CN107330940A - The method and apparatus that in-vehicle camera posture is estimated automatically - Google Patents
The method and apparatus that in-vehicle camera posture is estimated automatically Download PDFInfo
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- CN107330940A CN107330940A CN201710063039.1A CN201710063039A CN107330940A CN 107330940 A CN107330940 A CN 107330940A CN 201710063039 A CN201710063039 A CN 201710063039A CN 107330940 A CN107330940 A CN 107330940A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- 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
- G06T2207/30244—Camera pose
Abstract
The invention provides a kind of method that in-vehicle camera posture is estimated automatically, wherein, this method comprises the following steps：Obtain two frame pictures in a period of time that in-car camera is shot；Extracting and matching feature points are carried out to two frame pictures, the automobile real-time speed that two groups of points of two frames matching are obtained before and after obtaining；Real displacement conversion and rotation transformation in the time interval of two frame pictures are obtained according to the automobile real-time speed unit displacement conversion relative with the two frames picture and rotation transformation；The corresponding point matching information of two frame Region Of Interests before and after being obtained using optical flow algorithm；Using RANSAC methods and then obtain the homography matrix on road surface；Coordinate of the normal vector on road surface under camera coordinates is calculated by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix, so as to obtain outer ginseng matrix；According to the outer ginseng matrix adjust automatically.Avoid the trouble that user will be calibrated often.
Description
Technical field
The present invention relates to in-vehicle camera field, more particularly to the method and apparatus that a kind of in-vehicle camera posture is estimated automatically.
Background technology
In the prior art, during ADAS driving ancillary equipments are installed, user must carry out multinomial to camera
Aligning step, to ensure the accuracy of various functions.And during driving, the position of camera and angle are unavoidable because all
The reason for being touched such as thump or user and change, and then cause the inaccurate of testing result.
The content of the invention
It is an object of the invention to provide the method and apparatus that a kind of in-vehicle camera posture is estimated automatically.
According to an aspect of the present invention there is provided a kind of method that in-vehicle camera posture is estimated automatically, wherein, this method bag
Include following steps：
Obtain two frame pictures in a period of time that in-car camera is shot；
Extracting and matching feature points are carried out to two frame pictures, two groups of points of two frames matching before and after obtaining；
According to the internal reference information of camera, the eigenmatrix of two frame pictures is calculated；
The relative unit displacement conversion and rotation transformation of two frame pictures is obtained according to result of calculation；
The automobile real-time speed of acquisition；
Obtained according to the automobile real-time speed unit displacement conversion relative with the two frames picture and rotation transformation
Real displacement conversion and rotation transformation in the time interval of two frame pictures；
The corresponding point matching information of two frame Region Of Interests before and after being obtained using optical flow algorithm；
Using RANSAC methods and then obtain the homography matrix on road surface；
The normal direction on road surface is calculated by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix
The coordinate under camera coordinates is measured, so as to obtain outer ginseng matrix；
According to the outer ginseng matrix adjust automatically.
According to another aspect of the present invention, the device that a kind of in-vehicle camera posture is estimated automatically is additionally provided, wherein, should
Device includes following device：
Acquisition module, for obtaining two frame pictures in a period of time that the camera of in-car is shot；
Characteristic extracting module, for carrying out extracting and matching feature points to two frame pictures, the two of two frames matching before and after obtaining
Group point；
Assertive evidence matrix computations module, for the internal reference information according to camera, calculates the eigenmatrix of two frame pictures；
First transformation calculations module, is converted and rotation for obtaining the relative unit displacement of two frame pictures according to result of calculation
Conversion；
Speed acquiring module, the automobile real-time speed for acquisition；
First transformation calculations module, for according to the automobile real-time speed unit displacement relative with the two frames picture
Conversion and rotation transformation obtain real displacement conversion and rotation transformation in the time interval of two frame pictures；
Match information computing module, the corresponding point matching letter of two frame Region Of Interests before and after being obtained for application optical flow algorithm
Breath；
Homography matrix computing module, for using RANSAC methods and then obtaining the homography matrix on road surface；
Outer ginseng matrix computations module, for passing through the correspondence between homography matrix and spin matrix and displacement transformation matrix
Equation calculates coordinate of the normal vector on road surface under camera coordinates, so as to obtain outer ginseng matrix；
Adjusting module, for according to the outer ginseng matrix adjust automatically.
Compared with prior art, the present invention has advantages below：In the prior art, ADAS driving ancillary equipments are being installed
During, user must carry out the multinomial aligning step to camera, to ensure the accuracy of various functions.And in the mistake of driving
Cheng Zhong, the position of camera and angle are unavoidable to change because of the reason for such as thump or user are touched, and then
Cause the inaccurate of testing result.Existing technology should be obtained outside according to single with pole geometry from the mode of light stream or image flame detection
Ginseng.The present invention has broken the above-mentioned inertial thinking of those skilled in the art, and can realize following effect：Obtain in-car shooting
The two frame pictures in a period of time that head is shot；Extracting and matching feature points are carried out to two frame pictures, two frames matching before and after obtaining
Two groups of points；According to the internal reference information of camera, the eigenmatrix of two frame pictures is calculated；Two frame figures are obtained according to result of calculation
Piece relative unit displacement conversion and rotation transformation.The automobile real-time speed of acquisition；According to the automobile real-time speed and described
The relative unit displacement conversion of two frame pictures and rotation transformation obtain in the time interval of two frame pictures real displacement conversion and
Rotation transformation.The corresponding point matching information of two frame Region Of Interests before and after being obtained using optical flow algorithm；Using RANSAC methods and then
Obtain the homography matrix on road surface；Calculated by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix
Coordinate of the normal vector on road surface under camera coordinates, so as to obtain outer ginseng matrix；According to the outer ginseng matrix adjust automatically.Avoid
The trouble that user will be calibrated often.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, of the invention is other
Feature, objects and advantages will become more apparent upon：
The FB(flow block) for the method that Fig. 1 estimates automatically for the in-vehicle camera posture of one embodiment of the invention；
The structured flowchart for the device that Fig. 2 estimates automatically for the in-vehicle camera posture of one embodiment of the invention.
Same or analogous reference represents same or analogous part in accompanying drawing.
Embodiment
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing described as flow chart or method.Although operations are described as the processing of order by flow chart, therein to be permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.In addition, the order of operations can be rearranged.When it
The processing can be terminated when operation is completed, it is also possible to the additional step being not included in accompanying drawing.The processing
It can correspond to method, function, code, subroutine, subprogram etc..
Method (some of them are illustrated by flow) discussed hereafter can be by hardware, software, firmware, centre
Part, microcode, hardware description language or its any combination are implemented.Implement when with software, firmware, middleware or microcode
When, to implement, the program code or code segment of necessary task can be stored in machine or computer-readable medium (is such as deposited
Storage media) in.(one or more) processor can implement necessary task.
Concrete structure and function detail disclosed herein are only representational, and are for describing showing for the present invention
The purpose of example property embodiment.But the present invention can be implemented by many alternative forms, and it is not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be appreciated that may have been used term " first ", " second " etc. herein to describe unit,
But these units should not be limited by these terms.It is used for the purpose of using these terms by a unit and another unit
Make a distinction.For example, in the case of the scope without departing substantially from exemplary embodiment, it is single that first module can be referred to as second
Member, and similarly second unit can be referred to as first module.Term "and/or" used herein above include one of them or
Any and all combination of more listed associated items.
It should be appreciated that when a unit is referred to as " connecting " or during " coupled " to another unit, it can directly connect
Another unit is connect or be coupled to, or there may be temporary location.On the other hand, when a unit is referred to as " directly connecting
Connect " or " direct-coupling " arrive another unit when, then in the absence of temporary location.It should in a comparable manner explain and be used to retouch
State relation between unit other words (such as compared to " between being directly in ... " " between being in ... ", " and with ... it is adjacent
Closely " compared to " with ... be directly adjacent to " etc.).
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, and otherwise singulative " one " used herein above, " one " also attempt to include plural number.Should also
When understanding, term " comprising " and/or "comprising" used herein above provide stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of other one or more features, integer, step, operation, unit,
Component and/or its combination.
It should further be mentioned that in some replaces realization modes, the function/action being previously mentioned can be according to different from attached
The order indicated in figure occurs.For example, depending on involved function/action, the two width figures shown in succession actually may be used
Substantially simultaneously to perform or can perform in a reverse order sometimes.
The present invention is described in further detail below in conjunction with the accompanying drawings.
The schematic flow sheet for the method that Fig. 1 estimates automatically for the in-vehicle camera posture of one embodiment of the invention.
This method comprises the following steps：
Step S111, obtains two frame pictures in a period of time that in-car camera is shot；
Two frame pictures are carried out extracting and matching feature points by step S112, two groups of points of two frames matching before and after obtaining；
Step S113, according to the internal reference information of camera, calculates the eigenmatrix of two frame pictures；
Step S114, the relative unit displacement conversion and rotation transformation of two frame pictures is obtained according to result of calculation；
Step S115, the automobile real-time speed of acquisition；
Step S116, converts according to the automobile real-time speed unit displacement relative with the two frames picture and rotation becomes
Get real displacement conversion and rotation transformation in the time interval of two frame pictures in return；
Step S117, the corresponding point matching information of two frame Region Of Interests before and after being obtained using optical flow algorithm；
Step S118, using RANSAC methods and then obtains the homography matrix on road surface；
Step S119, outlet is calculated by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix
Coordinate of the normal vector in face under camera coordinates, so as to obtain outer ginseng matrix；
Step S110, according to the outer ginseng matrix adjust automatically.
Equipment required for the present invention include a fixed front in the car shoot the outer front of car monocular cam or
Many mesh cameras and the embedded microprocessor for computing being connected therewith by data wire, are connected with automotive bus system
Speed acquiring module.
1) extracting and matching feature points are carried out by shooting front and rear two frames picture to camera, two frames matching before and after obtaining
Two groups of points.According to the internal reference information of camera, the direct eigenmatrix of two frames can be calculated, and then obtain two frame picture phases
To unit displacement conversion and rotation transformation.By the automobile real-time speed obtained by speed acquiring module, it can obtain
Real displacement conversion and rotation transformation in the time of two frames.
2) during automobile is advanced, the photo that camera is shot should be largely road surface.Can be with using optical flow algorithm
The corresponding point matching information of two frame Region Of Interests before and after obtaining.Using RANSAC methods can with so that obtain road surface singly answer square
Battle array.
3) road surface can be calculated by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix
Coordinate of the normal vector under camera coordinates, so as to obtain outer ginseng matrix.
4) deviation may occur due to the influence of noise in the outer ginseng information obtained between two frames before and after single, to even
Continuous multiframe picture is filtered operation can be so that the outer ginseng information obtained converges to a stable true scope.
According to still another embodiment of the invention, wherein, this method comprises the following steps：
Step S211, obtains the continuous multiframe picture in a period of time that in-car camera is shot；
Step S212, operation is filtered to continuous multiframe picture；
Step S213, according to the internal reference information of camera, calculates the eigenmatrix of multiframe picture；
Step S214, the relative unit displacement conversion and rotation transformation of multiframe picture is obtained according to result of calculation.
Step S215, the automobile real-time speed of acquisition；
Step S216, converts according to the automobile real-time speed unit displacement relative with the multiframe picture and rotation becomes
Get real displacement conversion and rotation transformation in the time interval of two frame pictures in return.
Step S217, the corresponding point matching information of multiframe Region Of Interest before and after being obtained using optical flow algorithm；
Step S218, using RANSAC methods and then obtains the homography matrix on road surface；
Step S219, outlet is calculated by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix
Coordinate of the normal vector in face under camera coordinates, so as to obtain outer ginseng matrix；
Step S220, according to the outer ginseng matrix adjust automatically.
Compared with prior art, the present invention has advantages below：In the prior art, ADAS driving ancillary equipments are being installed
During, user must carry out the multinomial aligning step to camera, to ensure the accuracy of various functions.And in the mistake of driving
Cheng Zhong, the position of camera and angle are unavoidable to change because of the reason for such as thump or user are touched, and then
Cause the inaccurate of testing result.Existing technology should be obtained outside according to single with pole geometry from the mode of light stream or image flame detection
Ginseng.The present invention has broken the above-mentioned inertial thinking of those skilled in the art, and can realize following effect：Obtain in-car shooting
The two frame pictures in a period of time that head is shot；Extracting and matching feature points are carried out to two frame pictures, two frames matching before and after obtaining
Two groups of points；According to the internal reference information of camera, the eigenmatrix of two frame pictures is calculated；Two frame figures are obtained according to result of calculation
Piece relative unit displacement conversion and rotation transformation.The automobile real-time speed of acquisition；According to the automobile real-time speed and described
The relative unit displacement conversion of two frame pictures and rotation transformation obtain in the time interval of two frame pictures real displacement conversion and
Rotation transformation.The corresponding point matching information of two frame Region Of Interests before and after being obtained using optical flow algorithm；Using RANSAC methods and then
Obtain the homography matrix on road surface；Calculated by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix
Coordinate of the normal vector on road surface under camera coordinates, so as to obtain outer ginseng matrix；According to the outer ginseng matrix adjust automatically.Avoid
The trouble that user will be calibrated often.
The structural representation for the device that Fig. 2 estimates automatically for the in-vehicle camera posture of one embodiment of the invention.
The device includes following device：
Acquisition module 10, for obtaining two frame pictures in a period of time that the camera of in-car is shot；
Characteristic extracting module 20, for carrying out extracting and matching feature points to two frame pictures, two frames matching before and after obtaining
Two groups of points；
Assertive evidence matrix computations module 30, for the internal reference information according to camera, calculates the eigenmatrix of two frame pictures；
First transformation calculations module 40, is converted and rotation for obtaining the relative unit displacement of two frame pictures according to result of calculation
Transformation is changed.
Speed acquiring module 50, the automobile real-time speed for acquisition；
Second transformation calculations module 60, for according to the automobile real-time speed unit position relative with the two frames picture
Move conversion and rotation transformation obtains real displacement conversion and rotation transformation in the time interval of two frame pictures.
Match information computing module 70, the corresponding point matching letter of two frame Region Of Interests before and after being obtained for application optical flow algorithm
Breath；
Homography matrix computing module 80, for using RANSAC methods and then obtaining the homography matrix on road surface；
Outer ginseng matrix computations module 90, for passing through pair between homography matrix and spin matrix and displacement transformation matrix
Equation is answered to calculate coordinate of the normal vector on road surface under camera coordinates, so as to obtain outer ginseng matrix；
Adjusting module 100, for according to the outer ginseng matrix adjust automatically.
Compared with prior art, the present invention has advantages below：In the prior art, ADAS driving ancillary equipments are being installed
During, user must carry out the multinomial aligning step to camera, to ensure the accuracy of various functions.And in the mistake of driving
Cheng Zhong, the position of camera and angle are unavoidable to change because of the reason for such as thump or user are touched, and then
Cause the inaccurate of testing result.Existing technology should be obtained outside according to single with pole geometry from the mode of light stream or image flame detection
Ginseng.The present invention has broken the above-mentioned inertial thinking of those skilled in the art, and can realize following effect：Obtain in-car shooting
The two frame pictures in a period of time that head is shot；Extracting and matching feature points are carried out to two frame pictures, two frames matching before and after obtaining
Two groups of points；According to the internal reference information of camera, the eigenmatrix of two frame pictures is calculated；Two frame figures are obtained according to result of calculation
Piece relative unit displacement conversion and rotation transformation.The automobile real-time speed of acquisition；According to the automobile real-time speed and described
The relative unit displacement conversion of two frame pictures and rotation transformation obtain in the time interval of two frame pictures real displacement conversion and
Rotation transformation.The corresponding point matching information of two frame Region Of Interests before and after being obtained using optical flow algorithm；Using RANSAC methods and then
Obtain the homography matrix on road surface；Calculated by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix
Coordinate of the normal vector on road surface under camera coordinates, so as to obtain outer ginseng matrix；According to the outer ginseng matrix adjust automatically.Avoid
The trouble that user will be calibrated often.
It should be noted that the present invention can be carried out in the assembly of software and/or software and hardware, for example, this hair
Each bright device can be realized using application specific integrated circuit (ASIC) or any other similar hardware device.In one embodiment
In, software program of the invention can realize steps described above or function by computing device.Similarly, it is of the invention
Software program (including related data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory,
Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the present invention can employ hardware to realize, example
Such as, as coordinating with processor so as to performing the circuit of each step or function.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.This
Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in system claims is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table
Show title, and be not offered as any specific order.
Claims (3)
1. a kind of method that in-vehicle camera posture is estimated automatically, wherein, this method comprises the following steps：
Obtain two frame pictures in a period of time that in-car camera is shot；
Extracting and matching feature points are carried out to two frame pictures, two groups of points of two frames matching before and after obtaining；
According to the internal reference information of camera, the eigenmatrix of two frame pictures is calculated；
The relative unit displacement conversion and rotation transformation of two frame pictures is obtained according to result of calculation；
The automobile real-time speed of acquisition；
Obtained according to the automobile real-time speed unit displacement conversion relative with the two frames picture and rotation transformation in two frames
Real displacement conversion and rotation transformation in the time interval of picture.
The corresponding point matching information of two frame Region Of Interests before and after being obtained using optical flow algorithm；
Using RANSAC methods and then obtain the homography matrix on road surface；
The normal vector for calculating road surface by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix exists
Coordinate under camera coordinates, so as to obtain outer ginseng matrix.
According to the outer ginseng matrix adjust automatically.
2. a kind of method that in-vehicle camera posture is estimated automatically, wherein, this method comprises the following steps：
Obtain the continuous multiframe picture in a period of time that in-car camera is shot；
Operation is filtered to continuous multiframe picture；
According to the internal reference information of camera, the eigenmatrix of multiframe picture is calculated；
The relative unit displacement conversion and rotation transformation of multiframe picture is obtained according to result of calculation.
The automobile real-time speed of acquisition；
Obtained according to the automobile real-time speed unit displacement conversion relative with the multiframe picture and rotation transformation in two frames
Real displacement conversion and rotation transformation in the time interval of picture；
The corresponding point matching information of multiframe Region Of Interest before and after being obtained using optical flow algorithm；
Using RANSAC methods and then obtain the homography matrix on road surface；
The normal vector for calculating road surface by the corresponding equation between homography matrix and spin matrix and displacement transformation matrix exists
Coordinate under camera coordinates, so as to obtain outer ginseng matrix；
According to the outer ginseng matrix adjust automatically.
3. the device that a kind of in-vehicle camera posture is estimated automatically, wherein, the device includes following device：
Acquisition module, for obtaining two frame pictures in a period of time that the camera of in-car is shot；
Characteristic extracting module, for carrying out extracting and matching feature points to two frame pictures, two groups of points of two frames matching before and after obtaining；
Assertive evidence matrix computations module, for the internal reference information according to camera, calculates the eigenmatrix of two frame pictures；
First transformation calculations module, for being obtained according to result of calculation, the relative unit displacement of two frame pictures is converted and rotation becomes
Change.
Speed acquiring module, the automobile real-time speed for acquisition；
First transformation calculations module, for being converted according to the automobile real-time speed unit displacement relative with the two frames picture
Real displacement conversion and rotation transformation in the time interval of two frame pictures are obtained with rotation transformation；
Match information computing module, the corresponding point matching information of two frame Region Of Interests before and after being obtained for application optical flow algorithm；
Homography matrix computing module, for using RANSAC methods and then obtaining the homography matrix on road surface；
Outer ginseng matrix computations module, for passing through the corresponding equation between homography matrix and spin matrix and displacement transformation matrix
Coordinate of the normal vector on road surface under camera coordinates is calculated, so as to obtain outer ginseng matrix；
Adjusting module, for according to the outer ginseng matrix adjust automatically.
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| CN201711058488.3A CN107730551B (en) | 2017-01-25 | 2017-11-01 | The method and apparatus that in-vehicle camera posture is estimated automatically |
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| CN111429527B (en) * | 2020-03-24 | 2023-12-01 | 广东星舆科技有限公司 | Automatic external parameter calibration method and system for vehicle-mounted camera |
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Also Published As
| Publication number | Publication date |
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| CN107730551A (en) | 2018-02-23 |
| CN107730551B (en) | 2019-09-17 |
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