CN108235776A - A kind of scaling method, device, storage medium and the terminal device of ADAS cameras - Google Patents
A kind of scaling method, device, storage medium and the terminal device of ADAS cameras Download PDFInfo
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- CN108235776A CN108235776A CN201780002308.1A CN201780002308A CN108235776A CN 108235776 A CN108235776 A CN 108235776A CN 201780002308 A CN201780002308 A CN 201780002308A CN 108235776 A CN108235776 A CN 108235776A
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- calibration
- distance
- scale
- scaling board
- target camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
Abstract
A kind of scaling method of ADAS cameras, for solving the problems, such as that the scaling method of current ADAS cameras is of high cost, complicated for operation.This method includes：The mounting height of target camera on vehicle is measured, the vehicle is positioned on flat ground；Determine the target camera perpendicular to the first position on the ground；Scaling board corresponding with the mounting height is chosen, the scaling board is equipped with scale；The scaling board is placed in the shooting area in front of the target camera and the first position is on the position of distance to a declared goal, the distance to a declared goal has default correspondence with the scaling board；After the target camera is started, determine that calibration line falls the current scale on the scaling board in the display screen of ADAS；Read the corresponding calibration distance of presently described calibration line；Adjust the shooting angle of the target camera so that the calibration line is moved to scale value equal to the target scale of the calibration distance read from the current scale.
Description
Technical field
The present invention relates to camera calibration technical field more particularly to a kind of scaling method of ADAS cameras, device, deposit
Storage media and terminal device.
Background technology
At present about vehicle ADAS (Advanced Driver Assistant Systems, advanced driving assistance system)
The scaling method of camera is mainly the following mode：High-precision calibrating plate is designed, with reference to more by complex instrument or method
Kind sensor is measured and is demarcated, develops special camera calibration software, etc..
However, although these existing scaling methods can complete the calibration of ADAS cameras, often there are costs
It is high, special calibration software need to be developed, the shortcomings of development cycle is long, complicated for operation, the calibration of ADAS cameras is caused to be difficult to push away
Extensively, using limited.
Invention content
An embodiment of the present invention provides a kind of scaling method, device, storage medium and the terminal device of ADAS cameras, energy
The staking-out work of target camera is enough completed, it is of low cost, efficient, easy to operate.
In a first aspect, a kind of scaling method of ADAS cameras is provided, including：
The mounting height of target camera on vehicle is measured, the vehicle is positioned on flat ground；
Determine the target camera perpendicular to the first position on the ground；
Scaling board corresponding with the mounting height is chosen, the scaling board is equipped with scale；
The scaling board is placed in the shooting area in front of the target camera, is apart referred to the first position
On the position of set a distance, there is default correspondence in the distance to a declared goal with the scaling board；
After the target camera is started, determine that calibration line is fallen current on the scaling board in the display screen of ADAS
Scale；
Read the corresponding calibration distance of presently described calibration line；
Adjust the shooting angle of the target camera so that the calibration line is moved to scale value from the current scale
Equal to the target scale of the calibration distance read；
Wherein, the scale value of each scale on the scaling board is, identical beforehand through demarcated and mounting height
Camera read under identical calibration environment obtain when calibration line fall it is corresponding when on each scale of the scaling board
Calibration distance.
Optionally, the scale value of each scale on the scaling board is previously obtained by following steps：
It determines to have demarcated camera perpendicular to the second position on ground in the mounting height, described in installation
The vehicle of calibration camera is positioned on flat ground；
Place the scaling board in described demarcated in the shooting area in front of camera, the scaling board placement location with
The distance of the second position is equal to the distance to a declared goal；
After camera has been demarcated described in starting, adjust calibration line in the display screen of ADAS and fall the position on scaling board,
So that the calibration line is fallen on each scale of the scaling board；
The calibration line is read respectively falls the calibration distance on each scale；
The value of each calibration distance read is determined as to the scale value of corresponding each scale.
Optionally, it is described to determine that the target camera includes perpendicular to the first position on the ground：
The height measuring rule perpendicular to the ground is placed in the region in front of the target camera, the height is surveyed
The upper end of gage is higher than the target camera；
Calibrate the horizontal direction and vertical direction of the height measuring rule；
Measure the first distance between the target camera and the height measuring rule；
First distance is moved from the lower end position of the height measuring rule to the target camera direction, is determined
The target camera is perpendicular to the first position on the ground.
Optionally, in the shooting angle for adjusting the target camera so that the calibration line is moved from the current scale
It moves after being equal to the target scale of the calibration distance read to scale value, further includes：
Determine the specified calibration distance for verification；
It is separated by the ground of the specified calibration distance in the front of the target camera and with the first position
A shaft is placed, the shaft is vertical with the front direction；
After the target camera is started, the calibration line in the ADAS display screens is adjusted so that calibration line is corresponding
Calibration distance is equal to the specified calibration distance；
Judge whether the calibration line in the ADAS display screens overlaps with the shaft shown in the display screen；
If the calibration line in the ADAS display screens is overlapped with the shaft shown in the display screen, it is determined that the mesh
The calibration result for marking camera is accurate；
If calibration line in the ADAS display screens and the shaft shown in the display screen are misaligned, it is determined that described
The calibration result of target camera is inaccurate.
Second aspect provides a kind of caliberating device of ADAS cameras, including：
Mounting height measurement module, for measuring the mounting height of target camera on vehicle, the vehicle is positioned over flat
On smooth ground；
First position determining module, for determining the target camera perpendicular to the first position on the ground；
Scaling board chooses module, and for choosing scaling board corresponding with the mounting height, the scaling board, which is equipped with, to be carved
Degree；
Scaling board placement module, for the scaling board to be placed in the shooting area in front of the target camera,
With the first position on the position of distance to a declared goal, there is default correspondence in the distance to a declared goal with the scaling board；
Current scale determining module, for after the target camera is started, determining calibration line in the display screen of ADAS
Fall the current scale on the scaling board；
Calibration is apart from read module, for reading the corresponding calibration distance of presently described calibration line；
Adjustment module, for adjusting the shooting angle of the target camera so that the calibration line is from the current quarter
Degree is moved to scale value and is equal to the target scale of the calibration distance read；
Wherein, the scale value of each scale on the scaling board is, identical beforehand through demarcated and mounting height
Camera read under identical calibration environment obtain when calibration line fall it is corresponding when on each scale of the scaling board
Calibration distance.
Optionally, the scale value of each scale on the scaling board with lower module by being previously obtained：
Second position determining module, for determining the camera of calibration in the mounting height perpendicular to ground
The second position, demarcated the vehicle of camera described in installation and be positioned on flat ground；
Calibration plate module is placed, for placing the scaling board in described demarcated in the shooting area in front of camera,
The scaling board placement location and the distance of the second position are equal to the distance to a declared goal；
Calibration line adjustment module, for after camera has been demarcated described in starting, adjusting calibration line in the display screen of ADAS
Fall the position on scaling board so that the calibration line is fallen on each scale of the scaling board；
Spacing module is read, the calibration distance on each scale is fallen for reading the calibration line respectively；
Scale value determining module, for the value of each calibration distance read to be determined as to the quarter of corresponding each scale
Angle value.
Optionally, the first position determining module includes：
Measuring scale placement unit, for placing the height perpendicular to the ground in the region in front of the target camera
Measuring scale is spent, the upper end of the height measuring rule is higher than the target camera；
Direction calibration unit, for calibrating the horizontal direction of the height measuring rule and vertical direction；
First distance measuring unit, for measure between the target camera and the height measuring rule first away from
From；
Position mobile unit, for moving institute from the lower end position of the height measuring rule to the target camera direction
The first distance is stated, determines the target camera perpendicular to the first position on the ground.
Optionally, the caliberating device of the ADAS cameras further includes：
Distance to a declared goal determining module, for determining the specified calibration distance for verification；
Shaft placement module, for being separated by the finger in the front of the target camera and with the first position
It calibrates and places a shaft on the ground of set a distance, the shaft is vertical with the front direction；
Calibration line adjustment module, for after the target camera is started, adjusting the calibration in the ADAS display screens
Line so that the corresponding calibration distance of calibration line is equal to the specified calibration distance；
Judgment module is overlapped, for judging calibration line in the ADAS display screens whether with being shown in the display screen
Shaft overlaps；
First determining module, if being yes for the judging result for overlapping judgment module, it is determined that the target camera shooting
The calibration result of head is accurate；
Second determining module, if being no for the judging result for overlapping judgment module, it is determined that the target camera shooting
The calibration result of head is inaccurate.
The third aspect provides a kind of terminal device, including memory, processor and is stored in the memory simultaneously
The computer program that can be run on the processor, the processor realize that above-mentioned ADAS takes the photograph when performing the computer program
As head scaling method the step of.
Fourth aspect, provides a kind of computer readable storage medium, and the computer-readable recording medium storage has meter
The step of calculation machine program, the computer program realizes the scaling method of above-mentioned ADAS cameras when being executed by processor.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages：
In the embodiment of the present invention, first, the mounting height of target camera on vehicle is measured, the vehicle is positioned over flat
Ground on；Then, it is determined that the target camera is perpendicular to the first position on the ground；It chooses and the mounting height pair
The scaling board answered, the scaling board are equipped with scale；Then, the bat scaling board being placed in front of the target camera
It takes the photograph in region and the first position is on the position of distance to a declared goal, the distance to a declared goal exists default with the scaling board
Correspondence；After the target camera is started, determine that calibration line falls working as on the scaling board in the display screen of ADAS
Preceding scale；In addition, the corresponding calibration distance of presently described calibration line is read；Finally, the shooting angle of the target camera is adjusted
Degree so that the calibration line is moved to scale value from the current scale and is carved equal to the target of the calibration distance read
Degree；Wherein, the scale value of each scale on the scaling board is to be taken the photograph beforehand through having demarcated and identical mounting height
As head read under identical calibration environment obtain when calibration line falls corresponding mark when on each scale of the scaling board
Set a distance.As it can be seen that the embodiment of the present invention, by the scaling board of the standard pre-set, the scale value on scaling board carrys out self-calibration
Good camera, so as to adjust the shooting angle of target camera according to the scale value on scaling board, falls calibration line
The staking-out work of target camera is completed on corresponding target scale, this method is of low cost, efficient, easy to operate,
The staking-out work of ADAS cameras especially suitable for batch is installed, is conducive to the promotion and application of ADAS camera calibrations.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of scaling method one embodiment flow chart of ADAS cameras in the embodiment of the present invention；
Fig. 2 is a kind of principle schematic of the scaling method of ADAS cameras in the embodiment of the present invention；
Fig. 3 is a kind of scaling method step 102 of ADAS cameras in the embodiment of the present invention under an application scenarios
Flow diagram；
Fig. 4 is the principle schematic that a kind of scaling method of ADAS cameras determines first position in the embodiment of the present invention；
Fig. 5 is that a kind of scaling method of ADAS cameras sets scaling board under an application scenarios in the embodiment of the present invention
The flow diagram of the scale value of upper each scale；
Fig. 6 is that a kind of scaling method of ADAS cameras verifies that target is taken the photograph under an application scenarios in the embodiment of the present invention
As leader it is fixed whether accurate flow diagram；
Fig. 7 is a kind of caliberating device one embodiment structure chart of ADAS cameras in the embodiment of the present invention；
Fig. 8 is the schematic diagram of terminal device that one embodiment of the invention provides.
Specific embodiment
An embodiment of the present invention provides a kind of scaling method, device, storage medium and the terminal devices of ADAS cameras, use
It is of high cost, complicated for operation in the scaling method for solving the problems, such as current ADAS cameras.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment is clearly and completely described the technical solution in the embodiment of the present invention, it is clear that disclosed below
Embodiment be only part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
All other embodiment that those of ordinary skill is obtained without making creative work, belongs to protection of the present invention
Range.
Referring to Fig. 1, a kind of scaling method one embodiment of ADAS cameras includes in the embodiment of the present invention：
101st, the mounting height of target camera on vehicle is measured, the vehicle is positioned on flat ground；
With reference to Fig. 2, target camera is installed on vehicle, i.e. the position of A points, height of the A points apart from ground are in Fig. 2
Above-mentioned mounting height, is denoted as m.
Wherein, for the accuracy of calibration, it is desirable that vehicle is placed on flat ground, can use engineering survey in advance
Method measures the flatness on ground, ensures that ground is flat by replacing ground or repairing the place of out-of-flatness.
102nd, determine the target camera perpendicular to the first position on the ground；
C points position in above-mentioned first position, that is, Fig. 2, the line that 2 points of AC is perpendicular to ground.
Further, as shown in figure 3, above-mentioned steps 102 can specifically include：
301st, the height measuring rule perpendicular to the ground, the height are placed in the region in front of the target camera
The upper end for spending measuring scale is higher than the target camera；
302nd, the horizontal direction and vertical direction of the height measuring rule are calibrated；
303rd, the first distance between the target camera and the height measuring rule is measured；
304th, first distance is moved from the lower end position of the height measuring rule to the target camera direction, really
The target camera is made perpendicular to the first position on the ground.
With reference to Fig. 4, A points are the installation site of target camera, and C points are the first position, and BD is in target camera
The height measuring rule perpendicular to ground placed in the region in front.It, can be horizontal and vertical in placing height measuring scale
An air level is respectively put on direction to calibrate the horizontal and vertical direction of BD.Note | AC |=| BD |=m (unit can be rice) passes through
Measurement is easy to get distance | AB |=d (unit can be rice) is then surveyed at the lower end position D points of height measuring rule to BA directions
Amount d distances can obtain C points position, the position of label C points on the ground defines the first position.
Wherein, in the measurement process of above-mentioned steps 301~304, when placing height measuring scale, only need to be in target camera
Position more slightly before is placed, i.e., the value of d is smaller more excellent after placing height measuring scale, in this way when measuring d, measurement result
Existing error can smaller.
103rd, scaling board corresponding with the mounting height is chosen, the scaling board is equipped with scale；
It is understood that multiple scaling boards equipped with different scales, each calibration can be preset in the present embodiment
Plate is corresponding from different mounting heights respectively, to be suitable for the target camera of different mounting heights.On each scaling board
The scale value of scale is also accordingly set beforehand through the camera demarcated, and the setting method of scale value is retouched below
It states.
104th, the scaling board is placed in the shooting area in front of the target camera, with the first position phase
On position away from distance to a declared goal, there is default correspondence in the distance to a declared goal with the scaling board；
After scaling board corresponding with the mounting height is selected, need the scaling board being placed on the target and take the photograph
As in the shooting area in front of head, with the first position on the position of distance to a declared goal.With reference to Fig. 2, it is assumed that this it is specified away from
From for f, then from C points to the front of target camera shooting direction movement f distances after, reach F points, the position of the F points is exactly institute
State the position that scaling board should be placed.
Wherein, each scaling board is in advance by corresponding distance to a declared goal, this is because on scaling board each scale scale
Value is to be set under the distance to a declared goal using the camera demarcated, therefore, when placing the scaling board, in order to keep target
The calibration environment of camera is consistent with the calibration environment of the camera demarcated, need to limit the scaling board it is corresponding it is specified away from
From.
105th, after the target camera is started, determine that calibration line is fallen on the scaling board in the display screen of ADAS
Current scale；
106th, the corresponding calibration distance of presently described calibration line is read；
For above-mentioned steps 105~106, with reference to Fig. 2, the corresponding calibration of the K points calibration line current for target camera away from
From the point on the ground at place, | CK |=y is the calibration distance, the positions of H points be ADAS display screen in calibration line fall
The current scale that the calibration line is fallen on the scaling board is determined in current location on scaling board.
107th, the shooting angle of the target camera is adjusted so that the calibration line is moved to quarter from the current scale
Angle value is equal to the target scale of the calibration distance read.
It is understood that determine that calibration line ought to fall the quarter on scaling board according to the calibration distance read
Angle value, so as to find the target scale according to the scale value of each scale on scaling board.It is found that the target scale is exactly target
After camera calibration the calibration line needs fall position.Therefore, by adjusting the shooting angle of target camera, by calibration line
Target scale is moved to from current scale, that is, completes the staking-out work of target camera.
Wherein, the scale value of each scale on the scaling board is, identical beforehand through demarcated and mounting height
Camera read under identical calibration environment obtain when calibration line fall it is corresponding when on each scale of the scaling board
Calibration distance.
Specifically, as shown in figure 5, the scale value of each scale on the scaling board can be obtained by the way that following steps are advance
It arrives：
501st, it determines to have demarcated camera perpendicular to the second position on ground in the mounting height, institute is installed
It states and has demarcated the vehicle of camera and be positioned on flat ground；
502nd, the scaling board is placed in described demarcated in the shooting area in front of camera, the scaling board places position
It puts and is equal to the distance to a declared goal with the distance of the second position；
503rd, it after camera has been demarcated described in starting, adjusts calibration line in the display screen of ADAS and falls the position on scaling board
It puts so that the calibration line is fallen on each scale of the scaling board；
504th, the calibration line is read respectively falls the calibration distance on each scale；
The 505th, the value of each calibration distance read is determined as to the scale value of corresponding each scale.
For above-mentioned steps 501~505, with reference to the principle schematic of Fig. 2, camera has been demarcated mounted on A points position, C
Point is said second position, prepares a scaling board that scale value is not put on equipped with scale but each scale in advance, this is marked
Fixed board is placed in shooting area, and the distance of scaling board placement location and the second position is equal to distance to a declared goal, it is assumed that it is specified away from
From for f.It is understood that since the camera of having demarcated has already passed through calibration processing, it can be considered that this is
The calibration line of calibration camera is accurate, so as in step 503, start after this has demarcated camera, adjust in display screen
Calibration line falls the position on scaling board so that calibration line is fallen on each scale of the scaling board, it is believed that calibration line
The position fallen on scale is accurate position.Therefore, by read calibration line fall calibration on each scale away from
From, and the value of the calibration distance is determined as to the scale value of corresponding scale, put on these scales on each scale of scaling board
Value completes the scale value setting of each scale on scaling board.
It should be noted that above-mentioned camera of having demarcated can be previously-completed staking-out work by other methods, it can also
It is demarcated in the following manner：It, can be by the camera when the camera needs calibration with reference to the principle schematic of Fig. 2
Mounted on A points position, height of the A points apart from ground is denoted as m, and C points are camera perpendicular to the position on ground, in target camera
Place scaling board in the shooting area in front, i.e. in Fig. 2 on the position of FH, the lower extreme point of scaling board is F points, remembers distance | CF |=
F, CF are perpendicular to AC.Corresponding point of the calibration on the ground at place of the K points calibration line current for camera, | CK |=y is
The calibration distance, C, F, K it is same directly on, after the camera is started, determine that calibration line is fallen in the display screen of ADAS
The first scale on scaling board, and the corresponding calibration distance y of the calibration line is read, mounting height m, scaling board are placed into distance f
The first formula, which is substituted into, with calibration distance y calculates object height；
First formula is：
Wherein, x is the height value of the value or H points of the theoretical level namely the corresponding scale of H points apart from ground.
After theoretical level x is determined, i.e., the position of theoretical scale is determined from scaling board according to the value of x.Finally, it adjusts
Save the shooting angle of the camera so that calibration line is moved to the theoretical scale from first scale, which completes
Calibration.The above process is subsequent other m peaces in order to complete first staking-out work for having demarcated camera in m mounting heights
The scaling method that the ADAS cameras provided by the invention can be used in the camera calibration of dress height is demarcated.
Further, in the shooting angle for adjusting the target camera so that the calibration line is from the current scale
It is moved to after the target scale, the scaling method of the ADAS cameras can also test calibrated target camera
Whether card, examine the target camera calibration accurate, as shown in fig. 6, specific steps include：
601st, the specified calibration distance for verification is determined；
602nd, it is separated by the specified ground for demarcating distance in the front of the target camera and with the first position
A shaft is placed on face, the shaft is vertical with the front direction；
603rd, after the target camera is started, the calibration line in the ADAS display screens is adjusted so that calibration line pair
The calibration distance answered is equal to the specified calibration distance；
604th, judge whether the calibration line in the ADAS display screens overlaps with the shaft shown in the display screen, if
It is then to perform step 605, if it is not, then performing step 606；
605th, determine that the calibration result of the target camera is accurate；
606th, determine that the calibration result of the target camera is inaccurate.
For above-mentioned steps 601~606, first specify a calibration distance for verification, i.e., described specified calibration distance,
And after the target camera is started, the calibration line in the ADAS display screens is adjusted according to the specified calibration distance so that
The calibration distance of calibration line after adjusting is equal to the specified calibration distance.
The front of target camera and with first position be separated by it is described it is specified calibration distance ground on place a bar
Shape object with reference to figure 2, i.e., places the shaft in k points position.The shaft is vertical with the front direction of target camera.It can
With understanding, the calibration line in ADAS display screens is generally horizontal line, therefore corresponding, which is also laterally to put
It puts.
It should be noted that due to being that calibrated target camera is verified, the mesh after the setting on ADAS
Mark the mounting height of camera, i.e. m values.After ADAS is started, by judge the calibration line in display screen whether with it is described aobvious
The shaft shown in display screen overlaps, you can judgement learns whether the target camera calibration is accurate.If calibration line and display
Shaft overlap, it may be considered that the calibration result of the target camera is accurate；, whereas if calibration line and the bar of display
Shape object is misaligned, it may be considered that the calibration result of the target camera is inaccurate.
For example, in an application scenarios, calibration, i.e. y=4, then by above-mentioned can be completed at 4 meters of distance K points
First formula calculates corresponding position at y=3, y=5 and places shaft respectively, and respectively from y=3 from ADAS display screens
When the calibration line whether overlapped with the shaft at 3 meters, y=5 when the calibration line whether overlapped with the shaft at 5 meters.
In the present embodiment, first, the mounting height of target camera on vehicle is measured, the vehicle is positioned over flat ground
On face；Then, it is determined that the target camera is perpendicular to the first position on the ground；It chooses corresponding with the mounting height
Scaling board, the scaling board are equipped with scale；Then, the scaling board is placed on to the shooting area in front of the target camera
In domain, with the first position on the position of distance to a declared goal, the distance to a declared goal exists default corresponding with the scaling board
Relationship；After the target camera is started, determine that calibration line falls the current quarter on the scaling board in the display screen of ADAS
Degree；In addition, the corresponding calibration distance of presently described calibration line is read；Finally, the shooting angle of the target camera is adjusted, is made
It obtains the calibration line and is moved to scale value equal to the target scale of the calibration distance read from the current scale；Its
In, the scale value of each scale on the scaling board is to exist beforehand through camera demarcated and identical mounting height
Under identical calibration environment read obtain when calibration line falls corresponding calibration distance when on each scale of the scaling board.
As it can be seen that the present embodiment, by the scaling board of the standard pre-set, the scale value on scaling board carrys out the good camera of self-calibration,
So as to adjust the shooting angle of target camera according to the scale value on scaling board, calibration line is made to fall in corresponding target
The staking-out work of target camera is completed on scale, this method is of low cost, efficient, easy to operate, especially suitable for criticizing
The staking-out work of amount installation ADAS cameras, is conducive to the promotion and application of ADAS camera calibrations.
It should be understood that the size of the serial number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without coping with the embodiment of the present invention forms any limit with its function and internal logic
It is fixed.
A kind of scaling method of ADAS cameras is essentially described above, a kind of calibration of ADAS cameras will be filled below
It puts and is described in detail.
Fig. 7 shows a kind of caliberating device one embodiment structure chart of ADAS cameras in the embodiment of the present invention.
In the present embodiment, a kind of caliberating device of ADAS cameras includes：
Mounting height measurement module 701, for measuring the mounting height of target camera on vehicle, the vehicle is positioned over
On flat ground；
First position determining module 702, for determining the target camera perpendicular to the first position on the ground；
Scaling board chooses module 703, and for choosing scaling board corresponding with the mounting height, the scaling board is equipped with
Scale；
Scaling board placement module 704, for the scaling board to be placed on to the shooting area in front of the target camera
In, with the first position on the position of distance to a declared goal, there is default corresponding pass in the distance to a declared goal and the scaling board
System；
Current scale determining module 705, for after the target camera is started, determining to demarcate in the display screen of ADAS
Line falls the current scale on the scaling board；
Calibration is apart from read module 706, for reading the corresponding calibration distance of presently described calibration line；
Adjustment module 707, for adjusting the shooting angle of the target camera so that the calibration line is from described current
Scale is moved to scale value and is equal to the target scale of the calibration distance read；
Wherein, the scale value of each scale on the scaling board is, identical beforehand through demarcated and mounting height
Camera read under identical calibration environment obtain when calibration line fall it is corresponding when on each scale of the scaling board
Calibration distance.
Further, the scale value of each scale on the scaling board can be by being previously obtained with lower module：
Second position determining module, for determining the camera of calibration in the mounting height perpendicular to ground
The second position, demarcated the vehicle of camera described in installation and be positioned on flat ground；
Calibration plate module is placed, for placing the scaling board in described demarcated in the shooting area in front of camera,
The scaling board placement location and the distance of the second position are equal to the distance to a declared goal；
Calibration line adjustment module, for after camera has been demarcated described in starting, adjusting calibration line in the display screen of ADAS
Fall the position on scaling board so that the calibration line is fallen on each scale of the scaling board；
Spacing module is read, the calibration distance on each scale is fallen for reading the calibration line respectively；
Scale value determining module, for the value of each calibration distance read to be determined as to the quarter of corresponding each scale
Angle value.
Further, the first position determining module can include：
Measuring scale placement unit, for placing the height perpendicular to the ground in the region in front of the target camera
Measuring scale is spent, the upper end of the height measuring rule is higher than the target camera；
Direction calibration unit, for calibrating the horizontal direction of the height measuring rule and vertical direction；
First distance measuring unit, for measure between the target camera and the height measuring rule first away from
From；
Position mobile unit, for moving institute from the lower end position of the height measuring rule to the target camera direction
The first distance is stated, determines the target camera perpendicular to the first position on the ground.
Further, the caliberating device of the ADAS cameras can also include：
Distance to a declared goal determining module, for determining the specified calibration distance for verification；
Shaft placement module, for being separated by the finger in the front of the target camera and with the first position
It calibrates and places a shaft on the ground of set a distance, the shaft is vertical with the front direction；
Calibration line adjustment module, for after the target camera is started, adjusting the calibration in the ADAS display screens
Line so that the corresponding calibration distance of calibration line is equal to the specified calibration distance；
Judgment module is overlapped, for judging calibration line in the ADAS display screens whether with being shown in the display screen
Shaft overlaps；
First determining module, if being yes for the judging result for overlapping judgment module, it is determined that the target camera shooting
The calibration result of head is accurate；
Second determining module, if being no for the judging result for overlapping judgment module, it is determined that the target camera shooting
The calibration result of head is inaccurate.
Fig. 8 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in figure 8, the terminal of the embodiment is set
Standby 8 include：Processor 80, memory 81 and it is stored in the meter that can be run in the memory 81 and on the processor 80
Calculation machine program 82, such as perform the program of the scaling method of above-mentioned ADAS cameras.The processor 80 performs the computer
Realize the step in the scaling method embodiment of above-mentioned each ADAS cameras during program 82, for example, step 101 shown in FIG. 1 to
107.Alternatively, the processor 80 realizes each module/unit in above-mentioned each device embodiment when performing the computer program 82
Function, such as the function of module 701 to 707 shown in Fig. 7.
Illustratively, the computer program 82 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 81, and are performed by the processor 80, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 82 in the terminal device 8 is described.
The terminal device 8 can be that the calculating such as desktop PC, notebook, palm PC and cloud server are set
It is standby.The terminal device may include, but be not limited only to, processor 80, memory 81.It will be understood by those skilled in the art that Fig. 8
The only example of terminal device 8 does not form the restriction to terminal device 8, can include than illustrating more or fewer portions
Part either combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus etc..
The processor 80 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
The memory 81 can be the internal storage unit of the terminal device 8, such as the hard disk of terminal device 8 or interior
It deposits.The memory 81 can also be the External memory equipment of the terminal device 8, such as be equipped on the terminal device 8
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 81 can also both include the storage inside list of the terminal device 8
Member also includes External memory equipment.The memory 81 is used to store needed for the computer program and the terminal device
Other programs and data.The memory 81 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit can refer to the corresponding process in preceding method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that each embodiments described with reference to the embodiments described herein
Module, unit and/or method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.This
A little functions are performed actually with hardware or software mode, specific application and design constraint depending on technical solution.Specially
Industry technical staff can realize described function to each specific application using distinct methods, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function can have other dividing mode, such as multiple units or component in actual implementation
It may be combined or can be integrated into another system or some features can be ignored or does not perform.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical unit, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That each unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is independent product sale or uses
When, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-described embodiment side
All or part of flow in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
Including：Any entity of the computer program code or device, recording medium, USB flash disk, mobile hard disk, magnetic disc, light can be carried
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out appropriate increase and decrease according to legislation in jurisdiction and the requirement of patent practice, such as
In certain jurisdictions, according to legislation and patent practice, computer-readable medium does not include electric carrier signal and telecommunication signal.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or carry out equivalent replacement to which part technical characteristic；And these
Modification is replaced, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of scaling method of ADAS cameras, which is characterized in that including：
The mounting height of target camera on vehicle is measured, the vehicle is positioned on flat ground；
Determine the target camera perpendicular to the first position on the ground；
Scaling board corresponding with the mounting height is chosen, the scaling board is equipped with scale；
The scaling board is placed in the shooting area in front of the target camera, with the first position at a distance of it is specified away from
From position on, there is default correspondence in the distance to a declared goal and the scaling board；
After the target camera is started, determine that calibration line falls the current quarter on the scaling board in the display screen of ADAS
Degree；
Read the corresponding calibration distance of presently described calibration line；
Adjust the shooting angle of the target camera so that the calibration line is moved to scale value from the current scale and is equal to
The target scale of the calibration distance read；
Wherein, the scale value of each scale on the scaling board is to be taken the photograph beforehand through having demarcated and identical mounting height
As head read under identical calibration environment obtain when calibration line falls corresponding mark when on each scale of the scaling board
Set a distance.
2. the scaling method of ADAS cameras according to claim 1, which is characterized in that each quarter on the scaling board
The scale value of degree is previously obtained by following steps：
It determines to have demarcated camera perpendicular to the second position on ground in the mounting height, demarcated described in installation
The vehicle of camera is positioned on flat ground；
Place the scaling board in described demarcated in the shooting area in front of camera, the scaling board placement location with it is described
The distance of the second position is equal to the distance to a declared goal；
After camera has been demarcated described in starting, adjust calibration line in the display screen of ADAS and fall the position on scaling board so that
The calibration line is fallen on each scale of the scaling board；
The calibration line is read respectively falls the calibration distance on each scale；
The value of each calibration distance read is determined as to the scale value of corresponding each scale.
3. the scaling method of ADAS cameras according to claim 1, which is characterized in that described to determine the target camera shooting
Head includes perpendicular to the first position on the ground：
The height measuring rule perpendicular to the ground, the height measuring rule are placed in the region in front of the target camera
Upper end be higher than the target camera；
Calibrate the horizontal direction and vertical direction of the height measuring rule；
Measure the first distance between the target camera and the height measuring rule；
First distance is moved from the lower end position of the height measuring rule to the target camera direction, is determined described
Target camera is perpendicular to the first position on the ground.
4. the scaling method of ADAS cameras according to any one of claim 1 to 3, which is characterized in that adjusting institute
State the shooting angle of target camera so that the calibration line is moved to scale value equal to the institute read from the current scale
After the target scale for stating calibration distance, further include：
Determine the specified calibration distance for verification；
The front of the target camera and with the first position be separated by it is described it is specified calibration distance ground on place
One shaft, the shaft are vertical with the front direction；
After the target camera is started, the calibration line in the ADAS display screens is adjusted so that the corresponding calibration of calibration line
Distance is equal to the specified calibration distance；
Judge whether the calibration line in the ADAS display screens overlaps with the shaft shown in the display screen；
If the calibration line in the ADAS display screens is overlapped with the shaft shown in the display screen, it is determined that the target is taken the photograph
As the calibration result of head is accurate；
If calibration line in the ADAS display screens and the shaft shown in the display screen are misaligned, it is determined that the target
The calibration result of camera is inaccurate.
5. a kind of caliberating device of ADAS cameras, which is characterized in that including：
Mounting height measurement module, for measuring the mounting height of target camera on vehicle, the vehicle is positioned over flat
On ground；
First position determining module, for determining the target camera perpendicular to the first position on the ground；
Scaling board chooses module, and for choosing scaling board corresponding with the mounting height, the scaling board is equipped with scale；
Scaling board placement module, for the scaling board to be placed in the shooting area in front of the target camera and institute
First position is stated on the position of distance to a declared goal, the distance to a declared goal has default correspondence with the scaling board；
Current scale determining module, for after the target camera is started, determining that calibration line is fallen in the display screen of ADAS
Current scale on the scaling board；
Calibration is apart from read module, for reading the corresponding calibration distance of presently described calibration line；
Adjustment module, for adjusting the shooting angle of the target camera so that the calibration line is moved from the current scale
The target scale of the calibration distance for being equal to and reading is moved to scale value；
Wherein, the scale value of each scale on the scaling board is to be taken the photograph beforehand through having demarcated and identical mounting height
As head read under identical calibration environment obtain when calibration line falls corresponding mark when on each scale of the scaling board
Set a distance.
6. the caliberating device of ADAS cameras according to claim 5, which is characterized in that each quarter on the scaling board
The scale value of degree with lower module by being previously obtained：
Second position determining module, for determining to have demarcated camera perpendicular to the of ground in the mounting height
Two positions have been demarcated the vehicle of camera described in installation and have been positioned on flat ground；
Calibration plate module is placed, it is described for placing the scaling board in described demarcated in the shooting area in front of camera
Scaling board placement location and the distance of the second position are equal to the distance to a declared goal；
Calibration line adjustment module, for after camera has been demarcated described in starting, adjusting calibration line in the display screen of ADAS and falling
Position on scaling board so that the calibration line is fallen on each scale of the scaling board；
Spacing module is read, the calibration distance on each scale is fallen for reading the calibration line respectively；
Scale value determining module, for the value of each calibration distance read to be determined as to the scale of corresponding each scale
Value.
7. the caliberating device of ADAS cameras according to claim 5, which is characterized in that the first position determining module
Including：
Measuring scale placement unit, the height for being placed in the region in front of the target camera perpendicular to the ground are surveyed
Gage, the upper end of the height measuring rule are higher than the target camera；
Direction calibration unit, for calibrating the horizontal direction of the height measuring rule and vertical direction；
First distance measuring unit, for measuring the first distance between the target camera and the height measuring rule；
Position mobile unit, for moving described the from the lower end position of the height measuring rule to the target camera direction
One distance determines the target camera perpendicular to the first position on the ground.
8. the caliberating device of ADAS cameras according to any one of claims 5 to 7, which is characterized in that the ADAS
The caliberating device of camera further includes：
Distance to a declared goal determining module, for determining the specified calibration distance for verification；
Shaft placement module, for being separated by the specified mark in the front of the target camera and with the first position
A shaft is placed on the ground of set a distance, the shaft is vertical with the front direction；
Calibration line adjustment module, for after the target camera is started, adjusting the calibration line in the ADAS display screens, making
It obtains the corresponding calibration distance of calibration line and is equal to the specified calibration distance；
Overlap judgment module, for judge the calibration line in the ADAS display screens whether with shown in the display screen it is rod-shaped
Object overlaps；
First determining module, if being yes for the judging result for overlapping judgment module, it is determined that the target camera
Calibration result is accurate；
Second determining module, if being no for the judging result for overlapping judgment module, it is determined that the target camera
Calibration result is inaccurate.
9. a kind of terminal device, including memory, processor and it is stored in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as Claims 1-4 when performing the computer program
Any one of the scaling method of the ADAS cameras the step of.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In the calibration of realization ADAS cameras as described in any one of claims 1 to 4 when the computer program is executed by processor
The step of method.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/119952 WO2019127406A1 (en) | 2017-12-29 | 2017-12-29 | Calibration method and device for adas camera, storage medium, and terminal device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108235776A true CN108235776A (en) | 2018-06-29 |
| CN108235776B CN108235776B (en) | 2021-09-17 |
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|---|---|---|---|
| CN201780002308.1A Active CN108235776B (en) | 2017-12-29 | 2017-12-29 | Calibration method and device of ADAS camera, storage medium and terminal equipment |
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| WO (1) | WO2019127406A1 (en) |
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| CN111310943A (en) * | 2020-02-11 | 2020-06-19 | 深圳市道通科技股份有限公司 | ADAS system calibration guiding method and device and automobile diagnosis equipment |
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| WO2022062893A1 (en) * | 2020-09-25 | 2022-03-31 | 深圳市道通科技股份有限公司 | Positioning method, system and apparatus for adas calibration device and readable storage medium |
| CN116147686A (en) * | 2023-04-19 | 2023-05-23 | 江西鼎铁自动化科技有限公司 | Automobile ADAS calibration method, system, computer and storage medium |
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| CN113766211A (en) * | 2021-08-24 | 2021-12-07 | 武汉极目智能技术有限公司 | Camera installation angle detection system and method of ADAS equipment |
| CN114066992A (en) * | 2021-10-13 | 2022-02-18 | 珠海视熙科技有限公司 | Camera calibration method, system, device and storage medium |
| CN116147686A (en) * | 2023-04-19 | 2023-05-23 | 江西鼎铁自动化科技有限公司 | Automobile ADAS calibration method, system, computer and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108235776B (en) | 2021-09-17 |
| WO2019127406A1 (en) | 2019-07-04 |
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