CN106780630A - Demarcate panel assembly, vehicle-mounted camera scaling method and device, system - Google Patents

Demarcate panel assembly, vehicle-mounted camera scaling method and device, system Download PDF

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Publication number
CN106780630A
CN106780630A CN201710014740.4A CN201710014740A CN106780630A CN 106780630 A CN106780630 A CN 106780630A CN 201710014740 A CN201710014740 A CN 201710014740A CN 106780630 A CN106780630 A CN 106780630A
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CN
China
Prior art keywords
camera
vehicle
group
image
scaling board
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Withdrawn
Application number
CN201710014740.4A
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Chinese (zh)
Inventor
孙亚锋
陈勤松
余旭根
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Shanghai Business Information System Co Ltd
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Shanghai Business Information System Co Ltd
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Priority to CN201710014740.4A priority Critical patent/CN106780630A/en
Publication of CN106780630A publication Critical patent/CN106780630A/en
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Abstract

One kind demarcation panel assembly, vehicle-mounted camera scaling method and device, system, the demarcation panel assembly, including：It is arranged at the Second Type scaling board of the visual field overlapping region of adjacent camera in vehicle-mounted panoramic camera；The Second Type scaling board includes：Second calibration substrate, the upper surface covering of second calibration substrate is provided with the second demarcation region；The image angle point of default first quantity is provided with the second demarcation region, is corrected for the initial outward parameter to corresponding vehicle-mounted panoramic camera.Above-mentioned scheme, can improve the accuracy of vehicle-mounted panoramic camera calibration.

Description

Demarcate panel assembly, vehicle-mounted camera scaling method and device, system
Technical field
The present invention relates to technical field of automotive electronics, more particularly to a kind of demarcation panel assembly, vehicle-mounted camera scaling method And device, system.
Background technology
Scaling board (Calibration Target), should in machine vision, image measurement, photogrammetric, three-dimensional reconstruction etc. In, can be used for correcting the lens distortion of camera.Plane reference plate because having the advantages that good portability, in the ginseng of camera Number is widely used in demarcating.
When carrying out camera parameter calibration using plane reference plate, the world coordinates of the characteristic point by demarcating in plate surface The correlation between position and its position in image coordinate system in system, can set up corresponding imaging geometry model, So as to obtain high-precision measurement and reconstructed results.
But, in the prior art when the calibrating external parameters of vehicle-mounted panoramic camera are carried out, exist stated accuracy compared with Low and inefficiency problem.
The content of the invention
Present invention solves the technical problem that being the accuracy and efficiency for how improving vehicle-mounted panoramic camera calibration.
In order to solve the above technical problems, the embodiment of the invention provides a kind of demarcation panel assembly, described device includes：Set The Second Type scaling board of the visual field overlapping region of adjacent camera in vehicle-mounted panoramic camera；The Second Type scaling board Including：Second calibration substrate, the upper surface covering of second calibration substrate is provided with the second demarcation region；Described second demarcates The image angle point of default first quantity is provided with region, is entered for the initial outward parameter to corresponding vehicle-mounted panoramic camera Row correction.
Alternatively, the second demarcation region includes the first ring-type background area, the second ring-type that set gradually from outside to inside Background area and the 3rd background area；The contrast difference of the second ring-type background area and the first ring-type background area and the 3rd background area More than default contrast threshold；The image angle point of default first quantity be arranged on the first ring-type background area with it is described On the boundary line of the second ring-type background area.
Alternatively, the boundary line of the first ring-type background area, the boundary line of the second ring-type background area are respectively square Shape, the 3rd background area is rectangle or circle.
Alternatively, the image angle point of default first quantity, is the first ring-type background area and second ring-type Four summits of the rectangle that the boundary line of background area is constituted.
Alternatively, the demarcation panel assembly also includes first kind scaling board, and the first kind scaling board includes first Calibration substrate, the upper surface of first calibration substrate is provided with the first demarcation region and positioning region；Described first demarcates area The mark round dot of default second quantity is provided with domain, is suitable to enter rower to the initial outward parameter of the vehicle-mounted panoramic camera It is fixed；The positioning region, is adapted to determine that the first kind scaling board putting in corresponding vehicle-mounted panoramic camera visual field Position.
Alternatively, the first demarcation region includes that first scaling board includes background area and frame；The frame sets Put in the periphery of the background area, the mark round dot of second quantity is arranged on the background area, and the background area with There is contrast respectively more than the edge boundary of predetermined threshold value between the frame and the mark round dot of second quantity；Institute Edge boundary of the mark round dot with the background area contrast more than the predetermined threshold value is stated, and the mark of second quantity is justified Put into array distribution.
Alternatively, the positioning region, including the scale set along the edge in the first calibration substrate upper surface Line, and the graduation mark is parallel with the two of which side of the background area that described first demarcates region.
The embodiment of the present invention additionally provides a kind of vehicle-mounted camera scaling method, is suitable for use with above-mentioned demarcation panel assembly pair The external parameter of vehicle-mounted panoramic camera is demarcated, and the Second Type scaling board is placed in the ground of vehicle-surroundings and positioned at phase The visual field overlapping region of adjacent vehicle-mounted panoramic camera；The scaling method includes：The vehicle-mounted panoramic camera is obtained to shoot The Second Type scaling board image for arriving；Based on the Second Type scaling board image that shooting is obtained, corresponding vehicle-mounted panoramic is imaged The initial outward parameter of head is corrected.
Alternatively, the vehicle-mounted panoramic camera includes being arranged on the front camera of the vehicle front side, the vehicle The left side camera of the rear camera of rear side, the vehicle left side, and the vehicle right side right side camera；Described Two type scaling boards are placed in the vehicle-surroundings and are located at the front camera, the rear camera, the left side respectively The visual field overlapping region of adjacent vehicle-mounted panoramic camera in camera and the right side camera.
Alternatively, using the front camera and rear camera as first group of camera, by the left side camera With the right side camera as second group of camera, the Second Type scaling board image obtained based on shooting, to corresponding The initial outward parameter of vehicle-mounted panoramic camera be corrected, including：From first group of camera and second group of camera Identify the image angle point of default first quantity in first group of shooting respectively in the Second Type scaling board image that middle shooting is obtained The position coordinates in position coordinates and second group of image coordinate system of camera in the image coordinate system of head；Using described first The external parameter of group camera, the image angle point of default first quantity that will identify that is in first group of image coordinate system of camera In position coordinates change to world coordinate system, obtain the generation of the image angle point in first group of camera of default first quantity Position coordinates in boundary's coordinate system；Joined based on multigroup initial calibration corresponding with the initial outward parameter of second group of camera Number, by position coordinates difference of the image angle point of default first quantity in the world coordinate system of first group of camera Project to the image coordinate system of second group of camera, obtain default first quantity corresponding with each group initial calibration parameter Position coordinates of the image angle point in second group of image coordinate system of camera；Multigroup initial calibration parameter is using default Step-length is iterated to the initial outward parameter of second group of camera and obtains；Each group initial calibration parameter correspondence is calculated respectively Default first quantity position coordinates of the image angle point in the image coordinate system of second group of camera, with corresponding figure Euclidean distance between position coordinates of the image angle point in the image coordinate system of second group of camera；To be calculated most The corresponding one group of initial calibration parameter of small Euclidean distance, as the external parameter of second group of camera.
Alternatively, the panel assembly of demarcating also includes being placed in the of predeterminable area in the visual field of corresponding vehicle-mounted panoramic camera One type scaling board；The scaling method also includes：The first kind scaling board image obtained using shooting, demarcation obtains corresponding The initial outward parameter of vehicle-mounted panoramic camera.
Alternatively, the corresponding first kind scaling board image obtained using shooting, demarcation obtains corresponding vehicle-mounted complete The initial outward parameter of scape camera, including：Obtain corresponding vehicle-mounted panoramic camera and shoot the first kind scaling board figure for obtaining Picture；Identify that the mark round dot of default second quantity is taken the photograph in corresponding vehicle-mounted panoramic from corresponding first kind scaling board image As the position coordinates in the image coordinate system of head；The mark circle of default second quantity in based on corresponding first kind scaling board The mark round dot of default second quantity that position coordinates of the point in world coordinate system is obtained with identification is in corresponding vehicle-mounted panoramic Position coordinates in the image coordinate system of camera, it is determined that the initial outward parameter of corresponding vehicle-mounted panoramic camera.
The embodiment of the present invention additionally provides a kind of vehicle-mounted camera caliberating device, is suitable for use with above-mentioned demarcation panel assembly pair The external parameter of vehicle-mounted panoramic camera is demarcated, and the Second Type scaling board is placed in the ground of vehicle-surroundings and positioned at phase The visual field overlapping region of adjacent vehicle-mounted panoramic camera；The caliberating device includes：Acquiring unit, is suitable to obtain the vehicle-mounted panoramic Camera shoots the Second Type scaling board image for obtaining；Correction unit, is suitable to the Second Type scaling board obtained based on shooting Image, the initial outward parameter to corresponding vehicle-mounted panoramic camera is corrected.
Alternatively, the vehicle-mounted panoramic camera includes being arranged on the front camera of the vehicle front side, the vehicle The left side camera of the rear camera of rear side, the vehicle left side, and the vehicle right side right side camera；Described Two type scaling boards are placed in the vehicle-surroundings and are located at the front camera, the rear camera, the left side respectively The visual field overlapping region of adjacent vehicle-mounted panoramic camera in camera and the right side camera.
Alternatively, using the front camera and rear camera as first group of camera, by the left side camera With the right side camera as second group of camera；The correction unit, is suitable to from first group of camera and second group Being shot in camera identify the image angle point of default first quantity first respectively in the Second Type scaling board image for obtaining The position coordinates in position coordinates and second group of image coordinate system of camera in the image coordinate system of group camera；Using institute First group of external parameter of camera is stated, the image angle point of default first quantity that will identify that is in first group of image of camera Position coordinates in coordinate system is changed to world coordinate system, obtains the image angle point of default first quantity in first group of shooting Position coordinates in the world coordinate system of head；Based on corresponding with the initial outward parameter of second group of camera multigroup initial Correction parameter, position of the image angle point of default first quantity in the world coordinate system of first group of camera is sat Mark is projected to the image coordinate system of second group of camera respectively, obtains corresponding with each group initial calibration parameter default first Position coordinates of the image angle point of quantity in second group of image coordinate system of camera；Multigroup initial calibration parameter is to adopt The initial outward parameter of second group of camera is iterated with default step-length is obtained；Each group initial calibration ginseng is calculated respectively Position coordinates of the image angle points of corresponding default first quantity of number in the image coordinate system of second group of camera, it is and right Euclidean distance between position coordinates of the image angle point answered in the image coordinate system of second group of camera；To calculate The corresponding one group of initial calibration parameter of minimum Eustachian distance for arriving, as the external parameter of second group of camera.
Alternatively, the panel assembly of demarcating also includes being placed in the of predeterminable area in the visual field of corresponding vehicle-mounted panoramic camera One type scaling board；The caliberating device also includes：Unit is demarcated, is suitable for use with shooting the first kind scaling board figure for obtaining Picture, demarcation obtains the initial outward parameter of corresponding vehicle-mounted panoramic camera.
Alternatively, the demarcation unit, is suitable to obtain the first kind demarcation that corresponding vehicle-mounted panoramic camera shooting is obtained Plate image；Identify the mark round dot of default second quantity corresponding vehicle-mounted complete from corresponding first kind scaling board image Position coordinates in the image coordinate system of scape camera；The mark of default second quantity in based on corresponding first kind scaling board The mark round dot of default second quantity that position coordinates of the will round dot in world coordinate system is obtained with identification is corresponding vehicle-mounted Position coordinates in the image coordinate system of full-view camera, it is determined that the initial outward parameter of corresponding vehicle-mounted panoramic camera.
The embodiment of the present invention additionally provides a kind of vehicle-mounted panoramic camera calibration system, and the system includes above-mentioned demarcation Panel assembly and above-mentioned vehicle-mounted camera caliberating device.
Compared with prior art, the technical scheme of the embodiment of the present invention has the advantages that：
Above-mentioned scheme, the image in the Second Type scaling board image for obtaining is shot using adjacent vehicle-mounted panoramic camera The characteristic of location overlap of the angle point in image coordinate system, the initial outward parameter to second group of camera is corrected, with When carrying out image mosaic, it is possible to achieve the nothing of corresponding first group of camera and second group of camera in visual field overlapping region image Seam splicing, thus the accuracy of vehicle-mounted panoramic camera parameter calibration can be improved；Meanwhile, even if the position of Second Type scaling board Put has certain deviation with default putting position, can avoid the putting position of scaling board for the interference of stated accuracy, Reduce the complexity of calibration process.
Further, when Second Type scaling board is put, it is only necessary to which Second Type scaling board is placed into adjacent taking the photograph respectively As the visual field overlapping region of head, and without being accurately positioned to Second Type scaling board putting position, people can be saved The time of work calibration, reduce artificial expense.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of the vehicle-mounted panoramic camera calibration system in the embodiment of the present invention；
Fig. 2 is that one kind of Second Type demarcation in the vehicle-mounted panoramic camera calibration system in the embodiment of the present invention puts position Put schematic diagram；
Fig. 3 is that the another kind of Second Type demarcation in the vehicle-mounted panoramic camera calibration system in the embodiment of the present invention is put Position view；
Fig. 4 is that another that Second Type is demarcated in the vehicle-mounted panoramic camera calibration system in the embodiment of the present invention is put Position view；
Fig. 5 is a kind of structural representation of the Second Type scaling board in the embodiment of the present invention；
Fig. 6 is the structural representation of another Second Type scaling board in the embodiment of the present invention；
Fig. 7 is a kind of initial outward parameter of the use Second Type scaling board in the embodiment of the present invention to vehicle-mounted camera The flow chart of the method being corrected；
Fig. 8 is the flow chart of another vehicle-mounted camera scaling method in the embodiment of the present invention；
Fig. 9 is the schematic diagram of another vehicle-mounted camera calibration system in the embodiment of the present invention；
Figure 10 is a kind of structural representation of first kind scaling board in the embodiment of the present invention；
Figure 11 is that the graduation mark on a kind of use first kind scaling board in the embodiment of the present invention coordinates true with plumb line The schematic diagram of fixed first kind scaling board putting position；
Figure 12 is that the another kind in the embodiment of the present invention uses first kind scaling board to corresponding vehicle-mounted panoramic camera The flow chart of the method that initial outward parameter is demarcated；
Figure 13 is a kind of structural representation of the vehicle-mounted camera caliberating device in the embodiment of the present invention.
Specific embodiment
Above-mentioned to solve the problems, such as, the technical scheme in the embodiment of the present invention is shot by adjacent vehicle-mounted panoramic camera To Second Type scaling board image in the alive boundary's coordinate system of image angle point in location overlap characteristic, to second group of shooting The initial outward parameter of head is corrected, with when image mosaic is carried out, it is possible to achieve corresponding first group of camera and second Group camera can improve the accurate of vehicle-mounted panoramic camera parameter calibration in the seamless spliced of visual field overlapping region image Property；Meanwhile, even if the position of Second Type scaling board has certain deviation with default putting position, scaling board can be avoided Interference of the putting position for stated accuracy, reduce calibration process complexity.
It is understandable to enable above-mentioned purpose of the invention, feature and beneficial effect to become apparent, below in conjunction with the accompanying drawings to this The specific embodiment of invention is described in detail.
In order to make it easy to understand, will do further detailed to the vehicle-mounted panoramic camera calibration system in the embodiment of the present invention below Thin introduction.
Referring to Fig. 1 to Fig. 2, a kind of vehicle-mounted panoramic camera calibration system in the embodiment of the present invention can include demarcating Panel assembly and vehicle-mounted camera caliberating device (not shown).Wherein, demarcating panel assembly includes being respectively provided with and vehicle-mounted panoramic The Second Type scaling board of the visual field overlapping region of adjacent camera in camera.
In an embodiment of the present invention, when the panoramic picture to vehicle-surroundings is acquired and splices, on vehicle Be provided be acquired for the forward image to vehicle front camera 101, adopted for the rear images to vehicle The rear camera 102 of collection, the left side camera 103 for being acquired to vehicle left side image, and for vehicle The right side camera 104 that image right is acquired.Wherein, front camera 101, rear camera 102, left side camera 103 and right side camera 104 in the visual field of adjacent camera there is corresponding overlapping region, to ensure that vehicle-mounted panoramic camera can With the panoramic picture around the vehicle body for photographing covering vehicle, so as to avoid the occurrence of visual field blind area.
In an embodiment of the present invention, demarcating panel assembly includes that front camera 101, rear camera 102, left side are imaged First 103 and right side camera 104 in adjacent camera visual field overlapping region Second Type scaling board 105a~105d.Specifically For, Second Type scaling board 105a is arranged on the visual field overlapping region 0V1 of front camera 101 and left side camera 103, the Two type scaling board 105b are arranged on visual field overlapping region 0V2, the Second Type of left side camera 103 and rear camera 102 Scaling board 105c is arranged on the visual field overlapping region 0V3 of rear camera 102 and right side camera 104, Second Type scaling board 105d is arranged on the visual field overlapping region 0V4 of right side camera 104 and front camera 101.
In specific implementation, the Second Type scaling board 105a~105d in the embodiment of the present invention is regarded adjacent camera Putting position in the overlapping region of field can be with unrestricted, as long as corresponding Second Type scaling board is placed in into vehicle respectively Front camera 101, rear camera 102, left side camera 103 and in right side camera 104 adjacent camera visual field weight Folded region so that front camera 101, rear camera 102, left side camera 103 and right side camera 104 can be adopted respectively Collect the corresponding Second Type scaling board images of image 105a~105d of Second Type scaling board, such as Fig. 3 and Fig. 4, because The putting position of Second Type scaling board 105a~105d is unrestricted, can save due to putting Second Type scaling board 105a Time spent by~105d, thus prover time can be reduced, reduce artificial expense.
Referring to Fig. 5, the Second Type scaling board in the embodiment of the present invention includes the second calibration substrate 501, is demarcated second Covering is provided with the second demarcation region 502 on substrate 501, and the image of default first quantity is provided with the second demarcation region 502 Angle point.Wherein, the image angle point of the first predetermined number for being set on the second demarcation region 502 can be carried out according to the need for identification Set, the present invention is not limited herein.
In order to the position to the 502 image angle points for setting on the second demarcation region accurately identifies, image angle point is improved Accuracy of identification, in an embodiment of the present invention, the second demarcation region 502 includes the first ring for setting gradually from outside to inside Shape background area 502a, the second ring-type background area 502b and the 3rd background area 502c.Wherein, the second ring-type background area 502b with The contrast of the first ring-type background area 502a and the 3rd background area 502c is respectively greater than default contrast threshold, such as by the first ring Shape background area 502a is set to white, and the second ring-type background area 502b is set to black, and the 3rd background area 502c is white, or First ring-type background area 502a is set to black, the second ring-type background area 502b is set to white, and the 3rd background area 502c is Black etc.；The image angle point 502d of default first quantity is arranged on the first ring-type background area 502a with second ring On the boundary line of shape background area 502b.
In an embodiment of the present invention, the boundary line of the first ring-type background area 502a, the second ring-type background area The boundary line of 502b and the 3rd background area 502c are rectangle；The image angle point 502d of default first quantity, is institute State the rectangle that the first ring-type background area 502a is constituted with the boundary line of the second ring-type background area 502b four summit A, B、C、D。
Example is applied the present invention is another, the 3rd ring-type background area 502c may be arranged as circle, specifically refer to Fig. 6.
Certainly, it will be appreciated by those ordinary people skilled in the art that the shape of the first ring-type background area can also basis It is configured the need for reality, is such as provided in round the outer peripheral edge of the first ring-type background area, is not limited herein.
Using the Second Type scaling board of the nested structure described in Fig. 5 and Fig. 6, the Second Type mark that can be obtained in shooting When three corresponding circular or square background area is identified in fixed board image, the figure of Second Type scaling board can be defined as Picture, can effectively exclude interference of other objects for Second Type scaling board, thus can improve initial outward parameter calibration Accuracy.Meanwhile, even if the position of Second Type scaling board has certain deviation with default putting position, it is also possible to keep away Exempt from the interference of the stated accuracy of the putting position for initial outward parameter of Second Type scaling board, reduce initial outward parameter The complexity of trimming process.
In specific implementation, when Second Type scaling board 105a~105d is placed into front camera 101, rearmounted respectively Camera 102, left side camera 103 and in right side camera 104 in the visual field overlapping region of adjacent camera when, just can control Make corresponding Second Type scaling board image in corresponding vehicle-mounted panoramic camera collection Second Type scaling board 105a~105d It is acquired, and the Second Type uncalibrated image for obtaining is shot based on corresponding vehicle-mounted panoramic camera, to corresponding vehicle-mounted panoramic The external parameter of camera is demarcated.
Referring to Fig. 7, a kind of vehicle-mounted camera scaling method in the embodiment of the present invention is suitable to image corresponding vehicle-mounted panoramic The initial outward parameter of head is corrected, and can specifically include the steps：
Step S701：Obtain the vehicle-mounted panoramic camera and shoot the Second Type scaling board image for obtaining.
In specific implementation, the Second Type scaling board figure that the vehicle-mounted panoramic camera that field of view portion is overlapped is collected Picture, is the image of the Second Type scaling board of the visual field overlapping region for being arranged on the two.
Step S702：Based on the Second Type scaling board image that shooting is obtained, to the first of corresponding vehicle-mounted panoramic camera Beginning external parameter is corrected.
In specific implementation, it is arranged on the Second Type scaling board of the visual field overlapping region of adjacent vehicle-mounted panoramic camera The image angle point of setting can be mapped in corresponding adjacent vehicle-mounted panoramic camera simultaneously, thus can be using while being mapped to The position relationship of the corresponding image angle point in Second Type scaling board image in adjacent vehicle-mounted panoramic camera, just can be right The initial outward parameter of corresponding vehicle-mounted prospect camera is corrected, and specifically refers to Fig. 8.
Referring to Fig. 8, using front camera and rear camera as first group of camera, left side camera and right side are taken the photograph As head is used as second group of camera, using first group of initial outward parameter of camera as first group of external parameter of camera, Initial outward parameter to second group of camera is corrected, and can specifically include the steps：
Step S801：From the Second Type scaling board image that first group of camera and second group of camera shooting are obtained In, position coordinates and of the image angle point of default first quantity in first group of image coordinate system of camera are identified respectively Position coordinates in two groups of image coordinate systems of camera.
In specific implementation, in adjacent vehicle-mounted panoramic camera, phase in first group of camera group and second camera group The image that adjacent camera can be pointed to the Second Type scaling board of the two visual field overlapping region setting is acquired.
Specifically, the front camera in first group of camera group can be pointed to simultaneously with second camera group in Left side camera visual field overlapping region in set Second Type scaling board image, and with second camera group in The image of the Second Type scaling board set in the visual field overlapping region of right side camera is acquired；In first group of camera group Rear camera can be to the Equations of The Second Kind that is arranged in the visual field overlapping region with the left side camera in second camera group The image of type scaling board, and to be arranged in the visual field overlapping region with the right side camera in second camera group second The image of type scaling board is acquired；Left side camera in second camera group can be to being arranged on and first group of camera The image of the Second Type scaling board in the visual field overlapping region of the front camera in group, and be arranged on and first group of shooting The image of the Second Type scaling board set in the visual field overlapping region of the rear camera in head group is acquired；Second shooting Right side camera in head group can be to being arranged in the visual field overlapping region with the front camera in first group of camera group Second Type scaling board image, and be arranged on the visual field overlapping region with the rear camera in first group of camera group In the image of Second Type scaling board be acquired.
When shot by corresponding vehicle-mounted panoramic camera obtain corresponding Second Type scaling board image when, just can be from Corresponding vehicle-mounted panoramic camera gets the image of corresponding Second Type scaling board, it is possible to then respectively from corresponding car Identify the image angle point of default first quantity corresponding in the Second Type scaling board image that load full-view camera is collected Position coordinates in the image coordinate system of vehicle-mounted panoramic camera.Wherein, the image angle in Second Type scaling board image During the identification of point, can be carried out using image recognition technology of the prior art, be not limited herein.
Step S802：Using the external parameter of first group of camera, the image of default first quantity that will identify that Position coordinates of the angle point in first group of image coordinate system of camera is changed to world coordinate system, obtains default first quantity Position coordinates of the image angle point in the world coordinate system of first group of camera.
In specific implementation, when the image angle point for obtaining presetting the first quantity is respectively in first group of image coordinate of camera During position coordinates in system, can default first quantity image angle point from the image coordinate system of first group of camera project to In first group of world coordinate system of camera.Wherein, first group of external parameter of camera, reflects first group of figure of camera As the transformation relation between coordinate system and first group of world coordinate system of camera, will default first quantity image angle point from the The image coordinate system of one group of camera is projected into first group of world coordinate system of camera, that is to say using first group of camera External parameter will default first quantity image angle point position coordinates from the image coordinate system of first group of camera project to In first group of world coordinate system of camera.
For example, when the Second Type scaling board shown in Fig. 5 or Fig. 6 is used, when Second Type scaling board includes 4 figures Image angle point, now, first group of camera can respectively be recognized from two Second Type scaling board images taken by itself Go out position coordinates of 4 image angle points in first group of image coordinate system of camera, namely respectively from second group of camera In left side camera and right side camera visual field overlapping region Second Type scaling board image in respectively identify 4 figures Position coordinates of the image angle o'clock in first group of image coordinate system of camera, namely 8 image angle points are taken the photograph at first group altogether As the position coordinates in the image coordinate system of head.
Step S803：Based on multigroup initial calibration parameter corresponding with the initial outward parameter of second group of camera, Position coordinates of the image angle point of default first quantity in the world coordinate system of first group of camera is thrown respectively Shadow obtains the figure of second group of camera corresponding with each group initial calibration parameter to the image coordinate system of second group of camera As the position coordinates in coordinate system.
In specific implementation, by batch demarcation or the initial outward of other modes second group of camera obtained by calibrating Parameter generally may realize having necessarily between seamless spliced true external parameter in panoramic mosaic with second group of camera Deviation, but this deviation is also unlikely to excessive simultaneously.Therefore, it can from being with the initial outward parameter of second group of camera In multigroup initial calibration parameter of the heart, search out and cause outside ginseng immediate with the true external parameter of second group of camera Number, namely optimal initial calibration parameter, as second group of external parameter of camera.
In an embodiment of the present invention, in the optimal initial calibration parameter of second group of camera of searching, namely it is somebody's turn to do During the external parameter of second group of camera, the initial outward parameter of second group of camera can be carried out with default step-length first Iteration, obtains corresponding multigroup initial calibration parameter.Then, multigroup initial calibration parameter for being obtained using iteration and including vehicle body The vehicle parameter of length and width etc., by the image angle point of predetermined number, such as 8 image angle points, in first group of generation of camera Position coordinates in boundary's coordinate system is projected to the image of second group of camera corresponding with the initial calibration parameter of respective sets respectively In coordinate system, so as to obtain the image angle point of default first quantity corresponding with each group initial calibration parameter in second group of camera Image coordinate system in position coordinates.
Step S804：The image angle point of corresponding default first quantity of each group initial calibration parameter is calculated respectively described the Position coordinates in two groups of image coordinate systems of camera, the corresponding image angle point obtained with identification is in second group of shooting The Euclidean distance between position coordinates in the image coordinate system of head.
In specific implementation, Euclidean distance reflects the actual distance between two coordinate points in space coordinates, when Euclidean distance is got over hour, the real external parameter of corresponding initial calibration parameter and second group of camera closer to.Therefore, may be used With according to the image angle point of corresponding default first quantity of each group initial calibration parameter in second group of image coordinate of camera Position coordinates in system, between position coordinates of the corresponding image angle point in second group of image coordinate system of camera Euclidean distance, weighs to the degree of closeness between each group initial calibration parameter and second group of true external parameter of camera Amount, such that it is able to search out optimal initial calibration parameter from corresponding multigroup initial calibration parameter.
Step S805：The corresponding one group of initial calibration parameter of minimum Eustachian distance that will be calculated, as described second The external parameter of group camera.
In specific implementation, when one group of initial calibration parameter is compared with other initial calibration organized parameters, corresponding Euclidean When distance is smaller, show that this group of initial calibration parameter is closest with the true external parameter of second group of camera, namely This group of initial calibration parameter is the optimal initial calibration parameter in corresponding multigroup initial calibration parameter, can be by the initial school of the group Positive parameter is used as second group of external parameter of camera.
In an embodiment of the present invention, in the embodiment shown in fig. 8, using front camera and rear camera as The reason for one group of camera, and using left side camera and right side camera as second group of camera, so operation is, accordingly The Second Type scaling board of setting, first group of distance of camera of distance is smaller compared with second group of distance of camera of distance, So that the image that first group of camera shoots the Second Type scaling board for obtaining is more clear, and then cause in follow-up figure The image angle point of default first quantity in Second Type scaling board image can be exactly identified during as identification, such that it is able to Raising carries out the accuracy of external parameter obtained by calibrating using Second Type scaling board to second group of camera.
Certainly, it will be appreciated by those skilled in the art that, according to the actual needs, it is also possible to by left side camera and Right side camera respectively as first group of camera, and using front camera and rear camera as second group of camera, this Invention is not limited herein.
The above-mentioned initial outward parameter with corresponding vehicle-mounted panoramic camera is, it is known that initial outer such as vehicle-mounted panoramic camera Premised on portion's parameter has determined in vehicle release by way of batch is demarcated, to how to use Second Type scaling board pair The process that the initial outward parameter of corresponding vehicle-mounted panoramic camera is corrected is described in detail.
In an embodiment of the present invention, panel assembly is demarcated in addition to including Second Type scaling board, can also be arranged on First kind scaling board below corresponding vehicle-mounted panoramic camera, obtain first is shot with corresponding vehicle-mounted panoramic camera The image of type scaling board, demarcation obtains the initial outward parameter of each vehicle-mounted panoramic camera.
Referring to Fig. 9, and unlike the vehicle-mounted panoramic camera calibration system shown in Fig. 1 to Fig. 4, in the embodiment of the present invention Another vehicle-mounted panoramic camera calibration system in, demarcate panel assembly in addition to including Second Type scaling board, also include The first kind scaling board below corresponding vehicle-mounted panoramic camera is arranged on, with the initial outward parameter to vehicle-mounted panoramic camera Demarcated.
Specifically, when vehicle-mounted panoramic camera includes front camera 101, rear camera 102, left side camera 103 During with right side camera 104, the Second Type scaling board demarcated in panel assembly includes being arranged on the of the lower section of front camera 101 One type scaling board 106a, is arranged on the first kind scaling board 106b of the lower section of rear camera 102, is arranged on left side shooting The first kind scaling board 106c of first 103 lower section, and the first kind scaling board for being arranged on the lower section of right side camera 104 106d。
Referring to Figure 10, a kind of first kind scaling board in the embodiment of the present invention can include the first calibration substrate 1001, And it is arranged on the first demarcation region 1002 on the upper surface of the first calibration substrate 1001.
In specific implementation, the shape and material of first calibration substrate 1001 can be configured according to actual. For example, first calibration substrate 1001 is rectangle, and it is made of highly dense cloth material.
In specific implementation, the first demarcation region 1002 is arranged on the upper surface of the first calibration substrate 1001, including the back of the body Scenic spot 1002a, frame 1002b and the multiple mark round dot 1002c being arranged on the background area 1002a.In the present invention one In embodiment, background area 1002a is rectangular area, and frame 1002b is arranged on the periphery of background area 1002a, multiple mark round dot 1002c is arranged on background area 1002a, and is in array distribution on background area 1002a.
In an embodiment of the present invention, in order to identify background area 1002a exactly from first kind scaling board image Multiple mark round dot 1002c of upper distribution, can be to background area 1002a, frame 1002b and the face of multiple mark round dot 1002c Color is adaptively set.In an embodiment of the present invention, in order to improve contrast, frame 1002b, mark round dot 1002c There is contrast also greater than the edge boundary of predetermined threshold value with background area 1002a respectively.For example, background area 1002a is set to Black, frame 1002b and mark round dot 1002c are disposed as white, or, background area 1002a is set to white, frame 1002b and mark round dot 1002c are disposed as black etc..
In specific implementation, the width of frame 1002b can be configured according to the actual needs, namely flexibly set vertical To width d1 and the size of transverse width d2.In an embodiment of the present invention, the need for for image recognition, by longitudinally wide d1 50mm is set to, transverse width d2 is set to 40mm.
In specific implementation, the size and number of the mark round dot 1002c being distributed on background area 1002a can be according to figures As being set the need for identification.For example, in order to the background area 1002a being arranged in the first demarcation region 1002 is recognized accurately The mark round dot 1002c of upper distribution, can will indicate that the radius of round dot 1002c is arranged between 80mm~150mm, such as 1000mm；The number of mark round dot 1002c is 15, and into the array distribution of 5*3 on background area 1002a.
In specific implementation, in order to first kind scaling board 1000 is rapidly and accurately placed into corresponding vehicle-mounted panoramic shooting Predetermined position below head, to improve the accuracy of vehicle-mounted panoramic camera external parameter demarcation, in the first calibration substrate Positioning region 1003 is set on the region outside the first demarcation region 1002 on 1001 upper surface.In one embodiment of the invention In, the positioning region 1003 includes being arranged on the graduation mark outside the first demarcation region 1002, the graduation mark and background area Two parallel edges of 1002a be arranged in parallel.Wherein, the graduation mark is relative with two parallel edges of the 1002a of background area Distance can be configured according to the actual needs.
By the graduation mark on the first calibration substrate 1001, operating personnel can adopt manually, by graduation mark Zeromark alignd with the axis of corresponding camera, or, on first kind scaling board set graduation mark can be with vehicle Two plumb lines of respective side edge coordinate, accurately to determine the putting position of first kind scaling board.
Referring to Figure 11, for rear camera, the graduation mark and vehicle corresponding side set on first kind scaling board Two plumb lines 1004 on side coordinate to determine the putting position of first kind scaling board 1000.Specifically, demarcation is being used When plate 100 is demarcated to the initial outward parameter of vehicle-mounted panoramic camera, the putting position of first kind scaling board 1000 makes Two plumb lines 1004 are obtained to be respectively directed on graduation mark during on two symmetrical predetermined graduated values of zero point, that is, be considered as the first kind Scaling board 1000 has been placed at correct position.Below rear camera, left side camera and right side camera first Calibration substrate 1001 can also be adopted and be placed into corresponding predetermined position in manner just described.
Certainly, putting position of the first kind scaling board below corresponding vehicle-mounted panoramic camera can be with default position Put with certain deviation, the axis of such as corresponding vehicle-mounted panoramic camera can deviate with the zeromark on graduation mark 15cm, namely the scale in the range of the ± 15cm on graduation mark is pointed to, the axial direction of vehicle-mounted panoramic camera can be with graduation mark Between angle deviation ± 1.5 °, be accordingly to be regarded as first kind scaling board and be placed into default position, namely put in above-mentioned position First kind scaling board
When the field of view center that the first kind scaling board demarcated in panel assembly is placed into correspondence vehicle-mounted panoramic camera During region, just corresponding first kind scaling board image calibration can be obtained by the camera shooting of correspondence vehicle-mounted panoramic and obtain right Answer the initial outward parameter of vehicle-mounted panoramic camera.
Referring to Figure 12, a kind of initial outward parameter calibration method of the vehicle-mounted panoramic camera in the embodiment of the present invention is fitted The initial outward parameter of vehicle-mounted panoramic camera is demarcated in using the first kind scaling board demarcated in panel assembly, specifically The steps can be included：
Step S1201：Obtain corresponding vehicle-mounted panoramic camera and shoot the first kind scaling board image for obtaining.
In specific implementation, when Panorama Mosaic is carried out, on vehicle set front camera, rear camera, Be acquired for image respectively to the first kind scaling board of respective lower section by left side camera and right side camera, obtains correspondence First kind scaling board image.
Step S1202：Identify that the mark round dot of default second quantity exists from corresponding first kind scaling board image Position coordinates in the image coordinate system of corresponding vehicle-mounted panoramic camera.
In specific implementation, the first kind scaling board image that obtains is shot when corresponding vehicle-mounted panoramic camera is got When, the mark round dot of default second quantity just can be identified corresponding vehicle-mounted from corresponding first kind scaling board image Position coordinates in the image coordinate system of full-view camera.
For example, when first kind scaling board image includes into 15 mark round dots of array distribution, can be from correspondence First kind scaling board image in identify 15 mark round dots in the image coordinate system of corresponding vehicle-mounted panoramic camera Position coordinates.
Step S1203：Mark round dot based on default second quantity in corresponding first kind scaling board is in world coordinates Image of the mark round dot of default second quantity that the position coordinates in system is obtained with identification in corresponding vehicle-mounted panoramic camera Position coordinates in coordinate system, it is determined that the initial outward parameter of corresponding vehicle-mounted panoramic camera.
In specific implementation, using the mark round dot of default second quantity in first kind scaling board in world coordinate system In the mark round dot of default second quantity that obtains of position coordinates and identification sat in the image of corresponding vehicle-mounted panoramic camera The position relationship between position coordinates in mark system, just can determine the initial outward parameter of corresponding vehicle-mounted panoramic camera, The information of i.e. corresponding spin matrix and translation matrix.
The scaling method of the above-mentioned vehicle-mounted panoramic camera in the embodiment of the present invention is described in detail, and below will The above-mentioned corresponding device of method is introduced.
Figure 13 shows a kind of structure of the vehicle-mounted camera caliberating device in the embodiment of the present invention.It is described referring to Figure 13 Vehicle-mounted camera caliberating device 1300, be suitable for use with above-mentioned demarcation panel assembly and the external parameter of vehicle-mounted panoramic camera entered Rower is determined, wherein, the Second Type scaling board demarcated in panel assembly is respectively placed in the ground of the vehicle-surroundings and is located at The visual field overlapping region of adjacent vehicle-mounted panoramic camera, can specifically include acquiring unit 1301 and correction unit 1302, wherein：
Acquiring unit 1301, is suitable to obtain the Second Type scaling board image that the vehicle-mounted panoramic camera shooting is obtained；
Correction unit 1302, is suitable to the Second Type scaling board image obtained based on shooting, and corresponding vehicle-mounted panoramic is taken the photograph As the initial outward parameter of head is corrected.
In an embodiment of the present invention, the vehicle-mounted panoramic camera includes being arranged on the preposition shooting of the vehicle front side Head, the left side camera of the rear camera of the vehicle rear-side, the vehicle left side, and taken the photograph on the right side of the vehicle right side As head；The Second Type scaling board is placed in the vehicle-surroundings and is located at the front camera, the rearmounted shooting respectively The visual field overlapping region of adjacent vehicle-mounted panoramic camera in head, the left side camera and the right side camera.
In an embodiment of the present invention, using the front camera and rear camera as first group of camera, by institute Left side camera and the right side camera are stated as second group of camera；The correction unit 1302, is suitable to from described first Shot in group camera and second group of camera in the Second Type scaling board image for obtaining and identify default first quantity respectively Position coordinates and the second group image coordinate system of camera of the image angle point in first group of image coordinate system of camera in Position coordinates；Using the external parameter of first group of camera, the image angle point of default first quantity that will identify that exists Position coordinates in first group of image coordinate system of camera is changed to world coordinate system, obtains the image angle of default first quantity Position coordinates of the point in the world coordinate system of first group of camera；Based on the initial outward with second group of camera The corresponding multigroup initial calibration parameter of parameter, by the image angle point of default first quantity first group of camera generation Position coordinates in boundary's coordinate system is projected to the image coordinate system of second group of camera respectively, is obtained and each group initial calibration Position coordinates of the image angle point of corresponding default first quantity of parameter in second group of image coordinate system of camera；It is described many Group initial calibration parameter is the initial outward parameter of second group of camera to be iterated using default step-length obtain；Respectively Calculate the image coordinate of the image angle point in second group of camera of corresponding default first quantity of each group initial calibration parameter Position coordinates in system, between position coordinates of the corresponding image angle point in the image coordinate system of second group of camera Euclidean distance；The corresponding one group of initial calibration parameter of minimum Eustachian distance that will be calculated, as second group of shooting The external parameter of head.
In an embodiment of the present invention, the demarcation panel assembly also includes being placed in the visual field of corresponding vehicle-mounted panoramic camera The first kind scaling board of predeterminable area；The caliberating device 1300 can also include demarcating unit 1303, wherein：
Unit 1303 is demarcated, is suitable for use with shooting the first kind scaling board image for obtaining, demarcation obtains corresponding vehicle-mounted complete The initial outward parameter of scape camera.
In an embodiment of the present invention, the demarcation unit 1303, is suitable to obtain corresponding vehicle-mounted panoramic camera and shoots The first kind scaling board image for arriving；The mark circle of default second quantity is identified from corresponding first kind scaling board image Position coordinates of the point in the image coordinate system of corresponding vehicle-mounted panoramic camera；Based in corresponding first kind scaling board The mark of default second quantity that position coordinates of the mark round dot of default second quantity in world coordinate system is obtained with identification Position coordinates of the round dot in the image coordinate system of corresponding vehicle-mounted panoramic camera, it is determined that corresponding vehicle-mounted panoramic camera is first Beginning external parameter.
Using the above-mentioned scheme in the embodiment of the present invention, shot using adjacent vehicle-mounted panoramic camera and obtained positioned at adjacent The location overlap in the alive boundary's coordinate system of image angle point in the Second Type scaling board image of the visual field overlapping region of camera Characteristic, the initial outward parameter to second group of camera is corrected, with when image mosaic is carried out, it is possible to achieve corresponding Vehicle-surroundings image it is seamless spliced, thus the accuracy of vehicle-mounted panoramic camera parameter calibration can be improved；Meanwhile, even if the The position of two type scaling boards has certain deviation with default putting position, can avoid the putting position of scaling board for The interference of stated accuracy, reduces the complexity of calibration process.
It is to be herein pointed out above-mentioned join by taking the full-view camera installed on vehicle as an example to the outside of full-view camera Several scaling methods and device are described, it will be appreciated by those skilled in the art that, it is complete in the embodiment of the present invention The scaling method and device of the external parameter of scape camera can also be applied to the external parameter of the full-view camera of other equipment Demarcation among, such as robot is not limited herein.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can Completed with instructing the hardware of correlation by program, the program can be stored in a computer-readable recording medium, storage Medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, are not departing from this In the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute The scope of restriction is defined.

Claims (18)

1. it is a kind of to demarcate panel assembly, it is characterised in that including：It is arranged at the visual field weight of adjacent camera in vehicle-mounted panoramic camera The Second Type scaling board in folded region；
The Second Type scaling board includes：Second calibration substrate, the upper surface covering of second calibration substrate is provided with the Two demarcate region；The image angle point of default first quantity is provided with the second demarcation region, for corresponding vehicle-mounted complete The initial outward parameter of scape camera is corrected.
2. demarcation panel assembly according to claim 1, it is characterised in that described second demarcate region include from outside to inside according to First ring-type background area of secondary setting, the second ring-type background area and the 3rd background area；
The contrast of the second ring-type background area and the first ring-type background area and the 3rd background area is respectively greater than default contrast Degree threshold value；
The image angle point of default first quantity is arranged on the first ring-type background area with the second ring-type background area On boundary line.
3. demarcation panel assembly according to claim 2, it is characterised in that the boundary line of the first ring-type background area, institute The boundary line respectively rectangle of the second ring-type background area is stated, the 3rd background area is rectangle or circle.
4. demarcation panel assembly according to claim 3, it is characterised in that the image angle point of default first quantity, be Four summits of the rectangle that the first ring-type background area is constituted with the boundary line of the second ring-type background area.
5. the demarcation panel assembly according to claim any one of 1-4, it is characterised in that also including first kind scaling board, The first kind scaling board includes the first calibration substrate, and the upper surface of first calibration substrate is provided with the first demarcation region And positioning region；
The mark round dot of default second quantity is provided with the first demarcation region, is suitable to the vehicle-mounted panoramic camera Initial outward parameter is demarcated；
The positioning region, is adapted to determine that the first kind scaling board putting in corresponding vehicle-mounted panoramic camera visual field Position.
6. demarcation panel assembly according to claim 5, it is characterised in that described first demarcates region includes the described first mark Fixed board includes background area and frame；
The frame is arranged on the periphery of the background area, and the mark round dot of second quantity is arranged on the background area, And between the mark round dot of the background area and the frame and second quantity there is contrast to be more than default threshold respectively The edge boundary of value；
Edge boundary of the mark round dot with the background area contrast more than the predetermined threshold value, and second quantity Indicate round dot into array distribution.
7. demarcation panel assembly according to claim 6, it is characterised in that the positioning region, including along described The graduation mark that the edge of one calibration substrate upper surface is set, and the graduation mark background area of demarcating region with described first its In two sides it is parallel.
8. a kind of vehicle-mounted camera scaling method, is suitable for use with the demarcation panel assembly described in claim any one of 1-6 to vehicle-mounted The external parameter of full-view camera is demarcated, it is characterised in that the Second Type scaling board is placed in the ground of vehicle-surroundings And positioned at the visual field overlapping region of adjacent vehicle-mounted panoramic camera；The scaling method includes：
Obtain the vehicle-mounted panoramic camera and shoot the Second Type scaling board image for obtaining；
Based on the Second Type scaling board image that shooting is obtained, the initial outward parameter to corresponding vehicle-mounted panoramic camera is carried out Correction.
9. vehicle-mounted camera scaling method according to claim 8, it is characterised in that the vehicle-mounted panoramic camera includes It is arranged on the left of the front camera of the vehicle front side, the rear camera of the vehicle rear-side, the vehicle left side and takes the photograph As head, and the vehicle right side right side camera；The Second Type scaling board is placed in the vehicle-surroundings and respectively position In the front camera, the rear camera, the left side camera and adjacent vehicle-mounted panoramic in the right side camera The visual field overlapping region of camera.
10. vehicle-mounted camera scaling method according to claim 9, it is characterised in that by the front camera and after Camera is put as first group of camera, using the left side camera and the right side camera as second group of camera, institute The Second Type scaling board image obtained based on shooting is stated, the initial outward parameter to corresponding vehicle-mounted panoramic camera carries out school Just, including：
Shot from first group of camera and second group of camera and recognize respectively in the Second Type scaling board image for obtaining Go out position coordinates and second group camera of the image angle point of default first quantity in first group of image coordinate system of camera Image coordinate system in position coordinates；
Using the external parameter of first group of camera, the image angle point of default first quantity that will identify that is taken the photograph at first group As the position coordinates in the image coordinate system of head is changed to world coordinate system, the image angle point of default first quantity is obtained described Position coordinates in first group of world coordinate system of camera；
Based on multigroup initial calibration parameter corresponding with the initial outward parameter of second group of camera, by described default first Position coordinates of the image angle point of quantity in the world coordinate system of first group of camera is projected to described second group respectively The image coordinate system of camera, obtains the image angle point of default first quantity corresponding with each group initial calibration parameter at second group Position coordinates in the image coordinate system of camera；Multigroup initial calibration parameter is to described second group using default step-length The initial outward parameter of camera is iterated and obtains；
The image angle point of corresponding default first quantity of each group initial calibration parameter is calculated respectively in second group of camera Position coordinates in image coordinate system, with position of the corresponding image angle point in the image coordinate system of second group of camera Euclidean distance between coordinate；
The corresponding one group of initial calibration parameter of minimum Eustachian distance that will be calculated, as the outside of second group of camera Parameter.
11. vehicle-mounted camera scaling methods according to claim 10, it is characterised in that the demarcation panel assembly also includes It is placed in the first kind scaling board of predeterminable area in the visual field of corresponding vehicle-mounted panoramic camera；The scaling method also includes：
The first kind scaling board image obtained using shooting, demarcation obtains the initial outward ginseng of corresponding vehicle-mounted panoramic camera Number.
12. vehicle-mounted camera scaling methods according to claim 11, it is characterised in that it is right that the use shooting is obtained The first kind scaling board image answered, demarcation obtains the initial outward parameter of corresponding vehicle-mounted panoramic camera, including：
Obtain corresponding vehicle-mounted panoramic camera and shoot the first kind scaling board image for obtaining；
Identify the mark round dot of default second quantity in corresponding vehicle-mounted panoramic from corresponding first kind scaling board image Position coordinates in the image coordinate system of camera；
Position of the mark round dot of default second quantity in based on corresponding first kind scaling board in world coordinate system is sat Mark position of the mark round dot of default second quantity obtained with identification in the image coordinate system of corresponding vehicle-mounted panoramic camera Coordinate is put, it is determined that the initial outward parameter of corresponding vehicle-mounted panoramic camera.
A kind of 13. vehicle-mounted camera caliberating devices, are suitable for use with the demarcation panel assembly described in claim any one of 1-6 to vehicle-mounted The external parameter of full-view camera is demarcated, it is characterised in that the Second Type scaling board is placed in the ground of vehicle-surroundings And positioned at the visual field overlapping region of adjacent vehicle-mounted panoramic camera；The caliberating device includes：
Acquiring unit, is suitable to obtain the Second Type scaling board image that the vehicle-mounted panoramic camera shooting is obtained；
Correction unit, is suitable to the Second Type scaling board image obtained based on shooting, to the first of corresponding vehicle-mounted panoramic camera Beginning external parameter is corrected.
14. vehicle-mounted camera caliberating devices according to claim 13, it is characterised in that the vehicle-mounted panoramic camera bag Include front camera, the rear camera of the vehicle rear-side, the left side of the vehicle left side for being arranged on the vehicle front side Camera, and the vehicle right side right side camera；The Second Type scaling board is placed in the vehicle-surroundings and difference It is adjacent vehicle-mounted complete in the front camera, the rear camera, the left side camera and the right side camera The visual field overlapping region of scape camera.
15. vehicle-mounted camera caliberating devices according to claim 14, it is characterised in that by the front camera with after Camera is put as first group of camera, using the left side camera and the right side camera as second group of camera；
The correction unit, is suitable to be shot from first group of camera and second group of camera the Second Type demarcation for obtaining Identify that position of the image angle point of default first quantity in first group of image coordinate system of camera is sat in plate image respectively Position coordinates in mark and second group of image coordinate system of camera；Using the external parameter of first group of camera, will know Position coordinates of the image angle point of default first quantity not gone out in first group of image coordinate system of camera is changed to the world Coordinate system, obtains position coordinates of the image angle point of default first quantity in the world coordinate system of first group of camera； Based on multigroup initial calibration parameter corresponding with the initial outward parameter of second group of camera, by default first quantity Position coordinates of the image angle point in the world coordinate system of first group of camera project respectively to second group of shooting The image coordinate system of head, obtains the image angle point of default first quantity corresponding with each group initial calibration parameter in second group of shooting Position coordinates in the image coordinate system of head；Multigroup initial calibration parameter is to second group of shooting using default step-length The initial outward parameter of head is iterated and obtains；The image of corresponding default first quantity of each group initial calibration parameter is calculated respectively Position coordinates of the angle point in the image coordinate system of second group of camera, takes the photograph with corresponding image angle point at described second group As the Euclidean distance between the position coordinates in the image coordinate system of head；The minimum Eustachian distance that will be calculated is corresponding one group Initial calibration parameter, as the external parameter of second group of camera.
16. vehicle-mounted camera caliberating devices according to claim 15, it is characterised in that the demarcation panel assembly also includes It is placed in the first kind scaling board of predeterminable area in the visual field of corresponding vehicle-mounted panoramic camera；The caliberating device also includes：
Unit is demarcated, is suitable for use with shooting the first kind scaling board image for obtaining, demarcation obtains corresponding vehicle-mounted panoramic camera Initial outward parameter.
17. vehicle-mounted camera caliberating devices according to claim 16, it is characterised in that the demarcation unit, are suitable to obtain Take corresponding vehicle-mounted panoramic camera and shoot the first kind scaling board image for obtaining；From corresponding first kind scaling board image Identify position coordinates of the mark round dot of default second quantity in the image coordinate system of corresponding vehicle-mounted panoramic camera；Base Position coordinates and knowledge of the mark round dot of default second quantity in corresponding first kind scaling board in world coordinate system Position coordinates of the mark round dot of default second quantity not obtained in the image coordinate system of corresponding vehicle-mounted panoramic camera, It is determined that the initial outward parameter of corresponding vehicle-mounted panoramic camera.
18. a kind of vehicle-mounted panoramic camera calibration systems, it is characterised in that including the demarcation described in claim any one of 1-6 Vehicle-mounted camera caliberating device described in panel assembly and claim any one of 13-17.
CN201710014740.4A 2017-01-09 2017-01-09 Demarcate panel assembly, vehicle-mounted camera scaling method and device, system Withdrawn CN106780630A (en)

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