CN107886472A - The image mosaic calibration method and image mosaic calibrating installation of panoramic parking system - Google Patents

The image mosaic calibration method and image mosaic calibrating installation of panoramic parking system Download PDF

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Publication number
CN107886472A
CN107886472A CN201610873420.XA CN201610873420A CN107886472A CN 107886472 A CN107886472 A CN 107886472A CN 201610873420 A CN201610873420 A CN 201610873420A CN 107886472 A CN107886472 A CN 107886472A
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calibration
cloth
image
collecting device
calibration cloth
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CN107886472B (en
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周绍辉
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SHENZHEN ROADROVER TECHNOLOGY Co Ltd
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SHENZHEN ROADROVER TECHNOLOGY Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/80—Geometric correction

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

The invention discloses the image mosaic calibration method and device of panoramic parking system, the position of the 3rd calibration cloth and the 4th calibration cloth in world coordinate system is determined using body width, the image gathered using left-hand image collecting device and dextrad image collecting device when vehicle is in first position, determine position of the first calibration cloth in world coordinate system, the image gathered using left-hand image collecting device and dextrad image collecting device when vehicle is in the second place, determine position of the second calibration cloth in world coordinate system, the mount message of each image collecting device is determined using position of four calibration cloth in world coordinate system, each pixel corresponding pixel in the image of each image acquisition device in panoramic parking image is determined based on mount message, establish simultaneously storage mapping relation, complete image mosaic calibration.Based on scheme disclosed by the invention, the operation difficulty of user can be reduced and the probability of deviation occurs in operation, improve the degree of accuracy of image mosaic calibration.

Description

The image mosaic calibration method and image mosaic calibrating installation of panoramic parking system
Technical field
The invention belongs to the image mosaic calibration method and figure of technical field of image processing, more particularly to panoramic parking system As splicing calibrating installation.
Background technology
Panoramic parking system is a kind of new vehicle-mounted auxiliary equipment, by 4 cameras installed in vehicle all around The real-time imaging of (such as ultra-wide angle fish-eye camera) while collection vehicle surrounding, turn by entering line distortion reduction-visual angle to image Change-image mosaic-image enhaucament, ultimately form the panorama sketch of 360 ° of a width vehicle's surroundings.Driver, can be with docking process The sight blind area of vehicle periphery is understood by panoramic parking system so that docking process is simpler.
, it is necessary to carry out splicing calibration to the image of 4 camera shootings before panoramic parking system comes into operation so that 4 The image of individual camera shooting can be combined into 360 ° of panoramic pictures exactly.Currently for the image of panoramic parking system Splicing calibrating mode mainly has two kinds.
The first：Calibration cloth is put in vehicle's surroundings, wherein the calibration cloth for being placed in vehicle's surroundings will be with the longitudinal direction of vehicle Center line perfect parallelism is vertical, accurately measures the relative distance between each calibration cloth and vehicle, panoramic parking system root Image mosaic calibration is carried out according to foregoing relative distance.
Second：Calibration cloth is put in vehicle's surroundings, wherein the calibration cloth for being placed in vehicle's surroundings will be with the longitudinal direction of vehicle Center line (referring to the center line for connecting headstock and the tailstock) perfect parallelism or vertical, ensures that calibration cloth being capable of regarding by camera Angle is covered, and calibration point is chosen manually to the image of each camera collection respectively in the display interface of panoramic parking system, if These selected calibration points are accurate, then panoramic parking system can carry out image spelling to the image of 4 camera collections Connect calibration.
Above-mentioned image mosaic calibrating mode, calibration is put to user and is furnished with strict status requirement, and need user Relative distance between accurate measurement calibration cloth and vehicle, or need user to choose calibration point manually, when any one operation It when there is deviation, can all cause image mosaic to go wrong, cause the complex operation of image mosaic calibration process, difficulty is higher.
The content of the invention
In view of this, it is an object of the invention to provide the image mosaic calibration method and image of a kind of panoramic parking system Splice calibrating installation, to reduce operation difficulty of the user in image mosaic calibration process.
To achieve the above object, the present invention provides following technical scheme：
The present invention provides a kind of image mosaic calibration method of panoramic parking system, the panoramic parking system include it is preceding to Image collecting device, backward image collecting device, left-hand image collecting device and dextrad image collecting device, described image splicing Calibration method includes：
In the case where the vehicle is located at initial position, put respectively on the front side of the vehicle, rear side, left side and right side The first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth are put, wherein, the right edge of the 3rd calibration cloth Midpoint of the midpoint of the left side of midpoint and the 4th calibration cloth with the wheelspan of the vehicle is alignd, first calibration Cloth and the second calibration cloth include intermediate region, left field and the right side area divided in advance, the forward direction image respectively Harvester can gather the image of the first calibration cloth, and the backward image collecting device can gather second calibration The image of cloth, the left-hand image collecting device can gather the image of the 3rd calibration cloth, the dextrad image collector The image of the 4th calibration cloth can be gathered by putting；
Determine that the 3rd calibration cloth and the 4th calibration cloth are being built in advance according to the body width of the vehicle Position in world coordinate system, the origin of the world coordinate system form rectangle by the central point of four wheels of the vehicle Central point；
Control the vehicle is straight to march to first position forward, obtain what the left-hand image collecting device currently gathered The image of the left field of the 3rd calibration cloth and the first calibration cloth, it is current to obtain the dextrad image collecting device The image of the 4th calibration cloth of collection and the right side area of the first calibration cloth；
The image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, it is determined that described First calibration cloth is relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
According to the described 3rd calibration cloth and the 4th position of the calibration cloth in the world coordinate system and described the One calibration cloth determines the first calibration cloth in institute relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth State the position in world coordinate system；
Control the vehicle is straight to travel rearwardly to the second place, obtain what the left-hand image collecting device currently gathered The image of the left field of the 3rd calibration cloth and the second calibration cloth, it is current to obtain the dextrad image collecting device The image of the 4th calibration cloth of collection and the right side area of the second calibration cloth；
The image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, it is determined that described Second calibration cloth is relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
According to the described 3rd calibration cloth and the 4th position of the calibration cloth in the world coordinate system and described the Two calibration cloth determine the second calibration cloth in institute relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth State the position in world coordinate system；
According to the described first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth in institute The position in world coordinate system is stated, determines the forward direction image collecting device, backward image collecting device, the left-hand figure As harvester and the dextrad image collecting device in the mount message of vehicle body, the mount message include installation site and peace Fill angle；
Using the forward direction image collecting device, the backward image collecting device, the left-hand image collecting device and The mount message of the dextrad image collecting device, determine that each pixel is in the forward direction image collector in panoramic parking image Put, the image of the backward image collecting device, the left-hand image collecting device and the dextrad image acquisition device In corresponding pixel, establish and store the mapping relations of corresponding pixel points.
Preferably, in above-mentioned image mosaic calibration method, the origin of the world coordinate system built in advance is the vehicle The central point of four wheels forms the central point of rectangle, the positive direction of X-axis points to the right side of the vehicle, the positive direction of Y-axis Point to the rear side of the vehicle, Z axis positive direction straight up；
The body width according to the vehicle determines the 3rd calibration cloth and the 4th calibration cloth in advance structure Position in the world coordinate system built, including：
Determined the midpoint of the right edge of the 3rd calibration cloth in the world coordinates according to the body width of the vehicle Coordinate in system, the midpoint of the right edge of the 3rd calibration cloth are calibrated in the coordinate of the world coordinate system for the described 3rd Position of the cloth in the world coordinate system；
Determined the midpoint of the left side of the 4th calibration cloth in the world coordinates according to the body width of the vehicle Coordinate in system, the described 4th calibrates coordinate of the midpoint of the left side of cloth in the world coordinate system as the described 4th calibration Position of the cloth in the world coordinate system.
Preferably, in above-mentioned image mosaic calibration method, the analysis left-hand image collecting device and the dextrad The image of image acquisition device, determine the first calibration cloth relative to the described 3rd calibration cloth and the 4th calibration cloth Position relationship, including：
Analyze the described 3rd of the left-hand image acquisition device left field for calibrating cloth and the first calibration cloth Image, determine it is described 3rd calibration cloth the first calibration point to described first calibrate cloth left field the second calibration point away from From, analyze the dextrad image acquisition device it is described 4th calibration cloth and it is described first calibration cloth right side area figure Picture, determine it is described 4th calibration cloth the 3rd calibration point to described first calibrate cloth right side area the 4th calibration point away from From；
It is described according to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, Yi Jisuo The first calibration cloth is stated relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth, determines the first calibration cloth Position in the world coordinate system, including：
According to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, first mark Pinpoint distance, the distance and described second of the 3rd calibration point to the 4th calibration point of second calibration point Calibration point determines position of the first calibration cloth in the world coordinate system to the distance of the 4th calibration point.
Preferably, in above-mentioned image mosaic calibration method, the analysis left-hand image collecting device and the dextrad The image of image acquisition device, determine the second calibration cloth relative to the described 3rd calibration cloth and the 4th calibration cloth Position relationship, including：
Analyze the 3rd calibration cloth of the left-hand image acquisition device and the left side area of the second calibration cloth The image in domain, determine the 6th calibration point of the left field of the 5th calibration point to the described second calibration cloth of the 3rd calibration cloth Distance, analyze the dextrad image acquisition device it is described 4th calibration cloth and it is described second calibration cloth right side area Image, determine the 7th calibration point of the 4th calibration cloth to the 8th calibration point of the described second right side area for calibrating cloth Distance；
It is described according to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, Yi Jisuo The second calibration cloth is stated relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth, determines the second calibration cloth Position in the world coordinate system, including：
According to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, the 5th mark Pinpoint distance, the distance and the described 6th of the 7th calibration point to the 8th calibration point of the 6th calibration point Calibration point determines position of the second calibration cloth in the world coordinate system to the distance of the 8th calibration point.
Preferably, in above-mentioned image mosaic calibration method, the first calibration point and the 5th calibration point of the 3rd calibration cloth For the central point of the described 3rd calibration cloth；The 3rd calibration point and the 7th calibration point of the 4th calibration cloth are the described 4th calibration The central point of cloth.
Preferably, in above-mentioned image mosaic calibration method, it is described according to described first calibration cloth, it is described second calibration cloth, The position of the 3rd calibration cloth and the 4th calibration cloth in the world coordinate system, determines the forward direction image collector Put, the peace of image collecting device, the left-hand image collecting device and the dextrad image collecting device in vehicle body backward Information is filled, including：
Vehicle is determined in the case of predeterminated position, the default angle point of the first calibration cloth is in the forward direction IMAQ The first physical location in first calibration cloth image of device collection, the default angle point of the second calibration cloth is in the rear to figure The second physical location in the second calibration cloth image gathered as harvester, the default angle point of the 3rd calibration cloth is described The 3rd physical location in 3rd calibration cloth image of left-hand image acquisition device, the default angle point of the 4th calibration cloth The 4th physical location in the 4th calibration cloth image of the dextrad image acquisition device；
Set the mount message of the forward direction image collecting device；According to the forward direction image collecting device in the world Position in coordinate system, vehicle is calculated in the case of the predeterminated position, the forward direction image collecting device is according to currently setting In the virtual image of first calibration cloth caused by under fixed mount message installment state, the default angle point of the first calibration cloth First virtual location；If the difference between first physical location and first virtual location is less than preceding to minimum number Value, then the mount message of the forward direction image collecting device currently set is the actual installation letter of the forward direction image collecting device Breath；If the difference between first physical location and first virtual location is more than or equal to the forward direction minimum number Value, then reset the mount message of the forward direction image collecting device, and performs subsequent step, until determining the forward direction figure As the actual mount message of harvester；
Set the mount message of the backward image collecting device；According to the backward image collecting device in the world Position in coordinate system, vehicle is calculated in the case of the predeterminated position, the backward image collecting device is according to currently setting In the virtual image of second calibration cloth caused by under fixed mount message installment state, the default angle point of the second calibration cloth Second virtual location；If the difference between second physical location and second virtual location is less than backward minimum number Value, then the mount message of the backward image collecting device currently set is the actual installation letter of the backward image collecting device Breath；If the difference between second physical location and second virtual location is more than or equal to the backward minimum number Value, then reset the mount message of the backward image collecting device, and performs subsequent step, until determining the backward figure As the actual mount message of harvester；
Set the mount message of the left-hand image collecting device；According to the left-hand image collecting device in the world Position in coordinate system, vehicle is calculated in the case of the predeterminated position, the left-hand image collecting device is according to currently setting In the virtual image of 3rd calibration cloth caused by under fixed mount message installment state, the default angle point of the 3rd calibration cloth 3rd virtual location；If the difference between the 3rd physical location and the 3rd virtual location is less than left-hand minimum number Value, then the mount message of the left-hand image collecting device currently set is the actual installation letter of the left-hand image collecting device Breath；If the difference between the 3rd physical location and the 3rd virtual location is more than or equal to the left-hand minimum number Value, then reset the mount message of the left-hand image collecting device, and performs subsequent step, until determining the left-hand figure As the actual mount message of harvester；
Set the mount message of the dextrad image collecting device；According to the dextrad image collecting device in the world Position in coordinate system, vehicle is calculated in the case of the predeterminated position, the dextrad image collecting device is according to currently setting In the virtual image of 4th calibration cloth caused by under fixed mount message installment state, the default angle point of the 4th calibration cloth 4th virtual location；If the difference between the 4th physical location and the 4th virtual location is less than dextrad minimum number Value, then the mount message of the dextrad image collecting device currently set is the actual installation letter of the dextrad image collecting device Breath；If the difference between the 4th physical location and the 4th virtual location is more than or equal to the dextrad minimum number Value, then reset the mount message of the dextrad image collecting device, and performs subsequent step, until determining the dextrad figure As the actual mount message of harvester.
The present invention also provides a kind of image mosaic calibrating installation of panoramic parking system, before the panoramic parking system includes To image collecting device, backward image collecting device, left-hand image collecting device and dextrad image collecting device, described image is spelled Connecing calibrating installation includes：
First position determining unit, it is wide according to the vehicle body of the vehicle in the case where the vehicle is in initial position Degree determines the position of the 3rd calibration cloth and the 4th calibration cloth in the world coordinate system built in advance, and the world is sat The origin of mark system is made up of the central point of rectangle the central point of four wheels of the vehicle；Wherein, it is located in the vehicle In the case of initial position, the first calibration cloth, the second calibration are put respectively on the front side of the vehicle, rear side, left side and right side A left side for cloth, the 3rd calibration cloth and the 4th calibration cloth, the midpoint of the right edge of the 3rd calibration cloth and the 4th calibration cloth Midpoint of the midpoint of side with the wheelspan of the vehicle is alignd, and the first calibration cloth and the second calibration cloth include respectively Intermediate region, left field and the right side area divided in advance, the forward direction image collecting device can gather first school The image of quasi- cloth, the backward image collecting device can gather the image of the second calibration cloth, the left-hand IMAQ Device can gather the image of the 3rd calibration cloth, and the dextrad image collecting device can gather the 4th calibration cloth Image；
First position relation determination unit, for the vehicle is straight march to first position forward when, described in acquisition The 3rd calibration cloth and the image of the left field of the first calibration cloth that left-hand image collecting device currently gathers, are obtained Take the right side area of the 4th calibration cloth that the dextrad image collecting device currently gathers and the first calibration cloth Image, the image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, determine described One calibration cloth is relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
Second place determining unit, for calibrating cloth in the world coordinates according to the described 3rd calibration cloth and the described 4th Position and the first calibration cloth in system calibrate the position relationship of cloth relative to the described 3rd calibration cloth and the described 4th, Determine position of the first calibration cloth in the world coordinate system；
Second place relation determination unit, for the vehicle is straight travel rearwardly to the second place when, described in acquisition The 3rd calibration cloth and the image of the left field of the second calibration cloth that left-hand image collecting device currently gathers, are obtained Take the right side area of the 4th calibration cloth that the dextrad image collecting device currently gathers and the second calibration cloth Image, the image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, determine described Two calibration cloth are relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
3rd position determination unit, for calibrating cloth in the world coordinates according to the described 3rd calibration cloth and the described 4th Position and the second calibration cloth in system calibrate the position relationship of cloth relative to the described 3rd calibration cloth and the described 4th, Determine position of the second calibration cloth in the world coordinate system；
Mount message determining unit, for according to the described first calibration cloth, the second calibration cloth, the 3rd calibration cloth With position of the described 4th calibration cloth in the world coordinate system, the forward direction image collecting device, the backward figure are determined As harvester, the left-hand image collecting device and the dextrad image collecting device are in the mount message of vehicle body, the peace Dress information includes installation site and setting angle；
Alignment unit, for utilizing the forward direction image collecting device, backward image collecting device, the left-hand figure As harvester and the mount message of the dextrad image collecting device, determine that each pixel is before described in panoramic parking image To image collecting device, backward image collecting device, the left-hand image collecting device and the dextrad image collector Corresponding pixel in the image of collection is put, establishes and stores the mapping relations of corresponding pixel points.
Preferably, in above-mentioned image mosaic calibrating installation, the origin of the world coordinate system built in advance is the vehicle The central point of four wheels forms the central point of rectangle, the positive direction of X-axis points to the right side of the vehicle, the positive direction of Y-axis Point to the rear side of the vehicle, Z axis positive direction straight up；
The first position determining unit is specifically used for：The 3rd calibration cloth is determined according to the body width of the vehicle Right edge coordinate of the midpoint in the world coordinate system, the midpoint of the right edge of the 3rd calibration cloth is in the world The coordinate of coordinate system is position of the described 3rd calibration cloth in the world coordinate system；According to the body width of the vehicle Determine coordinate of the midpoint of the left side of the 4th calibration cloth in the world coordinate system, the left side of the 4th calibration cloth Coordinate of the midpoint on side in the world coordinate system is position of the described 4th calibration cloth in the world coordinate system.
Preferably, in above-mentioned image mosaic calibrating installation, the first position relation determination unit is specifically used for：Analysis institute The 3rd calibration cloth of left-hand image acquisition device and the image of the left field of the first calibration cloth are stated, determines described the First calibration point of three calibration cloth analyzes the dextrad to the distance of the second calibration point of the left field of the described first calibration cloth The image of the 4th calibration cloth of image acquisition device and the right side area of the first calibration cloth, determines the described 4th Calibrate the distance of the 4th calibration point of the right side area of the 3rd calibration point to the described first calibration cloth of cloth；
The second place determining unit is specifically used for：According to the described 3rd calibration cloth and the 4th calibration cloth described Position, first calibration point in world coordinate system are to the distance of second calibration point, the 3rd calibration point to described The distance of 4th calibration point and second calibration point determine the first calibration cloth in institute to the distance of the 4th calibration point State the position in world coordinate system.
Preferably, in above-mentioned image mosaic calibrating installation, the second place relation determination unit is specifically used for：Analysis institute The 3rd calibration cloth of left-hand image acquisition device and the image of the left field of the second calibration cloth are stated, determines institute The distance of the 6th calibration point of the 5th calibration point to the described second left field for calibrating cloth of the 3rd calibration cloth is stated, described in analysis The image of the 4th calibration cloth of dextrad image acquisition device and the right side area of the second calibration cloth, it is determined that described Distance of 7th calibration point of the 4th calibration cloth to the 8th calibration point of the right side area of the described second calibration cloth；
3rd position determination unit is specifically used for：According to the described 3rd calibration cloth and the 4th calibration cloth described The distance of position, the 5th calibration point to the 6th calibration point in world coordinate system, the 7th calibration point are to described The distance of 8th calibration point and the 6th calibration point determine the second calibration cloth to the distance of the 8th calibration point Position in the world coordinate system.
Preferably, in above-mentioned image mosaic calibrating installation, the mount message determining unit includes：
Angle point physical location determining module, for determining vehicle in the case of predeterminated position, the first calibration cloth First physical location of the default angle point in the first calibration cloth image of the forward direction image acquisition device, second school The default angle point of quasi- cloth in the rear to image acquisition device second calibration cloth image in the second physical location, it is described Threeth actual bit of the default angle point of 3rd calibration cloth in the 3rd calibration cloth image of the left-hand image acquisition device Put, the described 4th calibrates the 4th of the default angle point of cloth in the 4th calibration cloth image of the dextrad image acquisition device Physical location；
First processing module, for setting the mount message of the forward direction image collecting device；According to the forward direction image Position of the harvester in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the forward direction image Harvester is calibrated in the virtual image of cloth according under the mount message installment state currently set caused first, and described first Calibrate the first virtual location of the default angle point of cloth；If the difference between first physical location and first virtual location Value is less than preceding to minimum value, then the mount message of the forward direction image collecting device currently set is the forward direction image collector Put actual mount message；If the difference between first physical location and first virtual location is more than or equal to institute To minimum value before stating, then the mount message of the forward direction image collecting device is reset, and perform subsequent operation, until really The actual mount message of the fixed forward direction image collecting device；
Second processing module, for setting the mount message of the backward image collecting device；According to the backward image Position of the harvester in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the backward image Harvester is calibrated in the virtual image of cloth according under the mount message installment state currently set caused second, and described second Calibrate the second virtual location of the default angle point of cloth；If the difference between second physical location and second virtual location Value is less than backward minimum value, then the mount message of the backward image collecting device currently set is the backward image collector Put actual mount message；If the difference between second physical location and second virtual location is more than or equal to institute Backward minimum value is stated, then resets the mount message of the backward image collecting device, and performs subsequent operation, until really The actual mount message of the fixed backward image collecting device；
3rd processing module, for setting the mount message of the left-hand image collecting device；According to the left-hand image Position of the harvester in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the left-hand image Harvester is calibrated in the virtual image of cloth according to the under the mount message installment state currently set the caused 3rd, and the described 3rd Calibrate the 3rd virtual location of the default angle point of cloth；If the difference between the 3rd physical location and the 3rd virtual location Value is less than left-hand minimum value, then the mount message of the left-hand image collecting device currently set is the left-hand image collector Put actual mount message；If the difference between the 3rd physical location and the 3rd virtual location is more than or equal to institute Left-hand minimum value is stated, then resets the mount message of the left-hand image collecting device, and performs subsequent operation, until really The actual mount message of the fixed left-hand image collecting device；
Fourth processing module, for setting the mount message of the dextrad image collecting device；According to the dextrad image Position of the harvester in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the dextrad image Harvester is calibrated in the virtual image of cloth according to the under the mount message installment state currently set the caused 4th, and the described 4th Calibrate the 4th virtual location of the default angle point of cloth；If the difference between the 4th physical location and the 4th virtual location Value is less than dextrad minimum value, then the mount message of the dextrad image collecting device currently set is the dextrad image collector Put actual mount message；If the difference between the 4th physical location and the 4th virtual location is more than or equal to institute Dextrad minimum value is stated, then resets the mount message of the dextrad image collecting device, and performs subsequent operation, until really The actual mount message of the fixed dextrad image collecting device.
As can be seen here, beneficial effects of the present invention are：
Based on the image split-joint method of panoramic parking system disclosed by the invention, user is located at the feelings of initial position in vehicle , it is necessary to all around put the first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration respectively in vehicle under condition Cloth so that forward direction image collecting device, backward image collecting device, left-hand image collecting device and the right side in panoramic parking system To image collecting device, the figure that cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth are calibrated in collection first is able to Picture, and the 3rd calibration cloth right edge midpoint and the 4th calibration cloth left side midpoint with the wheelspan of vehicle Point aligns, and panoramic parking system determines the 3rd calibration cloth and the 4th calibration cloth in the world built in advance using body width afterwards Position in coordinate system, panoramic parking system are in the using left-hand image collecting device and dextrad image collecting device in vehicle The image gathered under one situation, determines position of the first calibration cloth in world coordinate system, and panoramic parking system utilizes a left side The image gathered is in the case of the second place in vehicle to image collecting device and dextrad image collecting device, determines the second school Position of the quasi- cloth in world coordinate system, position of the panoramic parking system using four calibration cloth in world coordinate system is true afterwards The mount message of fixed each image collecting device, determines that each pixel is in each image in panoramic parking image based on mount message Corresponding pixel in the image of harvester collection, establishes and stores the mapping relations of corresponding pixel points, completes image mosaic Calibration.
For a user, before panoramic parking system carries out image mosaic calibration, it is only necessary to a left side before and after vehicle It is right put respectively the first calibration cloth, second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth, and put calibration cloth during Only need the wheelspan of the midpoint of the right edge of the calibration cloth of guarantee the 3rd and the midpoint of the left side of the 4th calibration cloth with vehicle Midpoint alignment, and without ensure vehicle's surroundings calibration cloth will be with vehicle longitudinal centre line perfect parallelism or vertical； Panoramic parking system is carried out in image mosaic calibration process, and user only needs to control vehicle to march to first position and second Put, it is not necessary to which calibration point is chosen manually to the image of each image acquisition device.It can be seen that based on disclosed by the invention The image mosaic calibration method of panoramic parking system, the operation difficulty of user is reduced, accordingly, user can be reduced and operated out The probability of existing deviation, so as to improve the degree of accuracy of image mosaic calibration.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of flow chart of the image mosaic calibration method of panoramic parking system disclosed by the invention；
Fig. 2 is the placement location schematic diagram of alignment cloth of the present invention；
Fig. 3 is that vehicle is located at the schematic diagram in the case of first position in the present invention；
Fig. 4 is that vehicle is located at the schematic diagram in the case of the second place in the present invention；
Fig. 5 is the schematic diagram that vehicle is located at the distance of each calibration point in the case of first position in the present invention；
Fig. 6 is a kind of structural representation of the image mosaic calibrating installation of panoramic parking system disclosed by the invention；
Fig. 7 is a kind of structural representation of mount message determining unit disclosed by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
The present invention discloses the image mosaic calibration method and image mosaic calibrating installation of a kind of panoramic parking system, to drop Operation difficulty of the low user in image mosaic calibration process.Wherein, panoramic parking system include it is preceding to image collecting device, after To image collecting device, left-hand image collecting device and dextrad image collecting device.
Referring to Fig. 1, Fig. 1 is a kind of flow chart of the image mosaic calibration method of panoramic parking system disclosed by the invention. The image mosaic calibration method includes：
Step S1：In the case where vehicle is located at initial position, put respectively on the front side of vehicle, rear side, left side and right side Put calibration cloth.
Specifically, the calibration cloth put on front side of vehicle is designated as the first calibration cloth 101, the school put on rear side of vehicle Quasi- cloth is designated as the second calibration cloth 102, and the calibration cloth put on the left of vehicle is designated as the 3rd calibration cloth 103, on the right side of vehicle The calibration cloth put is designated as the 4th calibration cloth 104, as shown in Figure 2.
Wherein, the 3rd calibration cloth 103 right edge midpoint and the 4th calibration cloth 104 left side midpoint with The midpoint alignment of the wheelspan of vehicle.First calibration cloth 101 includes intermediate region 101a, the left field 101b divided in advance respectively With right side area 101c, the second calibration cloth includes intermediate region 102a, left field 102b and the right side region divided in advance respectively Domain 102c.
In the case that vehicle is located at initial position, forward direction image collecting device can gather the image of the first calibration cloth 101, Backward image collecting device can gather the image of the second calibration cloth 102, and left-hand image collecting device can gather the 3rd calibration The image of cloth 103, dextrad image collecting device can gather the image of the 4th calibration cloth 104.
Step S2：Determine that the 3rd calibration cloth 103 and the 4th is calibrated cloth 104 and built in advance according to the body width of vehicle Position in world coordinate system.Wherein, the origin of the world coordinate system built in advance is：The central point institute of four wheels of vehicle Form the central point of rectangle.
The body width of vehicle be it is known, and the 3rd calibration cloth 103 right edge midpoint and the 4th calibration cloth Midpoint of the midpoint of 104 left side with the wheelspan of vehicle is alignd, and therefore, the 3rd calibration is assured that according to body width Cloth 103 and the 4th calibrates position of the cloth 104 in the world coordinate system built in advance.
Step S3：Control vehicle is straight to march to forward first position, obtains what left-hand image collecting device currently gathered 3rd calibration cloth 103 and first calibrates the left field 101a of cloth 101 image, obtains dextrad image collecting device and currently adopts 4th calibration cloth 104 and first of collection calibrates the right side area 101c of cloth 101 image.
When vehicle is located at first position, left-hand image collecting device can gather the 3rd calibration cloth 103 and first simultaneously The left field 101a of cloth 101 image is calibrated, dextrad image collecting device gathers the 4th calibration cloth 104 and first school simultaneously The right side area 101c of quasi- cloth 101 image, as shown in Figure 3.
Step S4：The image that analysis left-hand image collecting device and dextrad image collecting device currently gather, determines first Calibrate the position relationship that cloth 101 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th.
Control vehicle is straight march to first position forward after, the image of left-hand image acquisition device includes：The The image of three calibration cloth 103, and the left field 101a of the first calibration cloth 101 image；Dextrad image acquisition device Image include：The image of 4th calibration cloth 104, and the right side area 101c of the first calibration cloth 101 image.
The 3rd calibration cloth 103 and first for analyzing left-hand image acquisition device calibrates the left field 101a of cloth 101 Image and the 4th calibration cloth 104 and first of dextrad image acquisition device calibrate the right side area 101c of cloth 101 Image, determine that the first calibration cloth 101 calibrates the position relationship of cloth 104 relative to the 3rd calibration cloth 103 and the 4th.
Step S5：Position and first of the cloth 104 in world coordinate system are calibrated according to the 3rd calibration cloth 103 and the 4th The position relationship that cloth 101 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th is calibrated, determines the first calibration cloth 101 in the world Position in coordinate system.
3rd calibration cloth 103 and the 4th calibrates position of the cloth 104 in world coordinate system it has been determined that and in step s 4 Determine that the first calibration cloth 101 calibrates the position relationship of cloth 104 relative to the 3rd calibration cloth 103 and the 4th, can is true accordingly Position of the fixed first calibration cloth 101 in world coordinate system.
Step S6：Control vehicle is straight to be travelled rearwardly to the second place, obtains what left-hand image collecting device currently gathered 3rd calibration cloth 103 and second calibrates the left field 102a of cloth 102 image, obtains dextrad image collecting device and currently adopts 4th calibration cloth 104 and second of collection calibrates the right side area 102c of cloth 102 image.
When vehicle is located at the second place, left-hand image collecting device can gather the 3rd calibration cloth 103 and second simultaneously The left field 102a of cloth 102 image is calibrated, dextrad image collecting device gathers the 4th calibration cloth 104 and second school simultaneously The right side area 102c of quasi- cloth 102 image, as shown in Figure 4.
Step S7：The image that analysis left-hand image collecting device and dextrad image collecting device currently gather, determines second Calibrate the position relationship that cloth 102 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th.
In control, vehicle is straight travels rearwardly to the second place, and the image of left-hand image acquisition device includes：The The image of three calibration cloth 103, and the left field 102a of the second calibration cloth 102 image；Dextrad image acquisition device Image include：The image of 4th calibration cloth 104, and the right side area 102c of the second calibration cloth 102 image.
The 3rd calibration cloth 103 and second for analyzing left-hand image acquisition device calibrates the left field 102a of cloth 102 Image and the 4th calibration cloth 104 and second of dextrad image acquisition device calibrate the right side area 102c of cloth 102 Image, determine that the second calibration cloth 102 calibrates the position relationship of cloth 104 relative to the 3rd calibration cloth 103 and the 4th.
Step S8：Position and second calibration cloth of the cloth in world coordinate system are calibrated according to the 3rd calibration cloth and the 4th Relative to the 3rd calibration cloth and the position relationship of the 4th calibration cloth, position of the second calibration cloth in world coordinate system is determined.
3rd calibration cloth 103 and the 4th calibrates position of the cloth 104 in world coordinate system it has been determined that and in the step s 7 Determine that the second calibration cloth 102 calibrates the position relationship of cloth 104 relative to the 3rd calibration cloth 103 and the 4th, can is true accordingly Position of the fixed second calibration cloth 102 in world coordinate system.
Explanation is needed exist for, step S6 can also be first carried out to step S8 in implementation process, then perform step S3 extremely Step S5.
Step S9：The calibration calibration cloth 104 of cloth 103 and the 4th of cloth the 102, the 3rd is calibrated according to the first calibration cloth 101, second to exist Position in world coordinate system, it is determined that preceding to image collecting device, backward image collecting device, left-hand image collecting device and the right side To image collecting device vehicle body mount message.Wherein, mount message includes installation site and setting angle.
Step S10：Using preceding to image collecting device, backward image collecting device, left-hand image collecting device and dextrad The mount message of image collecting device, determine in panoramic parking image each pixel forward direction image collecting device, after to image Corresponding pixel in the image of harvester, left-hand image collecting device and dextrad image acquisition device, establishes and deposits Store up the mapping relations of corresponding pixel points.
It is determined that it is preceding to image collecting device, after adopt to image collecting device, left-hand image collecting device and dextrad image After the mount message of acquisition means, it is possible to determine that pixel in the image of each image acquisition device is being built in advance Coordinate in world coordinate system, that is, determine that pixel in the image of each image acquisition device is parked figure in panorama As in position, so that it is determined that in panoramic parking image each pixel forward direction image collecting device, after to image collecting device, Corresponding pixel, is established in panoramic parking image in the image of left-hand image collecting device and dextrad image acquisition device Each pixel and forward direction image collecting device, backward image collecting device, left-hand image collecting device and dextrad image collector The mapping relations of corresponding pixel points in the image of collection are put, and preserve the mapping relations.
In implementation, the first three-dimensional system of coordinate can be built with the central point of sensor in forward direction image collecting device, after Into image collecting device, the central point of sensor builds the second three-dimensional system of coordinate, with sensor in left-hand image collecting device Central point builds the 3rd three-dimensional system of coordinate, and the 4th three-dimensional coordinate is built with the central point of sensor in dextrad image collecting device System.By carrying out Coordinate Conversion, it is possible to determine the first three-dimensional system of coordinate, the second three-dimensional system of coordinate, the 3rd three-dimensional system of coordinate and Coordinate of the coordinate points in the world coordinate system built in advance in 4th three-dimensional system of coordinate, that is, determine that each image collecting device is adopted Coordinate of the pixel in the world coordinate system built in advance in the image of collection, has also determined that each image collecting device is adopted Position of the pixel in panoramic parking image in the image of collection.
After image mosaic calibration is completed, panoramic parking system in the process of running, according to the mapping relations of preservation, in the past To the image of image collecting device, backward image collecting device, left-hand image collecting device and dextrad image acquisition device In, each pixel for forming panoramic parking image is searched, these pixels found form panoramic parking image.
Based on the image split-joint method of panoramic parking system disclosed by the invention, user is located at the feelings of initial position in vehicle , it is necessary to all around put the first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration respectively in vehicle under condition Cloth so that forward direction image collecting device, backward image collecting device, left-hand image collecting device and the right side in panoramic parking system To image collecting device, the figure that cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth are calibrated in collection first is able to Picture, and the 3rd calibration cloth and the 4th calibration cloth are symmetrical relative to the longitudinal centre line of vehicle, the right edge of the 3rd calibration cloth Midpoint of the midpoint of the left side of midpoint and the 4th calibration cloth with the wheelspan of vehicle is alignd, and panoramic parking system utilizes afterwards Body width determines the position of the 3rd calibration cloth and the 4th calibration cloth in the world coordinate system built in advance, panoramic parking system The image that gathers is in the case of first position using left-hand image collecting device and dextrad image collecting device in vehicle, it is determined that Position of the first calibration cloth in world coordinate system, panoramic parking system utilize left-hand image collecting device and dextrad IMAQ Device is in the case of the second place image gathered in vehicle, determines position of the second calibration cloth in world coordinate system, it Panoramic parking system determines that the installation of each image collecting device is believed using position of four calibration cloth in world coordinate system afterwards Breath, determine in panoramic parking image each pixel in the image of each image acquisition device based on mount message corresponding to Pixel, establish and store the mapping relations of corresponding pixel points, complete image mosaic calibration.
For a user, before panoramic parking system carries out image mosaic calibration, it is only necessary to a left side before and after vehicle It is right put respectively the first calibration cloth, second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth, and put calibration cloth during Only need to ensure that the 3rd calibration cloth and the 4th calibration cloth are symmetrical relative to the longitudinal centre line of vehicle, the right edge of the 3rd calibration cloth Midpoint and midpoint of the midpoint with the wheelspan of vehicle of left side of the 4th calibration cloth align, and without ensureing vehicle's surroundings Calibration cloth will be with vehicle longitudinal centre line perfect parallelism or vertical；Image mosaic is carried out in panoramic parking system to calibrate Cheng Zhong, user only need to control vehicle to march to first position and the second place, it is not necessary to each image acquisition device Image choose calibration point manually.It can be seen that the image mosaic calibration method based on panoramic parking system disclosed by the invention, The operation difficulty of user is reduced, accordingly, user's operation can be reduced and the probability of deviation occur, so as to improve image mosaic school The accurate degree of accuracy.
In present invention image mosaic calibration method disclosed above, as a kind of embodiment, the world built in advance The origin of coordinate system is made up of the central point of rectangle the central point of four wheels of vehicle, and the positive direction of X-axis points to vehicle Right side, the positive direction of Y-axis point to the rear side of vehicle, and the positive direction of Z axis is straight up.
Accordingly, step S2 determines that the 3rd calibration cloth 103 and the 4th calibrates cloth 104 advance according to the body width of vehicle Position in the world coordinate system of structure, can be in the following way：
Coordinate of the midpoint of the right edge of the 3rd calibration cloth in world coordinate system is determined according to the body width of vehicle, the Position of the cloth in world coordinate system is calibrated for the 3rd in the midpoint of the right edge of three calibration cloth in the coordinate of world coordinate system；
Coordinate of the midpoint of the left side of the 4th calibration cloth in world coordinate system is determined according to the body width of vehicle, the Position of coordinate of the midpoint of the left side of four calibration cloth in world coordinate system for the 4th calibration cloth in world coordinate system.
The origin of the world coordinate system built in advance is made up of the central point of rectangle the central point of four wheels of vehicle, The positive direction of X-axis points to the right side of vehicle, and the positive direction of Y-axis points to the rear side of vehicle, and the positive direction of Z axis is straight up.And the Midpoint of the midpoint of the left side of the midpoint of the right edge of three calibration cloth 103 and the 4th calibration cloth 104 with the wheelspan of vehicle Alignment, then, the coordinate at the midpoint of the right edge of the 3rd calibration cloth 103 is (- A1/ 2-B1,0,0), a left side for the 4th calibration cloth 104 The coordinate at the midpoint of side is (A1/2+B1, 0,0).Wherein, A1For the body width of vehicle, B1For the right side of the 3rd calibration cloth 103 The distance between the midpoint of side and the left hand edge of vehicle body, B2For the midpoint of left side and the right side of vehicle body of the 4th calibration cloth 104 The distance between edge.
As a kind of preferred embodiment, during placing the 3rd calibration cloth 103 and the 4th and calibrating cloth 104, ensure The 3rd calibration calibration cloth 104 of cloth 103 and the 4th is symmetrical relative to the longitudinal centre line of vehicle, the right edge of the 3rd calibration cloth 103 Midpoint and midpoint of the midpoint with the wheelspan of vehicle of left side of the 4th calibration cloth 104 align, in addition also by the 3rd The right edge of calibration cloth 103 is concordant with the left hand edge of vehicle body, and the right hand edge of the right edge of the 4th calibration cloth 104 and vehicle body is put down Together.
Accordingly, the coordinate at the midpoint of the right edge of the 3rd calibration cloth 103 is (- A1/ 2,0,0), the 4th cloth 104 is calibrated The coordinate at the midpoint of left side is (A1/ 2,0,0).
In addition, in present invention image mosaic calibration method disclosed above, analysis left-hand image acquisition device 3rd calibration cloth 103 and first calibrate the left field 101a of cloth 101 image and dextrad image acquisition device the Four calibration cloth 104 and first calibrate the right side area 101c of cloth 101 image, determine the first calibration cloth 101 relative to the 3rd school Quasi- cloth 103 and the 4th calibrates the position relationship of cloth 104, can be in the following way：
The 3rd calibration cloth 103 and first for analyzing left-hand image acquisition device calibrates the left field 101a of cloth 101 Image, determine the 3rd calibration cloth 103 the first calibration point to first calibration cloth 101 left field 101a the second calibration point Distance；
The 4th calibration cloth 104 and first for analyzing dextrad image acquisition device calibrates the right side area 101c of cloth 101 Image, determine the 4th calibration cloth 104 the 3rd calibration point to first calibration cloth 101 right side area 101c the 4th calibration point Distance.
Accordingly, position and first of the cloth 104 in world coordinate system are calibrated according to the 3rd calibration cloth 103 and the 4th The position relationship that cloth 101 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th is calibrated, determines the first calibration cloth 101 in the world Position in coordinate system, can be in the following way：
According to the 3rd calibration cloth and the 4th position of the calibration cloth in world coordinate system, the first calibration point to the second calibration point Distance, the distance of the 3rd calibration point to the 4th calibration point and the distance of the second calibration point to the 4th calibration point, determine first Calibrate position of the cloth in world coordinate system.
Specifically：
The first calibration point is selected in the 3rd calibration cloth 103, in the left field 101a selections second of the first calibration cloth 101 Calibration point.By calibrating the image of cloth 103 and the left side of the first calibration cloth 101 to the 3rd of left-hand image acquisition device Region 101a image is analyzed, and determines the distance between the first calibration point and the second calibration point, and the distance is the first demarcation Actual range between point and the second calibration point, rather than distance in the picture.
The 3rd calibration point is selected in the 4th calibration cloth 104, in the right side area 101c selections the 4th of the first calibration cloth 101 Calibration point.By calibrating the image of cloth 104 and the right side of the first calibration cloth 101 to the 4th of dextrad image acquisition device Region 101c image is analyzed, and determines the distance between the 3rd calibration point and the 4th calibration point, and the distance is the 3rd demarcation Actual range between point and the 4th calibration point, rather than distance in the picture.
Afterwards, the distance between the second calibration point and the 4th calibration point are determined, according to the 3rd calibration cloth and the 4th calibration cloth Position, the first calibration point in world coordinate system to the distance of the second calibration point, the 3rd calibration point to the 4th calibration point away from From and the second calibration point to the 4th calibration point with a distance from, determine position of the first calibration cloth in world coordinate system.
By taking Fig. 5 as an example, position of the 3rd calibration cloth 103 in world coordinate system is：The right edge of 3rd calibration cloth 103 Coordinate of the midpoint in world coordinate system, position of the 4th calibration cloth 104 in world coordinate system are：4th calibration cloth 104 Coordinate of the midpoint of left side in world coordinate system.
Position of first calibration point in the 3rd calibration cloth 103 is known, then according to the right side of the 3rd calibration cloth 103 Coordinate of the midpoint on side in world coordinate system, it is possible to determine coordinate of first calibration point in world coordinate system.Likewise, Position of 3rd calibration point in the 4th calibration cloth 104 is known, then according to the midpoint of the left side of the 4th calibration cloth 104 Coordinate in world coordinate system, it may be determined that coordinate of the 3rd calibration point in world coordinate system.
The distance between first calibration point and the second calibration point are a, the distance between the 3rd calibration point and the 4th calibration point For b, the distance between the second calibration point and the 4th calibration point are c.According to the first calibration point and the 3rd calibration point in world coordinates Coordinate in system, and foregoing distance value, it is possible to determine the second calibration point and the 4th calibration point in world coordinate system Coordinate.
, can be using the coordinate of the second calibration point and the 4th calibration point in world coordinate system as the first calibration cloth in implementation 101 position in world coordinate system, coordinate that can also be according to the second calibration point and the 4th calibration point in world coordinate system Coordinate of another point (such as central point of the first calibration cloth 101) in world coordinate system is calculated, by the point in world coordinate system In coordinate as the first position of the calibration cloth 101 in world coordinate system.
In present invention image mosaic calibration method disclosed above, the 3rd school of left-hand image acquisition device is analyzed Quasi- cloth 103 and second calibrates the 4th calibration of the left field 102a of cloth 102 image and dextrad image acquisition device Cloth 104 and second calibrates the right side area 102c of cloth 102 image, determines the second calibration cloth 102 relative to the 3rd calibration cloth 103 , can be in the following way with the position relationship of the 4th calibration cloth 104：
The 3rd calibration cloth 103 and second for analyzing left-hand image acquisition device calibrates the left field 102a of cloth 102 Image, determine the 3rd calibration cloth 103 the 5th calibration point to second calibration cloth 102 left field 102a the 6th calibration point Distance；
The 4th calibration cloth 104 and second for analyzing dextrad image acquisition device calibrates the right side area 102c of cloth 102 Image, determine the 4th calibration cloth 104 the 7th calibration point to second calibration cloth 102 right side area 102c the 8th calibration point Distance.
Accordingly, position and second of the cloth 104 in world coordinate system are calibrated according to the 3rd calibration cloth 103 and the 4th The position relationship that cloth 102 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th is calibrated, determines the second calibration cloth 102 in the world Position in coordinate system, including：
Position of the cloth 104 in world coordinate system, the 5th calibration point to the 6th are calibrated according to the 3rd calibration cloth 103 and the 4th The distance of calibration point, the 7th calibration point to the distance of the 8th calibration point and the distance of the 6th calibration point to the 8th calibration point, really Position of the fixed second calibration cloth 102 in world coordinate system.
Specifically：
The 5th calibration point is selected in the 3rd calibration cloth 103, in the left field 102a selections the 6th of the second calibration cloth 102 Calibration point.By calibrating the image of cloth 103 and the left side of the second calibration cloth 102 to the 3rd of left-hand image acquisition device Region 102a image is analyzed, and determines the distance between the 5th calibration point and the 6th calibration point, and the distance is the 5th demarcation Actual range between point and the 6th calibration point, rather than distance in the picture.
The 7th calibration point is selected in the 4th calibration cloth 104, in the right side area 102c selections the 8th of the second calibration cloth 102 Calibration point.By calibrating the image of cloth 104 and the right side of the second calibration cloth 102 to the 4th of dextrad image acquisition device Region 102c image is analyzed, and determines the distance between the 7th calibration point and the 8th calibration point, and the distance is the 7th demarcation Actual range between point and the 8th calibration point, rather than distance in the picture.
Afterwards, the distance between the 6th calibration point and the 8th calibration point are determined, is calibrated according to the 3rd calibration cloth 103 and the 4th Distance of position, fiveth calibration point of the cloth 104 in world coordinate system to the 6th calibration point, the 7th calibration point to the 8th calibration point Distance and the 6th calibration point to the 8th calibration point distance, determine position of the second calibration cloth 102 in world coordinate system Put.
Illustrated with an example：
Position of the 3rd calibration cloth 103 in world coordinate system is：The midpoint of the right edge of 3rd calibration cloth 103 is in the world Coordinate in coordinate system, position of the 4th calibration cloth 104 in world coordinate system are：In the left side of 4th calibration cloth 104 Coordinate of the point in world coordinate system.
Position of 5th calibration point in the 3rd calibration cloth 103 is known, then according to the right side of the 3rd calibration cloth 103 Coordinate of the midpoint on side in world coordinate system, it is possible to determine coordinate of the 5th calibration point in world coordinate system.Likewise, Position of 7th calibration point in the 4th calibration cloth 104 is known, then according to the midpoint of the left side of the 4th calibration cloth 104 Coordinate in world coordinate system, it may be determined that coordinate of the 7th calibration point in world coordinate system.
The distance between 5th calibration point and the 6th calibration point are d, the distance between the 7th calibration point and the 8th calibration point For e, the distance between the 6th calibration point and the 8th calibration point are f.According to the 5th calibration point and the 7th calibration point in world coordinates Coordinate in system, and foregoing distance value, it is possible to determine the 6th calibration point and the 8th calibration point in world coordinate system Coordinate.
, can be using the coordinate of the 6th calibration point and the 8th calibration point in world coordinate system as the second calibration cloth in implementation 102 position in world coordinate system, coordinate that can also be according to the 6th calibration point and the 8th calibration point in world coordinate system Coordinate of another point (such as central point of the second calibration cloth 102) in world coordinate system is calculated, by the point in world coordinate system In coordinate as the second position of the calibration cloth 102 in world coordinate system.
As a kind of preferred embodiment, the first calibration point and the 5th calibration point of the 3rd calibration cloth 103 elect the 3rd school as Same point in quasi- cloth 103, the 3rd calibration point and the 7th calibration point of the 4th calibration cloth 104 are elected as in the 4th calibration cloth 104 Same point.When the first calibration point and the 5th calibration point elect same point as, when the 3rd calibration point and the 7th calibration point elect same point as, The operand in image mosaic calibration process can be reduced.
For example, the first calibration point and the 5th calibration point of the 3rd calibration cloth 103 elect the central point of the 3rd calibration cloth 103 as, Or elect the midpoint of the right edge of the 3rd calibration cloth 103 as.The 3rd calibration point and the 7th calibration point of 4th calibration cloth 104 are elected as The central point of 4th calibration cloth 104, or elect the midpoint of the left side of the 4th calibration cloth 104 as.
In present invention image mosaic calibration method disclosed above, step S10 is according to the first calibration cloth, the second calibration The position of cloth, the 3rd calibration cloth and the 4th calibration cloth in world coordinate system, it is determined that preceding adopt to image collecting device, backward image Acquisition means, left-hand image collecting device and dextrad image collecting device, can be in the following way in the mount message of vehicle body：
Vehicle is determined in the case of predeterminated position, the default angle point of the first calibration cloth is in forward direction image acquisition device The first calibration cloth image in the first physical location, the default angle point of the second calibration cloth is rear to image acquisition device The second physical location in second calibration cloth image, the default angle point of the 3rd calibration cloth is the of left-hand image acquisition device The 3rd physical location in three calibration cloth images, the default angle point of the 4th calibration cloth is the 4th of dextrad image acquisition device Calibrate the 4th physical location in cloth image；
To the mount message of image collecting device before setting；According to the preceding position to image collecting device in world coordinate system Put, calculate vehicle in the case of predeterminated position, forward direction image collecting device is according to the mount message installment state currently set In the virtual image of first calibration cloth caused by lower, the first virtual location of the default angle point of the first calibration cloth；If first is real Difference between border position and the first virtual location be less than it is preceding to minimum value, then the forward direction image collecting device currently set Mount message is the preceding mount message actual to image collecting device；If between the first physical location and the first virtual location Difference is more than or equal to preceding to minimum value, the then preceding mount message to image collecting device of reset, and perform follow-up step Suddenly, until to the mount message that image collecting device is actual before determining；
Set the mount message of backward image collecting device；According to position of the backward image collecting device in world coordinate system Put, calculate vehicle in the case of predeterminated position, backward image collecting device is according to the mount message installment state currently set In the virtual image of second calibration cloth caused by lower, the second virtual location of the default angle point of the second calibration cloth；If second is real Difference between border position and the second virtual location is less than backward minimum value, then the backward image collecting device currently set Mount message is the actual mount message of backward image collecting device；If between the second physical location and the second virtual location Difference is more than or equal to backward minimum value, then resets the mount message of backward image collecting device, and performs follow-up step Suddenly, until determining the actual mount message of backward image collecting device；
Set the mount message of left-hand image collecting device；According to position of the left-hand image collecting device in world coordinate system Put, calculate vehicle in the case of predeterminated position, left-hand image collecting device is according to the mount message installment state currently set In the virtual image of 3rd calibration cloth caused by lower, the 3rd virtual location of the default angle point of the 3rd calibration cloth；If the 3rd is real Difference between border position and the 3rd virtual location is less than left-hand minimum value, then the left-hand image collecting device currently set Mount message is the actual mount message of left-hand image collecting device；If between the 3rd physical location and the 3rd virtual location Difference is more than or equal to left-hand minimum value, then resets the mount message of left-hand image collecting device, and performs follow-up step Suddenly, until determining the actual mount message of left-hand image collecting device；
Set the mount message of dextrad image collecting device；According to position of the dextrad image collecting device in world coordinate system Put, calculate vehicle in the case of predeterminated position, dextrad image collecting device is according to the mount message installment state currently set In the virtual image of 4th calibration cloth caused by lower, the 4th virtual location of the default angle point of the 4th calibration cloth；If the 4th is real Difference between border position and the 4th virtual location is less than dextrad minimum value, then the dextrad image collecting device currently set Mount message is the actual mount message of dextrad image collecting device；If between the 4th physical location and the 4th virtual location Difference is more than or equal to dextrad minimum value, then resets the mount message of dextrad image collecting device, and performs follow-up step Suddenly, until determining the actual mount message of dextrad image collecting device.
Here to exemplified by the mount message of image collecting device before determining：
First, vehicle is obtained in the predeterminated position, the first calibration cloth that forward direction image collecting device actual acquisition arrives Image, determines the position of the default angle point of the first calibration cloth in the images, and the position is the default angle point of the first calibration cloth Physical location.
Afterwards, believed before setting to the mount message of image collecting device before calculating to image collecting device using the installation In the case that breath is installed, the default angle point of the first calibration cloth is in the caused by forward direction image collecting device first void for calibrating cloth Intend the virtual location in image, if the virtual location of default angle point of the first calibration cloth and the deviation of physical location meet to preset , can will it is required that show that the mount message of the mount message of the forward direction image collecting device and reality currently set is very close The mount message currently set is as before to the actual installation information of image collecting device.If the default angle point of the first calibration cloth Virtual location and physical location deviation it is larger, show the mount message and reality of forward direction image collecting device currently set Mount message deviation it is larger, to the mount message of image collecting device before now being adjusted according to default step-length, then perform follow-up Operation, until to the actual installation information of image collecting device before obtaining.
Explanation is needed exist for, the mount message of each image collecting device includes installation site and setting angle.And And the installation site of image collecting device includes the coordinate image collecting device in three-dimensional system of coordinate in each reference axis, The setting angle of image collecting device includes angle image collecting device in three-dimensional system of coordinate in each reference axis.Namely Say, the mount message of each image collecting device includes 6 variables.
In implementation, during the mount message of each image collecting device is adjusted, 6 variables are adjusted one by one It is whole, when it is determined that a variable and then being adjusted to next variable, until determining all 6 variables.
The present invention image mosaic calibration method of panoramic parking system disclosed above, accordingly, invention additionally discloses complete The image mosaic calibrating installation of scape parking system.Below with respect to image mosaic calibrating installation description with above for image mosaic The description of calibration method, can be with cross-reference.
Referring to Fig. 6, Fig. 6 is a kind of structural representation of the image mosaic calibrating installation of panoramic parking system disclosed by the invention Figure.The image mosaic calibrating installation includes first position determining unit 100, first position relation determination unit 200, the second place Determining unit 300, second place relation determination unit 400, the 3rd position determination unit 500, the and of mount message determining unit 600 Alignment unit 700.
First position determining unit 100, in the case where vehicle is in initial position, determined according to the body width of vehicle The position of 3rd calibration cloth and the 4th calibration cloth in the world coordinate system built in advance, the origin of world coordinate system is vehicle The central point of four wheels forms the central point of rectangle.
Wherein, in the case where vehicle is located at initial position, put respectively on the front side of vehicle, rear side, left side and right side First calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth, the midpoint and the 4th of the right edge of the 3rd calibration cloth Calibrate midpoint of the midpoint of the left side of cloth with the wheelspan of vehicle to align, the first calibration cloth and the second calibration cloth are included in advance respectively Intermediate region, left field and the right side area first divided, forward direction image collecting device can gather the image of the first calibration cloth, Backward image collecting device can gather the image of the second calibration cloth, and left-hand image collecting device can gather the 3rd calibration cloth Image, dextrad image collecting device can gather the image of the 4th calibration cloth.
First position relation determination unit 200, for vehicle is straight march to first position forward when, obtain left-hand figure The 3rd calibration cloth and the image of the left field of the first calibration cloth currently gathered as harvester, obtains dextrad IMAQ Device currently gather the 4th calibration cloth and first calibration cloth right side area image, analysis left-hand image collecting device and The image that dextrad image collecting device currently gathers, determine position of the first calibration cloth relative to the 3rd calibration cloth and the 4th calibration cloth Put relation.
Second place determining unit 300, for the position according to the 3rd calibration cloth and the 4th calibration cloth in world coordinate system Put and the first calibration cloth is relative to the 3rd calibration cloth and the position relationship of the 4th calibration cloth, determine the first calibration cloth in the world Position in coordinate system.
Second place relation determination unit 400, for vehicle is straight travel rearwardly to the second place when, obtain left-hand figure The 3rd calibration cloth and the image of the left field of the second calibration cloth currently gathered as harvester, obtains dextrad IMAQ Device currently gather the 4th calibration cloth and second calibration cloth right side area image, analysis left-hand image collecting device and The image that dextrad image collecting device currently gathers, determine position of the second calibration cloth relative to the 3rd calibration cloth and the 4th calibration cloth Put relation.
3rd position determination unit 500, for the position according to the 3rd calibration cloth and the 4th calibration cloth in world coordinate system Put and the second calibration cloth is relative to the 3rd calibration cloth and the position relationship of the 4th calibration cloth, determine the second calibration cloth in the world Position in coordinate system.
Mount message determining unit 600, for according to the first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th school Position of the quasi- cloth in world coordinate system, it is determined that preceding to image collecting device, backward image collecting device, left-hand image collector The mount message in vehicle body with dextrad image collecting device is put, mount message includes installation site and setting angle.
Alignment unit 700, it is preceding to image collecting device, backward image collecting device, left-hand image collector for utilizing Put the mount message with dextrad image collecting device, determine in panoramic parking image each pixel forward direction image collecting device, Corresponding pixel in the image of backward image collecting device, left-hand image collecting device and dextrad image acquisition device, Establish and store the mapping relations of corresponding pixel points.
Using image mosaic calibrating installation disclosed by the invention, user carries out image mosaic in panoramic parking system and calibrates it Before, it is only necessary to the first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration are all around put respectively in vehicle Cloth, and only need to ensure the midpoint of the right edge of the 3rd calibration cloth and a left side for the 4th calibration cloth during putting calibration cloth Midpoint of the midpoint of side with the wheelspan of vehicle is alignd, and without ensure vehicle's surroundings calibration cloth will with the longitudinal direction of vehicle Heart line perfect parallelism is vertical；In panoramic parking system carries out image mosaic calibration process, user only needs to control vehicle March to first position and the second place, it is not necessary to which calibration point is chosen manually to the image of each image acquisition device.Can To see, the image mosaic calibration method based on panoramic parking system disclosed by the invention, the operation difficulty of user, phase are reduced Answer, user's operation can be reduced and the probability of deviation occur, so as to improve the degree of accuracy of image mosaic calibration.
In present invention image mosaic calibrating installation disclosed above, as a kind of embodiment, the world built in advance The origin of coordinate system is made up of the central point of rectangle the central point of four wheels of vehicle, and the positive direction of X-axis points to vehicle Right side, the positive direction of Y-axis point to the rear side of vehicle, and the positive direction of Z axis is straight up.
Accordingly, first position determining unit 100 is specifically used for：3rd calibration cloth is determined according to the body width of vehicle Coordinate of the midpoint of right edge in world coordinate system, the 3rd calibrates coordinate of the midpoint in world coordinate system of the right edge of cloth For position of the 3rd calibration cloth in world coordinate system；In the left side that the 4th calibration cloth is determined according to the body width of vehicle Coordinate of the point in world coordinate system, the 4th calibrates coordinate of the midpoint of the left side of cloth in world coordinate system as the 4th calibration Position of the cloth in world coordinate system.
As an example, in present invention image mosaic calibrating installation disclosed above, first position relation determines single Member 200 is specifically used for：Analyze the 3rd calibration cloth of left-hand image acquisition device and the figure of the left field of the first calibration cloth Picture, determine the distance of the second calibration point of the left field of the first calibration point to the first calibration cloth of the 3rd calibration cloth, the analysis right side The image for the right side area for calibrating cloth and the first calibration cloth to the 4th of image acquisition device the, determines the of the 4th calibration cloth Distance of three calibration points to the 4th calibration point of the right side area of the first calibration cloth
Second place determining unit 300 is specifically used for：According to the 3rd calibration cloth and the 4th calibration cloth in world coordinate system Position, the distance of the first calibration point to the second calibration point, the 3rd calibration point to the distance of the 4th calibration point and the second demarcation O'clock to the 4th calibration point distance, determine position of the first calibration cloth in world coordinate system.
As an example, in present invention image mosaic calibrating installation disclosed above, second place relation determines single Member 400 is specifically used for：Analyze the 3rd calibration cloth of left-hand image acquisition device and the figure of the left field of the second calibration cloth Picture, determine the distance of the 6th calibration point of the left field of the 5th calibration point to the second calibration cloth of the 3rd calibration cloth, the analysis right side The image for the right side area for calibrating cloth and the second calibration cloth to the 4th of image acquisition device the, determines the of the 4th calibration cloth Distance of seven calibration points to the 8th calibration point of the right side area of the second calibration cloth.
3rd position determination unit 500 is specifically used for：According to the 3rd calibration cloth and the 4th calibration cloth in world coordinate system Position, the 5th calibration point to the distance of the 6th calibration point, the 7th calibration point to the distance of the 8th calibration point and the 6th demarcation O'clock to the 8th calibration point distance, determine position of the second calibration cloth in world coordinate system.
As an example, in present invention image mosaic calibrating installation disclosed above, mount message determining unit 600 As shown in fig. 7, comprises at angle point physical location determining module 601, first processing module 602, Second processing module the 603, the 3rd Manage module 604 and fourth processing module 605.
Wherein：
Angle point physical location determining module 601, for determining vehicle in the case of predeterminated position, first calibrates the pre- of cloth If first physical location of the angle point in the first calibration cloth image of forward direction image acquisition device, the second calibration cloth are preset Second physical location of the angle point in rear the second calibration cloth image to image acquisition device, the preset angle of the 3rd calibration cloth Threeth physical location of the point in the 3rd calibration cloth image of left-hand image acquisition device, the default angle point of the 4th calibration cloth The 4th physical location in the 4th calibration cloth image of dextrad image acquisition device.
First processing module 602, for setting the preceding mount message to image collecting device；According to preceding to image collector Put the position in world coordinate system, calculate vehicle in the case of predeterminated position, forward direction image collecting device is according to currently setting In the virtual image of first calibration cloth caused by under fixed mount message installment state, the first of the default angle point of the first calibration cloth Virtual location；If the difference between the first physical location and the first virtual location is less than preceding to minimum value, current setting The mount message of forward direction image collecting device be the preceding mount message actual to image collecting device；If the first physical location And the first difference between virtual location be more than or equal to it is preceding to minimum value, then to the peace of image collecting device before resetting Information is filled, and performs subsequent operation, until to the mount message that image collecting device is actual before determining.
Second processing module 603, for setting the mount message of backward image collecting device；According to backward image collector Put the position in world coordinate system, calculate vehicle in the case of predeterminated position, backward image collecting device is according to currently setting In the virtual image of second calibration cloth caused by under fixed mount message installment state, the second of the default angle point of the second calibration cloth Virtual location；If the difference between the second physical location and the second virtual location is less than backward minimum value, current setting The mount message of backward image collecting device be the actual mount message of backward image collecting device；If the second physical location And the second difference between virtual location is more than or equal to backward minimum value, then the peace of backward image collecting device is reset Information is filled, and performs subsequent operation, until determining the actual mount message of backward image collecting device.
3rd processing module 604, for setting the mount message of left-hand image collecting device；According to left-hand image collector Put the position in world coordinate system, calculate vehicle in the case of predeterminated position, left-hand image collecting device is according to currently setting In the virtual image of 3rd calibration cloth caused by under fixed mount message installment state, the 3rd of the default angle point of the 3rd calibration cloth the Virtual location；If the difference between the 3rd physical location and the 3rd virtual location is less than left-hand minimum value, current setting The mount message of left-hand image collecting device be the actual mount message of left-hand image collecting device；If the 3rd physical location And the 3rd difference between virtual location is more than or equal to left-hand minimum value, then the peace of left-hand image collecting device is reset Information is filled, and performs subsequent operation, until determining the actual mount message of left-hand image collecting device.
Fourth processing module 605, for setting the mount message of dextrad image collecting device；According to dextrad image collector Put the position in world coordinate system, calculate vehicle in the case of predeterminated position, dextrad image collecting device is according to currently setting In the virtual image of 4th calibration cloth caused by under fixed mount message installment state, the 4th of the default angle point of the 4th calibration cloth the Virtual location；If the difference between the 4th physical location and the 4th virtual location is less than dextrad minimum value, current setting The mount message of dextrad image collecting device be the actual mount message of dextrad image collecting device；If the 4th physical location And the 4th difference between virtual location is more than or equal to dextrad minimum value, then the peace of dextrad image collecting device is reset Information is filled, and performs subsequent operation, until determining the actual mount message of dextrad image collecting device.
Finally, it is to be noted that, herein, such as first and second or the like relational terms be used merely to by One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation Between any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant meaning Covering including for nonexcludability, so that process, method, article or equipment including a series of elements not only include that A little key elements, but also the other element including being not expressly set out, or also include for this process, method, article or The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged Except other identical element in the process including the key element, method, article or equipment being also present.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part It is bright.

Claims (11)

1. a kind of image mosaic calibration method of panoramic parking system, the panoramic parking system includes preceding to image collector Put, backward image collecting device, left-hand image collecting device and dextrad image collecting device, it is characterised in that described image is spelled Connecing calibration method includes：
In the case where the vehicle is located at initial position, is put respectively on the front side of the vehicle, rear side, left side and right side One calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth, wherein, the midpoint of the right edge of the 3rd calibration cloth And midpoint of the midpoint with the wheelspan of the vehicle of the left side of the 4th calibration cloth is alignd, the first calibration cloth and The second calibration cloth includes intermediate region, left field and the right side area divided in advance, the forward direction IMAQ respectively Device can gather the image of the first calibration cloth, and the backward image collecting device can gather the second calibration cloth Image, the left-hand image collecting device can gather the image of the 3rd calibration cloth, the dextrad image collecting device energy Enough gather the image of the 4th calibration cloth；
Determine the 3rd calibration cloth and the 4th calibration cloth in the world built in advance according to the body width of the vehicle Position in coordinate system, the origin of the world coordinate system are made up of in rectangle the central point of four wheels of the vehicle Heart point；
Control the vehicle is straight to march to first position forward, obtain the left-hand image collecting device currently gather it is described The image of the left field of 3rd calibration cloth and the first calibration cloth, obtains the dextrad image collecting device and currently gathers It is described 4th calibration cloth and it is described first calibration cloth right side area image；
The image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, determines described first Cloth is calibrated relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
According to the position and first school of the described 3rd calibration cloth and the 4th calibration cloth in the world coordinate system Quasi- cloth determines the first calibration cloth in the generation relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth Position in boundary's coordinate system；
Control the vehicle is straight to travel rearwardly to the second place, obtain the left-hand image collecting device currently gather it is described The image of the left field of 3rd calibration cloth and the second calibration cloth, obtains the dextrad image collecting device and currently gathers It is described 4th calibration cloth and it is described second calibration cloth right side area image；
The image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, determines described second Cloth is calibrated relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
According to the position and second school of the described 3rd calibration cloth and the 4th calibration cloth in the world coordinate system Quasi- cloth determines the second calibration cloth in the generation relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth Position in boundary's coordinate system；
According to the described first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth in the generation Position in boundary's coordinate system, determine that the forward direction image collecting device, the backward image collecting device, the left-hand image are adopted In the mount message of vehicle body, the mount message includes installation site and established angle for acquisition means and the dextrad image collecting device Degree；
Utilize the forward direction image collecting device, the backward image collecting device, the left-hand image collecting device and described The mount message of dextrad image collecting device, determine in panoramic parking image each pixel the forward direction image collecting device, It is right in the image of the backward image collecting device, the left-hand image collecting device and the dextrad image acquisition device The pixel answered, establish and store the mapping relations of corresponding pixel points.
2. image mosaic calibration method according to claim 1, it is characterised in that the original of the world coordinate system built in advance Point for the central point of four wheels of the vehicle form the central point of rectangle, X-axis the positive direction sensing vehicle the right side Side, the positive direction of Y-axis point to the rear side of the vehicle, Z axis positive direction straight up；
The body width according to the vehicle determines that the 3rd calibration cloth and the 4th calibration cloth are being built in advance Position in world coordinate system, including：
Determined the midpoint of the right edge of the 3rd calibration cloth in the world coordinate system according to the body width of the vehicle Coordinate, it is described 3rd calibration cloth right edge midpoint the world coordinate system coordinate for the described 3rd calibration cloth exist Position in the world coordinate system；
Determined the midpoint of the left side of the 4th calibration cloth in the world coordinate system according to the body width of the vehicle Coordinate, coordinate of the midpoint in the world coordinate system of the left side of the 4th calibration cloth exist for the described 4th calibration cloth Position in the world coordinate system.
3. image mosaic calibration method according to claim 1 or 2, it is characterised in that
The image for analyzing the left-hand image collecting device and the dextrad image acquisition device, determines described first Cloth is calibrated relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth, including：
The 3rd calibration cloth of the left-hand image acquisition device and the image of the left field of the first calibration cloth are analyzed, The distance of the second calibration point of the left field of the first calibration point to the described first calibration cloth of the 3rd calibration cloth is determined, point The 4th calibration cloth of the dextrad image acquisition device and the image of the right side area of the first calibration cloth are analysed, really The distance of 4th calibration point of right side area of the 3rd calibration point of the fixed 4th calibration cloth to the described first calibration cloth；
It is described according to the described 3rd calibration cloth and the 4th position of the calibration cloth in the world coordinate system and described the One calibration cloth determines the first calibration cloth in institute relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth The position in world coordinate system is stated, including：
According to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, first calibration point The distance of distance, the 3rd calibration point to the 4th calibration point to second calibration point and second demarcation O'clock to the 4th calibration point distance, determine the position of the first calibration cloth in the world coordinate system.
4. image mosaic calibration method according to claim 3, it is characterised in that
The image for analyzing the left-hand image collecting device and the dextrad image acquisition device, determines described second Cloth is calibrated relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth, including：
Analyze the described 3rd of the left-hand image acquisition device left field for calibrating cloth and the second calibration cloth Image, determine it is described 3rd calibration cloth the 5th calibration point to described second calibrate cloth left field the 6th calibration point away from From, analyze the dextrad image acquisition device it is described 4th calibration cloth and it is described second calibration cloth right side area figure Picture, determine it is described 4th calibration cloth the 7th calibration point to described second calibrate cloth right side area the 8th calibration point away from From；
It is described according to the described 3rd calibration cloth and the 4th position of the calibration cloth in the world coordinate system and described the Two calibration cloth determine the second calibration cloth in institute relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth The position in world coordinate system is stated, including：
According to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, the 5th calibration point The distance of distance, the 7th calibration point to the 8th calibration point to the 6th calibration point and the 6th demarcation Point determines position of the second calibration cloth in the world coordinate system to the distance of the 8th calibration point.
5. image mosaic calibration method according to claim 4, it is characterised in that the first demarcation of the 3rd calibration cloth Point and the 5th calibration point are the central point of the described 3rd calibration cloth；The 3rd calibration point and the 7th calibration point of the 4th calibration cloth For the central point of the described 4th calibration cloth.
6. image mosaic calibration method according to any one of claim 1 to 4, it is characterised in that described in the basis First calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth are in the world coordinate system Position, determine the forward direction image collecting device, the backward image collecting device, the left-hand image collecting device and described Dextrad image collecting device vehicle body mount message, including：
Vehicle is determined in the case of predeterminated position, the default angle point of the first calibration cloth is in the forward direction image collecting device The first physical location in first calibration cloth image of collection, the default angle point of the second calibration cloth are adopted to image in the rear The second physical location in second calibration cloth image of acquisition means collection, the default angle point of the 3rd calibration cloth is in the left-hand The 3rd physical location in 3rd calibration cloth image of image acquisition device, the default angle point of the 4th calibration cloth is in institute State the 4th physical location in the 4th calibration cloth image of dextrad image acquisition device；
Set the mount message of the forward direction image collecting device；According to the forward direction image collecting device in the world coordinates Position in system, vehicle is calculated in the case of the predeterminated position, the forward direction image collecting device is according to currently setting In the virtual image of first calibration cloth caused by under mount message installment state, the first of the default angle point of the first calibration cloth Virtual location；If difference between first physical location and first virtual location be less than it is preceding to minimum value, The mount message of the forward direction image collecting device currently set is the actual mount message of the forward direction image collecting device；If Difference between first physical location and first virtual location is more than or equal to the forward direction minimum value, then again The mount message of the forward direction image collecting device is set, and performs subsequent step, until determining the forward direction image collector Put actual mount message；
Set the mount message of the backward image collecting device；According to the backward image collecting device in the world coordinates Position in system, vehicle is calculated in the case of the predeterminated position, the backward image collecting device is according to currently setting In the virtual image of second calibration cloth caused by under mount message installment state, the second of the default angle point of the second calibration cloth Virtual location；If the difference between second physical location and second virtual location is less than backward minimum value, The mount message of the backward image collecting device currently set is the actual mount message of the backward image collecting device；If Difference between second physical location and second virtual location is more than or equal to the backward minimum value, then again The mount message of the backward image collecting device is set, and performs subsequent step, until determining the backward image collector Put actual mount message；
Set the mount message of the left-hand image collecting device；According to the left-hand image collecting device in the world coordinates Position in system, vehicle is calculated in the case of the predeterminated position, the left-hand image collecting device is according to currently setting In the virtual image of 3rd calibration cloth caused by under mount message installment state, the 3rd of the default angle point of the 3rd calibration cloth the Virtual location；If the difference between the 3rd physical location and the 3rd virtual location is less than left-hand minimum value, The mount message of the left-hand image collecting device currently set is the actual mount message of the left-hand image collecting device；If Difference between 3rd physical location and the 3rd virtual location is more than or equal to the left-hand minimum value, then again The mount message of the left-hand image collecting device is set, and performs subsequent step, until determining the left-hand image collector Put actual mount message；
Set the mount message of the dextrad image collecting device；According to the dextrad image collecting device in the world coordinates Position in system, vehicle is calculated in the case of the predeterminated position, the dextrad image collecting device is according to currently setting In the virtual image of 4th calibration cloth caused by under mount message installment state, the 4th of the default angle point of the 4th calibration cloth the Virtual location；If the difference between the 4th physical location and the 4th virtual location is less than dextrad minimum value, The mount message of the dextrad image collecting device currently set is the actual mount message of the dextrad image collecting device；If Difference between 4th physical location and the 4th virtual location is more than or equal to the dextrad minimum value, then again The mount message of the dextrad image collecting device is set, and performs subsequent step, until determining the dextrad image collector Put actual mount message.
7. a kind of image mosaic calibrating installation of panoramic parking system, the panoramic parking system includes preceding to image collector Put, backward image collecting device, left-hand image collecting device and dextrad image collecting device, it is characterised in that described image is spelled Connecing calibrating installation includes：
First position determining unit, it is true according to the body width of the vehicle in the case where the vehicle is in initial position The position of the fixed 3rd calibration cloth and the 4th calibration cloth in the world coordinate system built in advance, the world coordinate system Origin the central point of rectangle is made up of the central point of four wheels of the vehicle；Wherein, in the vehicle positioned at initial In the case of position, the first calibration cloth, the second calibration cloth, the are put respectively on the front side of the vehicle, rear side, left side and right side The left side of three calibration cloth and the 4th calibration cloth, the midpoint of the right edge of the 3rd calibration cloth and the 4th calibration cloth Midpoint of the midpoint with the wheelspan of the vehicle is alignd, and the first calibration cloth and the second calibration cloth include drawing in advance respectively Intermediate region, left field and the right side area divided, the forward direction image collecting device can gather the first calibration cloth Image, the backward image collecting device can gather the image of the second calibration cloth, the left-hand image collecting device energy The image of the 3rd calibration cloth is enough gathered, the dextrad image collecting device can gather the image of the 4th calibration cloth；
First position relation determination unit, for the vehicle is straight march to first position forward when, obtain the left-hand The 3rd calibration cloth and the image of the left field of the first calibration cloth that image collecting device currently gathers, obtain institute The image of the right side area of the 4th calibration cloth that dextrad image collecting device currently gathers and the first calibration cloth is stated, The image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, determines first calibration Cloth is relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
Second place determining unit, for calibrating cloth in the world coordinate system according to the described 3rd calibration cloth and the described 4th Position and it is described first calibration cloth relative to the described 3rd calibration cloth and it is described 4th calibration cloth position relationship, it is determined that Position of the first calibration cloth in the world coordinate system；
Second place relation determination unit, for the vehicle is straight travel rearwardly to the second place when, obtain the left-hand The 3rd calibration cloth and the image of the left field of the second calibration cloth that image collecting device currently gathers, obtain institute The image of the right side area of the 4th calibration cloth that dextrad image collecting device currently gathers and the second calibration cloth is stated, The image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, determines second calibration Cloth is relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
3rd position determination unit, for calibrating cloth in the world coordinate system according to the described 3rd calibration cloth and the described 4th Position and it is described second calibration cloth relative to the described 3rd calibration cloth and it is described 4th calibration cloth position relationship, it is determined that Position of the second calibration cloth in the world coordinate system；
Mount message determining unit, for according to the described first calibration cloth, the second calibration cloth, the 3rd calibration cloth and institute Position of the 4th calibration cloth in the world coordinate system is stated, determines that the forward direction image collecting device, the backward image are adopted Acquisition means, the left-hand image collecting device and the dextrad image collecting device are in the mount message of vehicle body, the installation letter Breath includes installation site and setting angle；
Alignment unit, for being adopted using the forward direction image collecting device, the backward image collecting device, the left-hand image The mount message of acquisition means and the dextrad image collecting device, determine that each pixel is in the forward direction figure in panoramic parking image As harvester, backward image collecting device, the left-hand image collecting device and the dextrad image collecting device are adopted Corresponding pixel in the image of collection, establish and store the mapping relations of corresponding pixel points.
8. image mosaic calibrating installation according to claim 7, it is characterised in that the original of the world coordinate system built in advance Point for the central point of four wheels of the vehicle form the central point of rectangle, X-axis the positive direction sensing vehicle the right side Side, the positive direction of Y-axis point to the rear side of the vehicle, Z axis positive direction straight up；
The first position determining unit is specifically used for：The right side of the 3rd calibration cloth is determined according to the body width of the vehicle Coordinate of the midpoint of side in the world coordinate system, the midpoint of the right edge of the 3rd calibration cloth is in the world coordinates The coordinate of system is position of the described 3rd calibration cloth in the world coordinate system；Determined according to the body width of the vehicle Coordinate of the midpoint of the left side of the 4th calibration cloth in the world coordinate system, the left side of the 4th calibration cloth Coordinate of the midpoint in the world coordinate system is position of the described 4th calibration cloth in the world coordinate system.
9. the image mosaic calibrating installation according to claim 7 or 8, it is characterised in that
The first position relation determination unit is specifically used for：Analyze the 3rd school of the left-hand image acquisition device The image of the left field of quasi- cloth and the first calibration cloth, determine the first calibration point to the described first calibration of the 3rd calibration cloth The distance of second calibration point of the left field of cloth, analyze the dextrad image acquisition device it is described 4th calibration cloth and The image of the right side area of the first calibration cloth, determine the 3rd calibration point to the described first calibration cloth of the 4th calibration cloth Right side area the 4th calibration point distance；
The second place determining unit is specifically used for：According to the described 3rd calibration cloth and the 4th calibration cloth in the world Distance to second calibration point of position, first calibration point in coordinate system, the 3rd calibration point to the described 4th The distance of calibration point and second calibration point determine the first calibration cloth in the generation to the distance of the 4th calibration point Position in boundary's coordinate system.
10. image mosaic calibrating installation according to claim 9, it is characterised in that
The second place relation determination unit is specifically used for：Analyze the 3rd school of the left-hand image acquisition device The image of the left field of quasi- cloth and the second calibration cloth, determine the 5th calibration point of the 3rd calibration cloth to described second The distance of the 6th calibration point of the left field of cloth is calibrated, analyzes the 4th calibration of the dextrad image acquisition device The image of the right side area of cloth and the second calibration cloth, determine the 7th calibration point of the 4th calibration cloth to second school The distance of 8th calibration point of the right side area of quasi- cloth；
3rd position determination unit is specifically used for：According to the described 3rd calibration cloth and the 4th calibration cloth in the world Distance to the 6th calibration point of position, the 5th calibration point in coordinate system, the 7th calibration point to the described 8th The distance of calibration point and the 6th calibration point determine the second calibration cloth in institute to the distance of the 8th calibration point State the position in world coordinate system.
11. the image mosaic calibrating installation according to any one of claim 7 to 10, it is characterised in that the installation letter Breath determining unit includes：
Angle point physical location determining module, for determining vehicle in the case of predeterminated position, the first calibration cloth is preset First physical location of the angle point in the first calibration cloth image of the forward direction image acquisition device, the second calibration cloth Default angle point in the rear to image acquisition device second calibration cloth image in the second physical location, the described 3rd Calibrate threeth physical location of the default angle point of cloth in the 3rd calibration cloth image of the left-hand image acquisition device, institute State fourth reality of the default angle point of the 4th calibration cloth in the 4th calibration cloth image of the dextrad image acquisition device Position；
First processing module, for setting the mount message of the forward direction image collecting device；According to the forward direction IMAQ Position of the device in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the forward direction IMAQ According in the virtual image of caused first calibration cloth under the mount message installment state currently set, described first calibrates device First virtual location of the default angle point of cloth；If the difference between first physical location and first virtual location is small In forward direction minimum value, then the mount message of the forward direction image collecting device currently set is real as the forward direction image collecting device The mount message on border；If difference between first physical location and first virtual location be more than or equal to it is described before To minimum value, then the mount message of the forward direction image collecting device is reset, and perform subsequent operation, until determining institute To the mount message that image collecting device is actual before stating；
Second processing module, for setting the mount message of the backward image collecting device；According to the backward IMAQ Position of the device in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the backward IMAQ According in the virtual image of caused second calibration cloth under the mount message installment state currently set, described second calibrates device Second virtual location of the default angle point of cloth；If the difference between second physical location and second virtual location is small In backward minimum value, then the mount message of the backward image collecting device currently set is real as the backward image collecting device The mount message on border；If difference between second physical location and second virtual location be more than or equal to it is described after To minimum value, then the mount message of the backward image collecting device is reset, and perform subsequent operation, until determining institute State the actual mount message of backward image collecting device；
3rd processing module, for setting the mount message of the left-hand image collecting device；According to the left-hand IMAQ Position of the device in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the left-hand IMAQ According in the virtual image of caused 3rd calibration cloth under the mount message installment state currently set, the described 3rd calibrates device 3rd virtual location of the default angle point of cloth；If the difference between the 3rd physical location and the 3rd virtual location is small In left-hand minimum value, then the mount message of the left-hand image collecting device currently set is real as the left-hand image collecting device The mount message on border；If the difference between the 3rd physical location and the 3rd virtual location is more than or equal to the left side To minimum value, then the mount message of the left-hand image collecting device is reset, and perform subsequent operation, until determining institute State the actual mount message of left-hand image collecting device；
Fourth processing module, for setting the mount message of the dextrad image collecting device；According to the dextrad IMAQ Position of the device in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the dextrad IMAQ According in the virtual image of caused 4th calibration cloth under the mount message installment state currently set, the described 4th calibrates device 4th virtual location of the default angle point of cloth；If the difference between the 4th physical location and the 4th virtual location is small In dextrad minimum value, then the mount message of the dextrad image collecting device currently set is real as the dextrad image collecting device The mount message on border；If the difference between the 4th physical location and the 4th virtual location is more than or equal to the right side To minimum value, then the mount message of the dextrad image collecting device is reset, and perform subsequent operation, until determining institute State the actual mount message of dextrad image collecting device.
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