image system 91 is already completed before the vehicle 900 leaves the factory, but if the installation position of the camera device changes (for example, the installation position of the camera device translates, the installation angle changes, etc.) during the use of the vehicle, the image information collected by each camera device cannot be correctly spliced, which seriously affects the use effect. Therefore, in order to ensure the normal use of the panoramic image system 91, the panoramic image system 91 still needs to be further calibrated. At this time, the vehicle 900 is not required to be driven to a designated calibration mechanism, the vehicle 900 is only required to be parked on a flat ground, no obvious obstacles exist in a certain range around the vehicle 900, then a background pattern is drawn in the visual field range of the camera device or a calibration plate on which the background pattern is drawn is laid, the background pattern comprises a plurality of circular patterns, the circle centers of the circular patterns are required to be respectively arranged at the image splicing positions of the camera devices, and the circle centers of the circular patterns are required to be in rectangular distribution. The circular patterns are moderate in size and have no specific requirements on the diameter.
The image stitching position of each camera device is a position where the panoramic image system 91 stitches the image information collected by each camera device, and the position can be set according to the number of the camera devices in the vehicle 900 and the installation positions of the camera devices. The circle centers of the circular patterns are distributed in a rectangular mode, namely, a rectangle can be formed after the circle centers are connected, namely, each circle center is located on the edge of the rectangle.
Specifically, taking fig. 3 as an example, the panoramic image system 91 includes four cameras, namely a front camera 901a installed at the head of the vehicle, a rear camera 901b installed at the tail of the vehicle, a left camera 901c on the left side of the vehicle, and a right camera 901d on the right side of the vehicle, and the image stitching positions of the cameras are set as the diagonals of the vehicle 900, that is, the panoramic image system stitches the image information captured by the four cameras at the diagonals of the vehicle. Referring to fig. 3, the number of the circular patterns is four, the four circular patterns are respectively a first circular pattern Y1, a second circular pattern Y2, a third circular pattern Y3 and a fourth circular pattern Y4, the center of the first circular pattern Y1 and the center of the third circular pattern Y3 are on one diagonal D1 of the vehicle, and the center of the second circular pattern Y2 and the center of the fourth circular pattern Y4 are on the other diagonal D2 of the vehicle. The centers of the circular patterns are equidistant from the vehicle central axis L0 such that the four centers are connected to form a rectangle. The central axis L0 is an axis that is in the forward (or reverse) direction of the vehicle and makes the vehicle symmetrical left and right.
It should be noted that, if the number of the image capturing devices in the panoramic image system 91 is not four (for example, there are six or eight image capturing devices distributed around the vehicle), and the installation position is also changed correspondingly, the image splicing position of each image capturing device is also changed, and at this time, the number of the circular patterns and the positions of the centers of the circles can still be adjusted correspondingly according to the image splicing positions of each image capturing device, so as to ensure that the centers of the circles of the circular patterns are respectively set at the image splicing positions of each image capturing device, and that the centers of the circles of the circular patterns are distributed in a rectangular shape.
After the background pattern is drawn or the calibration board with the background pattern is laid as required, an image acquisition instruction is sent to the panoramic image system 91, the panoramic image system 91 intercepts image information of the background pattern acquired by each camera device, generates image data, and remotely outputs the image data to the background calibration device 800 through the remote communication module 92. The background calibration device 800 obtains image data remotely transmitted by the panoramic image system 91, where the image data includes image information of background patterns collected by each camera device in the panoramic image system 91.
Step S120, processing the image data, analyzing the deformation state of the circular pattern in the image information acquired by each camera device, determining the installation position change information of each camera device, and generating the image adjustment parameters of each camera device according to the installation position change information;
if the installation positions of the camera devices are normal, the image information collected by the camera devices can be spliced correctly, and in the formed panoramic picture, each circular pattern is in a normal state and cannot be deformed. However, if the circular pattern is deformed, as shown in fig. 4, it indicates that the installation position of the camera device is changed, such as the installation position is axially translated, the installation angle is changed, and the like, so in this embodiment, the background calibration device 800 processes the image data remotely transmitted by the panoramic image system 91, and by analyzing the deformation state of the circular pattern in the image information acquired by each camera device, the installation position change information of each camera device can be determined, and then the image adjustment parameter of the corresponding camera device is generated according to the installation position change information of the camera device, and the image adjustment parameter is used for adjusting the image information output by the camera device, so that the image information acquired by each camera device can still be correctly spliced. The image adjustment parameters may include a frame displacement amount, a frame scaling, a local frame deformation curvature, and the like.
Step S130, remotely transmitting the image adjustment parameters to the panoramic image system, so that the panoramic image system adjusts the corresponding camera device according to the image adjustment parameters.
After obtaining the image adjustment parameters of each camera device, the background calibration device 800 remotely transmits the image adjustment parameters to the panoramic image system 91, for example, the image adjustment parameters are transmitted to the remote communication module 92 in the vehicle 900, and then the remote communication module 92 sends the image adjustment parameters to the panoramic image system 91. After obtaining the image adjustment parameters, the panoramic image system 91 adjusts the corresponding image capturing devices according to the image adjustment parameters, such as adjusting the parameters of the image information collected by the corresponding image capturing devices, so that the image information collected by each image capturing device can be correctly spliced. If the stitching effect is not good and the panoramic picture does not meet the requirement, the steps S110 to S130 may be repeated to redraw the background pattern, and the background calibration device 800 re-analyzes the deformation state of the circular pattern to obtain new image adjustment parameters, and feeds back the new image adjustment parameters to the panoramic image system 91 until the panoramic picture meets the requirement.
The remote calibration method of the panoramic image system provided in the embodiment reduces the difficulty in implementing the calibration of the panoramic image system of the vehicle after sale, and in the embodiment, the remote calibration of the panoramic image system of the vehicle is well implemented through modes of easily implemented calibration pattern manufacturing, remote transmission of image data by using the car networking technology, analysis and processing of the image data by using a background calibration device, and the like, so that the after-sale response speed is greatly improved, the method is flexible, convenient, efficient and rapid, the calibration cost is also reduced, the method can be generally applied to market remote calibration, and the method has obvious advantages in the case that the vehicle is inconvenient to move to a specified calibration mechanism.
In an alternative embodiment, the mounting position change information of the image pickup device includes an axial displacement, a yaw angle deviation, a pitch angle deviation, and a roll angle deviation of the image pickup device. Referring to fig. 5, the process of analyzing the deformation state of the circular pattern in the image information collected by the camera and determining the mounting position change information of the camera includes the following steps S121 to S126:
step S121, respectively identifying elliptical arcs in the image information acquired by each camera device, and calculating the coordinates of the center point, the major axis and the minor axis of an ellipse corresponding to each circular pattern in each image information according to the coordinates of points on the elliptical arcs;
specifically, as shown in fig. 4, due to the change of the installation position of the camera device, the circular pattern in the image information acquired by the camera device will be deformed into an elliptical pattern, and the circular pattern cannot be obtained even after the image information acquired by each camera device is spliced, but two sections of elliptical arcs appear at the spliced position (the diagonal of the vehicle in fig. 4). The background calibration device 800 can identify the elliptical arc in the image information acquired by each camera device by an edge identification method, then acquire the coordinates of the points on the elliptical arc, substitute the coordinates into an elliptical equation, and solve the relevant parameters of the ellipse. For example, by solving the general equation of an ellipse:
Ax2+Bxy+Cy2+Dx+Ey+F＝0
a, B, C, D, E, F are all coefficients.
After solving the general equation of the ellipse, the parameters of the ellipse including the coordinates of the center point, the major axis and the minor axis of the ellipse can be obtained through mathematical calculation, wherein the center point of the ellipse is the center point of the focus of the ellipse. Fig. 6 shows image information captured by the front camera 901a, and in fig. 6, the X axis is the horizontal axis of the vehicle, which is perpendicular to the forward (or reverse) direction of the vehicle, i.e., perpendicular to the central axis of the vehicle, and the Y axis is the central axis of the vehicle. Based on the image information collected by the front camera 901a, the elliptical arcs in the image information are identified by an edge identification method, and the general equation of the ellipse is solved, so that the central points O of the two ellipses are respectively determined1、O2Coordinates of (2), two ellipsesMajor axis of circle la1、la2And the minor axes l of the two ellipsesb1、lb2. By the same method, the ellipse parameters in the image information acquired by each camera device can be determined.
Step S122, determining an image symmetry axis of a panoramic picture formed by splicing image information collected by all the camera devices;
the background calibration device 800 splices the image information acquired by each camera device to form a panoramic image of the vehicle, and then determines an image symmetry axis of the panoramic image, and referring to a virtual line axis shown in fig. 7, it is easy to understand that at least two image symmetry axes of the panoramic image are provided, one of the two image symmetry axes is a longitudinal symmetry axis which is consistent with a central axis of the vehicle, and the other is a transverse symmetry axis which is perpendicular to the longitudinal symmetry axis.
Step S123, determining the axial displacement of each camera device according to the center point coordinates and the image symmetry axis;
the image information collected by each camera device comprises two sections of elliptical arcs corresponding to two ellipses, so that two central point coordinates can be obtained, and after the two central point coordinates are connected, the central point connecting line corresponding to the camera device is determined. After connecting the central point connecting lines corresponding to the four camera devices, under the condition that the installation positions of all the camera devices are correct, the 4 central point connecting lines can determine a rectangle, the symmetry axis of the rectangle should be consistent with the image symmetry axis of the panoramic picture, and if the symmetry axis of the rectangle is deviated, the camera devices are axially displaced. Therefore, based on the central point connecting line corresponding to each camera device, the axial displacement of each camera device along the corresponding image symmetry axis can be determined through mathematical operation.
In an alternative embodiment, referring to fig. 8, the axial displacement of each imaging device may be calculated by the following steps S601 to S603:
step S601, determining a first central point connecting line according to the central point coordinate of an ellipse in the image information acquired by the current camera device, and determining a first intersection point of the first central point connecting line and the image symmetry axis corresponding to the current camera device;
the coordinates of the central points of the two ellipses corresponding to the current camera device can be obtained through calculation, the connection line of the two central points can be determined through coordinate operation, namely, the connection line of the first central point corresponding to the current camera device is determined, and then the first intersection point of the connection line of the first central point and the image symmetry axis corresponding to the current camera device is determined. The image symmetry axis corresponding to the current camera device may be determined according to the installation position of the current camera device, and the previous camera device 901a, for example, is installed at the head of the vehicle, and may determine the image symmetry axis corresponding to the previous camera device, that is, the longitudinal symmetry axis of the panoramic image, that is, the middle axis of the vehicle. If the current image capturing apparatus is the left image capturing apparatus 901c, the corresponding image symmetry axis is the horizontal symmetry axis of the panoramic image.
Step S602, determining a second central point connecting line according to the central point coordinates of corresponding ellipses in the image information acquired by two adjacent cameras of the current camera, and determining a second intersection point of the second central point connecting line and the image symmetry axis corresponding to the current camera;
since the plurality of cameras are distributed around the vehicle 900, two other cameras adjacent to the current camera can be identified, for example, as shown in fig. 3 and 4, if the current camera is the front camera 901a, the two adjacent cameras are the left camera 901c and the right camera 901 d; if the current image pickup apparatus is the left image pickup apparatus 901c, two image pickup apparatuses adjacent thereto are the front image pickup apparatus 901a and the rear image pickup apparatus 901 b. In this embodiment, when calculating the axial displacement generated by the current image capture device along the direction of the image symmetry axis corresponding to the current image capture device, it is default that the adjacent image capture devices are not displaced in the direction of the image symmetry axis. Therefore, a second central point connecting line is determined according to the central point coordinates of the ellipses corresponding to the image information collected by the two adjacent cameras of the current camera, a second intersection point of the second central point connecting line and the image symmetry axis corresponding to the current camera is determined, and the second central point connecting line is taken as a reference. And detecting the axial displacement of the first central point connecting line relative to the second central point connecting line.
Step S603, calculating a distance between the first intersection and the second intersection, and obtaining an axial displacement of the current imaging device.
For example, referring to fig. 9, the current camera is a front camera 901a, and the corresponding image symmetry axis is a longitudinal symmetry axis of the panoramic image, i.e., a central axis L0 of the vehicle. The two image pickup apparatuses adjacent to the front image pickup apparatus 901a are a left image pickup apparatus 901c and a right image pickup apparatus 901 d. The center point of the two ellipses corresponding to the front image pickup device 901a can be obtained as O by calculation1、O2The first centroid connecting line O corresponding to the front image pickup device 901a is determined by coordinate operation1O2Then, the first centroid line O is determined1O2A first point of intersection P with the vehicle central axis L01. The central point of the corresponding ellipse in the image information collected by the left camera 901c and the right camera 901d is O3、O4Similarly, determining the second centroid connecting line O by coordinate operation3O4Then determining the second centroid line O3O4Second intersection point P with vehicle central axis L02And calculating a first intersection point P1And the second intersection point P2The axial displacement of the front camera device can be obtained by combining the moving directions of the two intersection points on the middle shaft.
Step S124, determining the yaw angle deviation of each camera device according to the central point coordinates;
specifically, as shown in FIG. 6, using the example of the front camera 901a, the coordinates of the center points of two ellipses can be determined from the image information collected by the front camera 901a, which is equal to the yaw angle deviation β of the front camera 901a, which is equal to the center point coordinates of the two ellipses, the yaw angle deviation β of the front camera 901a is determinedCenter point connecting line O1O2The included angle with the X axis is as follows:
wherein the content of the first and second substances,
is a central point connecting line O1O2The slope of (a).
Therefore, the slope of the central point connecting line of the corresponding ellipse in each image information is determined through the central point coordinate, and then the arc tangent function value corresponding to the slope is calculated, so that the yaw angle deviation of the corresponding camera device can be obtained. It should be understood that, in order to eliminate the error, a correction parameter may be introduced to correct the arctan function value during actual calculation, so the corrected calculation result should be used as the yaw angle deviation of the image capturing apparatus.
Step S125, determining pitch angle deviation of each camera device according to the long shaft and the short shaft;
the pitch angle offset, i.e., the offset of the camera rotation about the Y axis in this embodiment, may be calculated from the major and minor axes of the ellipse corresponding to the image information acquired by the cameraaMinor axis lbThe following relationships exist for the length of (A):
wherein the content of the first and second substances,
the projected length of the major axis in the direction of the Y-axis (i.e. the central axis of the vehicle),
is the projection length of the short axis in the Y-axis direction. Therefore, by calculating the position of the image pickup deviceAnd obtaining the pitch angle deviation of the corresponding camera device according to the ratio of the projection length of the long axis of the ellipse in the vehicle middle axis direction to the projection length of the short axis of the ellipse in the vehicle middle axis direction and the arccosine function value corresponding to the ratio. Similarly, in the actual calculation, a correction parameter may be introduced to correct the arccosine function value to eliminate the error, and the corrected calculation result should be used as the pitch angle deviation of the imaging device.
Step S126, determining a roll angle deviation of each imaging device from the major axis and the minor axis.
The roll angle deviation in the present embodiment is a deviation of the rotation of the imaging device around the X axis. The roll angle deviation can also be calculated by the major axis and the minor axis of the corresponding ellipse in the image information acquired by the camera device. In an alternative embodiment, the roll angle deviation Δ γ of the imaging device and the major axis l of the ellipse to which the imaging device correspondsaMinor axis lbThe following relationships exist for the length of (A):
wherein the content of the first and second substances,
is a long axis laThe projected length on the X-axis (i.e. the lateral axis of the vehicle),
short axis lbLength of projection on the X-axis. Therefore, the roll angle deviation of the corresponding camera device is obtained by calculating the ratio of the projection length of the major axis of the ellipse corresponding to the camera device in the direction of the transverse axis of the vehicle to the projection length of the minor axis of the ellipse in the direction of the transverse axis of the vehicle, and then according to the arccosine function value corresponding to the ratio. It should also be noted that, in the actual calculation, in order to eliminate the error, a correction parameter may be introduced to correct the arccosine function value, and the corrected calculation result should be used as the roll angle deviation of the imaging device.
Through the above processes, the background calibration device 800 can calculate the installation position change information of each camera device, and generate corresponding image adjustment parameters according to the installation position change information. Then, the image adjustment parameters of each camera device are remotely transmitted to the panoramic image system 91, and the panoramic image system 91 adjusts the corresponding camera device according to the image adjustment parameters, so that the image information collected by each camera device can be accurately spliced and a better effect can be achieved.
Fig. 10 is a flowchart illustrating a remote calibration method of a panoramic image system according to another embodiment of the present invention, which can be executed by the background calibration apparatus 800. Referring to fig. 10, in this embodiment, before transmitting the image adjustment parameters to the panoramic image system, the method further includes the following steps:
step S124, adjusting the image information collected by each camera device according to the image adjustment parameters, and displaying a panoramic picture formed by splicing according to the adjusted image information;
and step S128, receiving an operation instruction input by an operator according to the displayed panoramic picture, and updating the image adjusting parameters according to the operation instruction.
The background calibration device 800 processes image data remotely transmitted by the panoramic image system, analyzes the deformation state of the circular pattern in the image information acquired by each camera device to determine the installation position change information of each camera device, and generates the image adjustment parameters of each camera device according to the installation position change information. The background calibration device 800 further adjusts the image information collected by the camera device according to the image adjustment parameters, and forms a panoramic picture by splicing the adjusted image information, and displays the panoramic picture on the screen. In this embodiment, the operator is a background worker, and the background worker determines whether the panoramic image displayed on the screen has a better effect, and if the effect is not good, the background worker may input an operation instruction to the background calibration device 800 to implement the purpose of operating the image information acquired by each camera device, for example, implementing operations such as translation, zoom, and rotation. The background calibration device 800 responds to the operation instruction of the background staff to adjust the image information so that the displayed panoramic image meets the requirements of the background staff, and meanwhile, the background calibration device 800 updates the image adjustment parameters of each camera device correspondingly according to the operation instruction and remotely transmits the updated image adjustment parameters to the panoramic image system 91.
Preferably, after the background staff inputs an operation instruction, so that the panoramic picture presented by the background calibration device 800 meets the requirements, the background staff can input a confirmation instruction to the background calibration device 800, and after the background calibration device 800 receives the confirmation instruction, the updated image adjustment parameters are remotely transmitted to the panoramic image system 81, so that the corresponding camera devices are adjusted according to the updated image adjustment parameters, so that the image information acquired by each camera device can be correctly spliced, and a better splicing effect is achieved.
The remote calibration method of the panoramic image system in the embodiment can automatically calibrate the image information collected by the camera shooting device, the calibrated image information is spliced to form a panoramic picture and is displayed on the background calibration equipment, so that background workers can see the panoramic picture before and after adjustment, and can better manually adjust the presentation effect of the panoramic picture with the assistance of automatic calibration.
It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention.
According to the above-mentioned remote calibration method of the panoramic image system of the present invention, the present invention further provides a remote calibration device of the panoramic image system, and the following describes the remote calibration device of the panoramic image system in detail with reference to the accompanying drawings and preferred embodiments.
Fig. 11 is a schematic structural diagram of a remote calibration apparatus of a panoramic image system according to an embodiment of the present invention. As shown in fig. 11, the remote calibration apparatus of the panoramic image system in this embodiment includes:
the image acquisition module 10 is used for acquiring image data remotely transmitted by the panoramic image system; the image data comprises image information of background patterns collected by all the camera devices in the panoramic image system; the background patterns comprise a plurality of circular patterns, the circle centers of the circular patterns are respectively arranged at the image splicing positions of the camera devices, and the circle centers of the circular patterns are distributed in a rectangular shape;
the image processing module 20 is configured to process image data, analyze a deformation state of a circular pattern in image information acquired by each camera, and determine mounting position change information of each camera;
an adjustment parameter generating module 30, configured to generate image adjustment parameters of each camera device according to the installation position change information;
and the adjustment parameter sending module 40 is configured to remotely transmit the image adjustment parameters to the panoramic image system, so that the panoramic image system adjusts the corresponding camera device according to the image adjustment parameters.
In this embodiment, the calibration of the panoramic image system is already completed before the vehicle leaves the factory, but in the use process of the vehicle, if the installation position of the camera devices changes, the image information collected by the camera devices cannot be correctly spliced, and the use effect is seriously affected. Therefore, in order to ensure the normal use of the panoramic image system, the panoramic image system still needs to be further calibrated. At the moment, the vehicle does not need to be driven to a specified calibration mechanism, the vehicle only needs to be parked on a flat ground, no obvious obstacles exist in a certain range around the vehicle, then a background pattern is drawn in the visual field range of the camera device or a calibration plate drawn with the background pattern is laid, the background pattern comprises a plurality of circular patterns, the circle centers of the circular patterns are required to be respectively arranged at the image splicing positions of the camera devices, the circle centers of the circular patterns are required to be in rectangular distribution, the size of the circular patterns is moderate, and the diameter of the circular patterns has no specific requirements. The image splicing position of each camera device refers to a position where the panoramic image system splices image information collected by each camera device, and the position can be set according to the number of the camera devices in the vehicle and the installation positions of the camera devices. The circle centers of the circular patterns are distributed in a rectangular mode, namely, a rectangle can be formed after the circle centers are connected, namely, each circle center is located on the edge of the rectangle.
After the background pattern is drawn or the calibration board with the background pattern is laid as required, an image acquisition instruction is sent to the panoramic image system, the panoramic image system intercepts image information of the background pattern acquired by each camera device, image data is generated, the image data is accessed to the internet of vehicles through the remote communication module, and the image data is remotely output to the image acquisition module 10. The image obtaining module 10 obtains image data remotely transmitted by the panoramic image system, where the image data includes image information of background patterns collected by each camera in the panoramic image system.
If the installation positions of all the camera devices in the panoramic image system are normal, the image information collected by all the camera devices can be correctly spliced, and all the circular patterns in the formed panoramic picture are in a normal state and cannot be deformed. However, if the circular pattern is deformed, it indicates that the installation position of the camera device has changed, such as axial translation of the installation position, change of the installation angle, and the like, so in this embodiment, the image processing module 20 processes the image data acquired by the image acquisition module 10, and by analyzing the deformation state of the circular pattern in the image information acquired by each camera device, it is able to determine the installation position change information of each camera device, and then the adjustment parameter generation module 30 generates the image adjustment parameter of the corresponding camera device according to the installation position change information of the camera device, where the image adjustment parameter is used to adjust the image information output by the camera device, so that the image information acquired by each camera device can still be correctly spliced. The image adjustment parameters may include a frame displacement amount, a frame scaling, a local frame deformation curvature, and the like.
The adjustment parameter sending module 40 remotely transmits the image adjustment parameters to the panoramic image system, for example, the image adjustment parameters are transmitted to a remote communication module in the vehicle through the internet of vehicles, and the remote communication module sends the image adjustment parameters to the panoramic image system. After the panoramic image system obtains the image adjustment parameters, the corresponding camera devices are adjusted according to the image adjustment parameters, so that the image information acquired by each camera device can be correctly spliced, and the panoramic image presented by the panoramic image system meets the use requirements.
In an alternative embodiment, the mounting position change information of the image pickup device includes an axial displacement, a yaw angle deviation, a pitch angle deviation, and a roll angle deviation of the image pickup device; referring to fig. 12, the image processing module 20 includes:
the ellipse identification module 21 is used for respectively identifying an ellipse arc in the image information acquired by each camera device and calculating the coordinates of the center point, the major axis and the minor axis of an ellipse corresponding to each circular pattern in each image information according to the coordinates of points on the ellipse arc;
an image symmetry axis determining module 22, configured to determine an image symmetry axis of a panoramic image formed by splicing image information acquired by each camera;
the axial displacement determining module 23 is configured to determine axial displacement of each camera according to the center point coordinate and the image symmetry axis;
a yaw angle deviation determining module 24, configured to determine yaw angle deviations of the respective image capturing devices according to the center point coordinates;
a pitch angle deviation determining module 25, configured to determine pitch angle deviations of the respective cameras according to the long axis and the short axis;
and a roll angle deviation determining module 26 for determining the roll angle of each camera according to the major axis and the minor axis.
In an alternative embodiment, still referring to fig. 12, the axial displacement determination module 23 includes:
the first intersection point determining module 231 is configured to determine a first central point connection line according to a central point coordinate of an ellipse in image information acquired by the current camera, and determine a first intersection point between the first central point connection line and an image symmetry axis corresponding to the current camera;
a second intersection point determining module 232, configured to determine a second central point connection line according to center point coordinates of corresponding ellipses in image information acquired by two image capturing devices adjacent to the current image capturing device, and determine a second intersection point between the second central point connection line and an image symmetry axis corresponding to the current image capturing device;
and a distance calculating module 233, configured to calculate a distance between the first intersection and the second intersection, and obtain an axial displacement of the current camera.
In an alternative embodiment, still referring to fig. 12, the yaw angle deviation determination module 24 includes:
a slope calculating module 241, configured to determine, according to the center point coordinates, a slope of a center point connection line of a corresponding ellipse in each image information;
and an arctangent function calculating module 242, configured to obtain a yaw angle of the corresponding camera device according to the arctangent function value corresponding to the slope.
In an alternative embodiment, still referring to fig. 12, the pitch angle offset determination module 25 includes:
a first ratio calculating module 251, configured to calculate a ratio of a projection length of the long axis in the vehicle medial axis direction to a projection length of the short axis in the vehicle medial axis direction;
and a first arccosine function calculating module 252, configured to obtain a pitch angle deviation of the corresponding camera device according to the arccosine function value corresponding to the ratio.
In an alternative embodiment, still referring to FIG. 12, the roll angle deviation determination module 26 includes:
a second ratio calculation module 261, configured to calculate a ratio of a projection length of the long axis in the vehicle lateral axis direction to a projection length of the short axis in the vehicle lateral axis direction;
and a second arccosine function calculating module 262, configured to obtain a roll angle deviation of the corresponding image capturing apparatus according to the arccosine function value corresponding to the ratio.
Fig. 13 is a schematic structural diagram of a remote calibration device of a panoramic image system according to another embodiment of the present invention. As shown in fig. 13, the remote calibration apparatus of the panoramic image system in this embodiment further includes:
the adjusting and displaying module 34 is configured to adjust image information acquired by each camera device according to the image adjusting parameters, and display a panoramic picture formed by splicing according to the adjusted image information;
and the updating module 38 is configured to receive an operation instruction input by an operator according to the displayed panoramic image, and update the image adjustment parameter according to the operation instruction.
The remote calibration device of the panoramic image system can execute the remote calibration device method of the panoramic image system provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. The method for realizing the functions of each functional module in the remote calibration device of each panoramic image system is not repeated here.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A remote calibration method of a panoramic image system is characterized by comprising the following steps:
acquiring image data remotely transmitted by a panoramic image system; the image data comprises image information of background patterns acquired by all the camera devices in the panoramic image system; the background patterns comprise a plurality of circular patterns, the circle centers of the circular patterns are respectively arranged at the image splicing positions of the camera devices, and the circle centers of the circular patterns are distributed in a rectangular shape;
respectively identifying an elliptical arc in the image information acquired by each camera device, and calculating the coordinates of the center point, the major axis and the minor axis of an ellipse corresponding to each circular pattern in each image information according to the coordinates of points on the elliptical arc;
determining an image symmetry axis of a panoramic picture formed by splicing image information collected by the camera devices;
determining the axial displacement of each camera device according to the center point coordinate and the image symmetry axis;
determining the yaw angle deviation of each camera device according to the center point coordinates;
determining pitch angle deviation and roll angle deviation of each camera device according to the long shaft and the short shaft;
generating image adjustment parameters of the camera devices according to the installation position change information of the camera devices; the mounting position change information includes the axial displacement, the yaw angle deviation, the pitch angle deviation, and the roll angle deviation;
and remotely transmitting the image adjustment parameters to the panoramic image system so that the panoramic image system adjusts the corresponding camera device according to the image adjustment parameters.
2. The remote calibration method of the panoramic image system according to claim 1, wherein the image stitching position of each camera device is a diagonal line of the vehicle, the number of the circular patterns is four, the centers of two circular patterns are located on one diagonal line of the vehicle, the centers of the other two circular patterns are located on the other diagonal line of the vehicle, and the distances from the centers of the circular patterns to the central axis of the vehicle are equal.
3. The remote calibration method of the panoramic image system according to claim 1, wherein the process of determining the axial displacement of each camera according to the coordinates of the center point and the symmetry axis of the image comprises the following steps:
determining a first central point connecting line according to the central point coordinate of an ellipse in image information acquired by a current camera device, and determining a first intersection point of the first central point connecting line and an image symmetry axis corresponding to the current camera device;
determining a second central point connecting line according to the central point coordinates of corresponding ellipses in the image information acquired by two image pick-up devices adjacent to the current image pick-up device, and determining a second intersection point of the second central point connecting line and the image symmetry axis corresponding to the current image pick-up device;
and calculating the distance between the first intersection point and the second intersection point to obtain the axial displacement of the current camera device.
4. The method for remotely calibrating a panoramic image system according to claim 1, wherein the step of determining the yaw angle deviation of each camera according to the coordinates of the center point comprises:
determining the slope of the central point connecting line of the corresponding ellipse in each image information according to the central point coordinates;
and obtaining the yaw angle deviation of the corresponding camera device according to the arc tangent function value corresponding to the slope.
5. The method for remotely calibrating a panoramic image system according to claim 1, wherein the step of determining the pitch angle deviation of each camera according to the major axis and the minor axis comprises:
calculating the ratio of the projection length of the long shaft in the direction of the vehicle middle shaft to the projection length of the short shaft in the direction of the vehicle middle shaft;
and obtaining the pitch angle deviation of the corresponding camera device according to the arccosine function value corresponding to the ratio.
6. The method for remotely calibrating a panoramic image system according to claim 1, wherein the step of determining the roll angle deviation of each camera according to the major axis and the minor axis comprises:
calculating the ratio of the projection length of the long shaft in the direction of the transverse axis of the vehicle to the projection length of the short shaft in the direction of the transverse axis of the vehicle;
and obtaining the roll angle deviation of the corresponding camera device according to the arccosine function value corresponding to the ratio.
7. The method for remotely calibrating a panoramic image system according to claim 1, wherein before transmitting the image adjustment parameters to the panoramic image system, the method further comprises:
adjusting the image information acquired by each camera device according to the image adjustment parameters, and displaying a panoramic picture formed by splicing according to the adjusted image information;
and receiving an operation instruction input by an operator according to the displayed panoramic picture, and updating the image adjustment parameters according to the operation instruction.
8. A remote calibration device of a panoramic image system is characterized by comprising:
the image acquisition module is used for acquiring image data remotely transmitted by the panoramic image system; the image data comprises image information of background patterns acquired by all the camera devices in the panoramic image system; the background patterns comprise a plurality of circular patterns, the circle centers of the circular patterns are respectively arranged at the image splicing positions of the camera devices, and the circle centers of the circular patterns are distributed in a rectangular shape;
the ellipse identification module is used for respectively identifying an ellipse arc in the image information acquired by each camera device and calculating the coordinates of the center point, the major axis and the minor axis of an ellipse corresponding to each circular pattern in each image information according to the coordinates of points on the ellipse arc;
the image symmetry axis determining module is used for determining the image symmetry axis of a panoramic picture formed by splicing the image information collected by the camera devices;
the axial displacement determining module is used for determining the axial displacement of each camera device according to the central point coordinate and the image symmetry axis;
the yaw angle deviation determining module is used for determining the yaw angle deviation of each camera device according to the center point coordinates;
the pitch angle deviation determining module is used for determining the pitch angle deviation of each camera device according to the long shaft and the short shaft;
a roll angle deviation determining module for determining the roll angle of each camera device according to the long axis and the short axis;
the adjustment parameter generating module is used for generating image adjustment parameters of the camera devices according to the installation position change information of the camera devices; the mounting position change information includes the axial displacement, the yaw angle deviation, the pitch angle deviation, and the roll angle deviation;
and the adjustment parameter sending module is used for remotely transmitting the image adjustment parameters to the panoramic image system so that the panoramic image system adjusts the corresponding camera device according to the image adjustment parameters.
9. The remote calibration device of the panoramic image system of claim 8, wherein the axial displacement determination module comprises:
the first intersection point determining module is used for determining a first central point connecting line according to the central point coordinates of the ellipse in the image information acquired by the current camera device and determining a first intersection point of the first central point connecting line and the image symmetry axis corresponding to the current camera device;
the second intersection point determining module is used for determining a second central point connecting line according to the central point coordinates of corresponding ellipses in the image information acquired by the two image pick-up devices adjacent to the current image pick-up device and determining a second intersection point of the second central point connecting line and the image symmetry axis corresponding to the current image pick-up device;
and the distance calculation module is used for calculating the distance between the first intersection point and the second intersection point and obtaining the axial displacement of the current camera device.
10. The remote calibration device of the panoramic image system according to claim 8, wherein the yaw angle deviation determination module comprises:
the slope calculation module is used for determining the slope of the central point connecting line of the corresponding ellipse in each image information according to the central point coordinates;
and the arctangent function calculation module is used for obtaining the corresponding yaw angle of the camera device according to the arctangent function value corresponding to the slope.
11. The remote calibration device of the panoramic image system according to claim 8, wherein the pitch angle deviation determination module comprises:
the first ratio calculation module is used for calculating the ratio of the projection length of the long shaft in the direction of the middle shaft of the vehicle to the projection length of the short shaft in the direction of the middle shaft of the vehicle;
and the first inverse cosine function calculation module is used for obtaining the pitch angle deviation of the corresponding camera device according to the inverse cosine function value corresponding to the ratio.
12. The remote calibration device of the panoramic image system of claim 8, wherein the roll angle deviation determination module comprises:
the second ratio calculation module is used for calculating the ratio of the projection length of the long shaft in the direction of the transverse axis of the vehicle to the projection length of the short shaft in the direction of the transverse axis of the vehicle;
and the second inverse cosine function calculation module is used for obtaining the roll angle deviation of the corresponding camera device according to the inverse cosine function value corresponding to the ratio.
13. The remote calibration device for panoramic image system of claim 8, further comprising, before transmitting the image adjustment parameters to the panoramic image system:
the adjustment display module is used for adjusting the image information acquired by each camera device according to the image adjustment parameters and displaying a panoramic picture formed by splicing according to the adjusted image information;
and the updating module is used for receiving an operation instruction input by an operator according to the displayed panoramic picture and updating the image adjusting parameters according to the operation instruction.
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| CN109859278B (en) * | 2019-01-24 | 2023-09-01 | 惠州市德赛西威汽车电子股份有限公司 | Calibration method and calibration system for camera external parameters of vehicle-mounted camera system |
| CN110084859A (en) * | 2019-05-05 | 2019-08-02 | 北京茵沃汽车科技有限公司 | A kind of method full-view image caliberating device after sale and demarcated using the device |
| CN113034604A (en) * | 2019-12-25 | 2021-06-25 | 南京极智嘉机器人有限公司 | Calibration system and method and self-guided robot |
| CN112801874B (en) * | 2021-02-03 | 2024-04-05 | 广州六环信息科技有限公司 | Vehicle image stitching method and device and vehicle |
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