CN108235776B - Calibration method and device of ADAS camera, storage medium and terminal equipment - Google Patents
Calibration method and device of ADAS camera, storage medium and terminal equipment Download PDFInfo
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- CN108235776B CN108235776B CN201780002308.1A CN201780002308A CN108235776B CN 108235776 B CN108235776 B CN 108235776B CN 201780002308 A CN201780002308 A CN 201780002308A CN 108235776 B CN108235776 B CN 108235776B
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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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- 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 calibration method of an ADAS camera is used for solving the problems of high cost and complex operation of the existing calibration method of the ADAS camera. The method comprises the following steps: measuring the installation height of a target camera on a vehicle, wherein the vehicle is placed on a flat ground; determining a first position of the target camera perpendicular to the ground; selecting a calibration plate corresponding to the installation height, wherein the calibration plate is provided with scales; placing the calibration plate in a shooting area in front of the target camera at a position away from the first position by a specified distance, wherein the specified distance and the calibration plate have a preset corresponding relation; after the target camera is started, determining the current scale of a calibration line on the calibration board in a display screen of the ADAS; reading a calibration distance corresponding to the current calibration line; and adjusting the shooting angle of the target camera to enable the calibration line to move from the current scale to the target scale with the scale value equal to the read calibration distance.
Description
Technical Field
The invention relates to the technical field of camera calibration, in particular to a calibration method and device of an ADAS camera, a storage medium and terminal equipment.
Background
At present, the calibration method of the camera of the vehicle ADAS (Advanced Driver assistance Systems) mainly includes the following modes: designing a high-precision calibration plate by a complex instrument or method, combining various sensors to measure and calibrate, developing special camera calibration software, and the like.
However, although these existing calibration methods can complete calibration of the ADAS camera, the existing calibration methods often have the disadvantages of high cost, need to develop special calibration software, long development period, complex operation, and the like, which causes difficulty in popularization and limited application of the ADAS camera.
Disclosure of Invention
The embodiment of the invention provides a calibration method and device of an ADAS camera, a storage medium and terminal equipment, which can finish the calibration work of a target camera and have the advantages of low cost, high efficiency and simple operation.
In a first aspect, a calibration method for an ADAS camera is provided, including:
measuring the installation height of a target camera on a vehicle, wherein the vehicle is placed on a flat ground;
determining a first position of the target camera perpendicular to the ground;
selecting a calibration plate corresponding to the installation height, wherein the calibration plate is provided with scales;
placing the calibration plate in a shooting area in front of the target camera at a position away from the first position by a specified distance, wherein the specified distance and the calibration plate have a preset corresponding relation;
after the target camera is started, determining the current scale of a calibration line on the calibration board in a display screen of the ADAS;
reading a calibration distance corresponding to the current calibration line;
adjusting the shooting angle of the target camera to enable the calibration line to move from the current scale to a target scale with a scale value equal to the read calibration distance;
the scale value of each scale on the calibration plate is a calibration distance which is obtained by reading the calibrated camera with the same installation height in the same calibration environment in advance and corresponds to the calibration line when the calibration line falls on each scale of the calibration plate.
Optionally, the scale values of the scales on the calibration plate are obtained in advance through the following steps:
determining a second position, perpendicular to the ground, of a calibrated camera installed on the installation height, and placing a vehicle provided with the calibrated camera on the flat ground;
placing the calibration plate in a shooting area in front of the calibrated camera, wherein the distance between the placement position of the calibration plate and the second position is equal to the specified distance;
after the calibrated camera is started, adjusting the position of a calibration line on a calibration plate in a display screen of the ADAS so that the calibration line falls on each scale of the calibration plate;
respectively reading the calibration distance of the calibration line on each scale;
and determining the read values of the calibration distances as corresponding scale values of the scales.
Optionally, the determining the first position of the target camera perpendicular to the ground comprises:
placing a height measuring scale vertical to the ground in an area in front of the target camera, wherein the upper end of the height measuring scale is higher than the target camera;
calibrating the horizontal direction and the vertical direction of the height measuring scale;
measuring a first distance between the target camera and the height measuring scale;
and moving the first distance from the lower end position of the height measuring scale to the direction of the target camera to determine the first position of the target camera, which is vertical to the ground.
Optionally, after adjusting the shooting angle of the target camera so that the calibration line moves from the current scale to a target scale with a scale value equal to the read calibration distance, the method further includes:
determining a designated calibration distance for verification;
placing a rod-shaped object on the ground right in front of the target camera and separated from the first position by the specified calibration distance, wherein the rod-shaped object is vertical to the right front direction;
after the target camera is started, adjusting a calibration line in the ADAS display screen to enable the calibration distance corresponding to the calibration line to be equal to the specified calibration distance;
judging whether a calibration line in the ADAS display screen is overlapped with a rod-shaped object displayed in the display screen;
if the calibration line in the ADAS display screen is overlapped with the rod-shaped object displayed in the display screen, determining that the calibration result of the target camera is accurate;
and if the calibration line in the ADAS display screen is not coincident with the rod-shaped object displayed in the display screen, determining that the calibration result of the target camera is inaccurate.
In a second aspect, a calibration apparatus for an ADAS camera is provided, including:
the mounting height measuring module is used for measuring the mounting height of a target camera on a vehicle, and the vehicle is placed on a flat ground;
the first position determining module is used for determining a first position of the target camera perpendicular to the ground;
the calibration plate selecting module is used for selecting a calibration plate corresponding to the installation height, and scales are arranged on the calibration plate;
a calibration plate placing module, configured to place the calibration plate in a shooting area in front of the target camera at a position away from the first position by a specified distance, where the specified distance and the calibration plate have a preset corresponding relationship;
the current scale determining module is used for determining the current scale of a calibration line on the calibration plate in a display screen of the ADAS after the target camera is started;
the calibration distance reading module is used for reading the calibration distance corresponding to the current calibration line;
the adjusting module is used for adjusting the shooting angle of the target camera so that the calibration line moves from the current scale to a target scale with a scale value equal to the read calibration distance;
the scale value of each scale on the calibration plate is a calibration distance which is obtained by reading the calibrated camera with the same installation height in the same calibration environment in advance and corresponds to the calibration line when the calibration line falls on each scale of the calibration plate.
Optionally, the scale values of the scales on the calibration plate are obtained in advance through the following modules:
the second position determining module is used for determining a second position, perpendicular to the ground, of the calibrated camera installed on the installation height, and a vehicle provided with the calibrated camera is placed on the flat ground;
a calibration plate placing module, configured to place the calibration plate in a shooting area in front of the calibrated camera, where a distance between the calibration plate placing position and the second position is equal to the specified distance;
the calibration line adjusting module is used for adjusting the position of a calibration line on a calibration plate in a display screen of the ADAS after the calibrated camera is started, so that the calibration line is on each scale of the calibration plate;
the distance reading module is used for respectively reading the calibration distance of the calibration line on each scale;
and the scale value determining module is used for determining the read values of the calibration distances as corresponding scale values of the scales.
Optionally, the first position determination module comprises:
a measuring scale placing unit for placing a height measuring scale perpendicular to the ground in an area in front of the target camera, wherein the upper end of the height measuring scale is higher than the target camera;
the direction calibration unit is used for calibrating the horizontal direction and the vertical direction of the height measuring scale;
the first distance measuring unit is used for measuring a first distance between the target camera and the height measuring scale;
and the position moving unit is used for moving the first distance from the lower end position of the height measuring scale to the direction of the target camera to determine the first position of the target camera, which is vertical to the ground.
Optionally, the calibration apparatus for the ADAS camera further includes:
the specified distance determining module is used for determining a specified calibration distance for verification;
the rod-shaped object placing module is used for placing a rod-shaped object on the ground which is right in front of the target camera and is separated from the first position by the specified calibration distance, and the rod-shaped object is vertical to the right in front;
the calibration line adjusting module is used for adjusting the calibration line in the ADAS display screen after the target camera is started, so that the calibration distance corresponding to the calibration line is equal to the specified calibration distance;
the coincidence judgment module is used for judging whether the calibration line in the ADAS display screen coincides with the rod-shaped object displayed in the display screen;
the first determining module is used for determining that the calibration result of the target camera is accurate if the judgment result of the coincidence judging module is positive;
and the second determining module is used for determining that the calibration result of the target camera is inaccurate if the judgment result of the coincidence judging module is negative.
In a third aspect, a terminal device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the calibration method for the ADAS camera when executing the computer program.
In a fourth aspect, a computer-readable storage medium is provided, where a computer program is stored, and the computer program, when being executed by a processor, implements the steps of the calibration method for the ADAS camera.
According to the technical scheme, the embodiment of the invention has the following advantages:
in the embodiment of the invention, firstly, the mounting height of a target camera on a vehicle is measured, and the vehicle is placed on a flat ground; then, determining a first position of the target camera perpendicular to the ground; selecting a calibration plate corresponding to the installation height, wherein the calibration plate is provided with scales; then, placing the calibration plate in a shooting area in front of the target camera at a position away from the first position by a specified distance, wherein the specified distance and the calibration plate have a preset corresponding relation; after the target camera is started, determining the current scale of a calibration line on the calibration board in a display screen of the ADAS; then, reading a calibration distance corresponding to the current calibration line; finally, adjusting the shooting angle of the target camera to enable the calibration line to move from the current scale to a target scale with a scale value equal to the read calibration distance; the scale value of each scale on the calibration plate is a calibration distance which is obtained by reading the calibrated camera with the same installation height in the same calibration environment in advance and corresponds to the calibration line when the calibration line falls on each scale of the calibration plate. Therefore, the calibration method has the advantages of low cost, high efficiency and simplicity in operation, is particularly suitable for the calibration work of installing the ADAS cameras in batches, and is beneficial to popularization and application of the ADAS camera calibration.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of an embodiment of a calibration method for an ADAS camera according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a calibration method of an ADAS camera according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a step 102 of a calibration method for an ADAS camera in an application scenario according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a principle of determining a first position by an ADAS camera calibration method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating a calibration method of an ADAS camera according to an embodiment of the present invention, in which scale values of scales on a calibration board are set in an application scene;
fig. 6 is a schematic flow chart illustrating a process of verifying whether calibration of a target camera is accurate in an application scene by the ADAS camera calibration method according to the embodiment of the present invention;
fig. 7 is a structural diagram of an embodiment of a calibration apparatus for an ADAS camera according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a calibration method, a calibration device, a storage medium and terminal equipment of an ADAS camera, which are used for solving the problems of high cost and complex operation of the conventional calibration method of the ADAS camera.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of a calibration method for an ADAS camera according to an embodiment of the present invention includes:
101. measuring the installation height of a target camera on a vehicle, wherein the vehicle is placed on a flat ground;
referring to fig. 2, the vehicle is provided with a target camera, that is, the position of point a in fig. 2, and the height from the point a to the ground is the above installation height, which is denoted as m.
In order to achieve calibration accuracy, the vehicle is required to be placed on a flat ground, the flatness of the ground can be measured in advance by adopting an engineering measurement method, and the ground is ensured to be flat by replacing the ground or repairing an uneven place.
102. Determining a first position of the target camera perpendicular to the ground;
in the first position, i.e., the position of point C in fig. 2, the line connecting the two points AC is perpendicular to the ground.
Further, as shown in fig. 3, the step 102 may specifically include:
301. placing a height measuring scale vertical to the ground in an area in front of the target camera, wherein the upper end of the height measuring scale is higher than the target camera;
302. calibrating the horizontal direction and the vertical direction of the height measuring scale;
303. measuring a first distance between the target camera and the height measuring scale;
304. and moving the first distance from the lower end position of the height measuring scale to the direction of the target camera to determine the first position of the target camera, which is vertical to the ground.
Referring to fig. 4, point a is an installation position of the target camera, point C is the first position, and point BD is a height measurement scale placed in an area in front of the target camera, perpendicular to the ground. When the height measuring ruler is placed, a level bubble may be placed in each of horizontal and vertical directions to calibrate the horizontal and vertical directions of the BD. If the distance | AB | ═ D (the unit may be m) is easily obtained by measurement, the position of the point C is obtained by measuring the distance D from the position D at the lower end of the height measuring ruler in the direction of BA, and the position of the point C on the ground is marked, that is, the first position is determined.
In the measuring process of the steps 301 to 304, the height measuring scale is placed at a position slightly before the target camera, namely, the value of d after the height measuring scale is placed is smaller and more optimal, so that the error of the measuring result is smaller when the d is measured.
103. Selecting a calibration plate corresponding to the installation height, wherein the calibration plate is provided with scales;
it can be understood that, in this embodiment, a plurality of calibration plates with different scales may be preset, and each calibration plate corresponds to a different installation height, so as to be suitable for target cameras with different installation heights. The scale values of the scales on each calibration plate are also set in advance by the calibrated cameras, and the setting method of the scale values is described below.
104. Placing the calibration plate in a shooting area in front of the target camera at a position away from the first position by a specified distance, wherein the specified distance and the calibration plate have a preset corresponding relation;
after the calibration board corresponding to the installation height is selected, the calibration board needs to be placed in a shooting area in front of the target camera at a position away from the first position by a specified distance. Referring to fig. 2, assuming that the designated distance is F, the target camera moves forward in the shooting direction by F from point C, and then reaches point F, where the calibration plate should be placed.
Each calibration board is preset with a corresponding designated distance, because the scale values of the scales on the calibration board are set by using the calibrated camera at the designated distance, when the calibration board is placed, in order to keep the calibration environment of the target camera consistent with the calibration environment of the calibrated camera, the designated distance corresponding to the calibration board needs to be limited.
105. After the target camera is started, determining the current scale of a calibration line on the calibration board in a display screen of the ADAS;
106. reading a calibration distance corresponding to the current calibration line;
for the above steps 105 to 106, referring to fig. 2, point K is a point on the ground where the calibration distance corresponding to the current calibration line of the target camera is located, | CK | ═ y is the calibration distance, and the position of point H is the current position where the calibration line falls on the calibration board in the display screen of the ADAS, that is, the current scale where the calibration line falls on the calibration board is determined.
107. And adjusting the shooting angle of the target camera to enable the calibration line to move from the current scale to the target scale with the scale value equal to the read calibration distance.
It can be understood that, the scale value on the calibration plate where the calibration line should fall is determined according to the read calibration distance, so that the target scale is found according to the scale value of each scale on the calibration plate. Therefore, the target scale is the position where the calibration line needs to be located after the target camera is calibrated. Therefore, the calibration line is moved from the current scale to the target scale by adjusting the shooting angle of the target camera, and the calibration work of the target camera is completed.
The scale value of each scale on the calibration plate is a calibration distance which is obtained by reading the calibrated camera with the same installation height in the same calibration environment in advance and corresponds to the calibration line when the calibration line falls on each scale of the calibration plate.
Specifically, as shown in fig. 5, the scale values of the respective scales on the calibration plate may be obtained in advance by:
501. determining a second position, perpendicular to the ground, of a calibrated camera installed on the installation height, and placing a vehicle provided with the calibrated camera on the flat ground;
502. placing the calibration plate in a shooting area in front of the calibrated camera, wherein the distance between the placement position of the calibration plate and the second position is equal to the specified distance;
503. after the calibrated camera is started, adjusting the position of a calibration line on a calibration plate in a display screen of the ADAS so that the calibration line falls on each scale of the calibration plate;
504. respectively reading the calibration distance of the calibration line on each scale;
505. and determining the read values of the calibration distances as corresponding scale values of the scales.
For the above steps 501 to 505, with reference to the schematic diagram of fig. 2, the calibrated camera is installed at the position of point a, point C is the second position, a calibration board having scales but each scale is not marked with a scale value is prepared in advance, the calibration board is placed in the shooting area, and the distance between the placement position of the calibration board and the second position is equal to the designated distance, assuming that the designated distance is f. It can be understood that, since the calibrated camera is calibrated, the calibration line of the calibrated camera can be considered to be accurate, and thus, in step 503, after the calibrated camera is started, the position of the calibration line on the calibration board on the display screen is adjusted, so that the calibration line falls on each scale of the calibration board, and the position of the calibration line on the scale can be considered to be an accurate position. Therefore, by reading the calibration distance of the calibration line on each scale and determining the value of the calibration distance as the scale value of the corresponding scale, the scale values are marked on each scale of the calibration plate, and the setting of the scale value of each scale on the calibration plate is completed.
It should be noted that, the calibrated camera may finish the calibration work in advance by other methods, and may also perform the calibration by the following method: when the camera needs to be calibrated, the camera may be installed at a point position, where the height of the point a from the ground is denoted as m, the point C is the position where the camera is perpendicular to the ground, a calibration board is placed in a shooting area in front of the target camera, that is, at the position of FH in fig. 2, the lower end point of the calibration board is point F, and the distance | CF | ═ F is denoted, and CF is perpendicular to AC. The method comprises the steps that K points are points on the ground where a calibration distance corresponding to a current calibration line of a camera is located, | CK |, y is the calibration distance, C, F, K is on the same straight line, after the camera is started, a first scale of a calibration line on a calibration plate in a display screen of an ADAS is determined, the calibration distance y corresponding to the calibration line is read, and the installation height m, the calibration plate placement distance f and the calibration distance y are substituted into a first formula to calculate the target height;
the first formula is:
wherein, x is the theoretical height, namely the value of the scale corresponding to the H point, or the height value of the H point from the ground.
After the theoretical height x is determined, the position of the theoretical scale is determined from the calibration plate according to the value of x. And finally, adjusting the shooting angle of the camera so that the calibration line moves from the first scale to the theoretical scale, and the camera completes calibration. The above process is to complete the calibration of the first calibrated camera at m installation heights, and then the calibration of the cameras at other m installation heights can be performed by adopting the calibration method of the ADAS camera provided by the invention.
Further, after adjusting the shooting angle of the target camera so that the calibration line moves from the current scale to the target scale, the calibration method of the ADAS camera may further verify the calibrated target camera, and check whether the calibration of the target camera is accurate, as shown in fig. 6, the specific steps include:
601. determining a designated calibration distance for verification;
602. placing a rod-shaped object on the ground right in front of the target camera and separated from the first position by the specified calibration distance, wherein the rod-shaped object is vertical to the right front direction;
603. after the target camera is started, adjusting a calibration line in the ADAS display screen to enable the calibration distance corresponding to the calibration line to be equal to the specified calibration distance;
604. judging whether the calibration line in the ADAS display screen is overlapped with the rod-shaped object displayed in the display screen, if so, executing a step 605, and if not, executing a step 606;
605. determining that the calibration result of the target camera is accurate;
606. and determining that the calibration result of the target camera is inaccurate.
For the above steps 601 to 606, a calibration distance for verification, that is, the specified calibration distance, is specified, and after the target camera is started, the calibration line in the ADAS display screen is adjusted according to the specified calibration distance, so that the calibration distance of the adjusted calibration line is equal to the specified calibration distance.
A shaft is placed on the ground directly in front of the target camera and at the specified nominal distance from the first location, i.e. at the location of the k-point, see fig. 2. The rod is perpendicular to the direction directly in front of the target camera. It will be appreciated that the calibration lines in an ADAS display are generally transverse lines and that the rods are therefore positioned transversely in correspondence therewith.
It should be noted that, since the calibrated target camera is verified, the installation height of the target camera after setting on the ADAS, that is, the m value, is obtained. After the ADAS is started, whether the calibration of the target camera is accurate can be determined by determining whether the calibration line in the display screen coincides with the rod-shaped object displayed in the display screen. If the calibration line is superposed with the displayed rod-shaped object, the calibration result of the target camera can be considered to be accurate; on the contrary, if the calibration line does not coincide with the displayed rod-shaped object, the calibration result of the target camera may be considered to be inaccurate.
For example, in an application scenario, calibration may be performed at a distance of 4 meters from the point K, that is, y is 4, then, the first formula calculates that a rod is placed at a corresponding position where y is 3 and y is 5, and when y is 3, the calibration line coincides with the rod at 3 meters, and when y is 5, the calibration line coincides with the rod at 5 meters, respectively, from the ADAS display screen.
In the embodiment, firstly, the installation height of a target camera on a vehicle is measured, and the vehicle is placed on a flat ground; then, determining a first position of the target camera perpendicular to the ground; selecting a calibration plate corresponding to the installation height, wherein the calibration plate is provided with scales; then, placing the calibration plate in a shooting area in front of the target camera at a position away from the first position by a specified distance, wherein the specified distance and the calibration plate have a preset corresponding relation; after the target camera is started, determining the current scale of a calibration line on the calibration board in a display screen of the ADAS; then, reading a calibration distance corresponding to the current calibration line; finally, adjusting the shooting angle of the target camera to enable the calibration line to move from the current scale to a target scale with a scale value equal to the read calibration distance; the scale value of each scale on the calibration plate is a calibration distance which is obtained by reading the calibrated camera with the same installation height in the same calibration environment in advance and corresponds to the calibration line when the calibration line falls on each scale of the calibration plate. It can be seen that, in the embodiment, the calibration plate is preset to be standard, and the scale value on the calibration plate comes from the calibrated camera, so that the shooting angle of the target camera can be adjusted according to the scale value on the calibration plate, and the calibration line falls on the corresponding target scale to complete the calibration work of the target camera.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The foregoing mainly describes a calibration method of an ADAS camera, and a detailed description will be given below of a calibration apparatus of an ADAS camera.
Fig. 7 shows a structure diagram of an embodiment of a calibration apparatus for an ADAS camera according to an embodiment of the present invention.
In this embodiment, a calibration apparatus for an ADAS camera includes:
an installation height measuring module 701, configured to measure an installation height of a target camera on a vehicle, where the vehicle is placed on a flat ground;
a first position determining module 702, configured to determine a first position where the target camera is perpendicular to the ground;
a calibration plate selecting module 703 for selecting a calibration plate corresponding to the installation height, wherein the calibration plate is provided with scales;
a calibration board placing module 704, configured to place the calibration board in a shooting area in front of the target camera at a position away from the first position by a specified distance, where the specified distance and the calibration board have a preset corresponding relationship;
a current scale determining module 705, configured to determine, after the target camera is started, a current scale in which a calibration line falls on the calibration board in a display screen of the ADAS;
a calibration distance reading module 706, configured to read a calibration distance corresponding to the current calibration line;
an adjusting module 707, configured to adjust a shooting angle of the target camera, so that the calibration line moves from the current scale to a target scale with a scale value equal to the read calibration distance;
the scale value of each scale on the calibration plate is a calibration distance which is obtained by reading the calibrated camera with the same installation height in the same calibration environment in advance and corresponds to the calibration line when the calibration line falls on each scale of the calibration plate.
Further, the scale values of the scales on the calibration plate can be obtained in advance through the following modules:
the second position determining module is used for determining a second position, perpendicular to the ground, of the calibrated camera installed on the installation height, and a vehicle provided with the calibrated camera is placed on the flat ground;
a calibration plate placing module, configured to place the calibration plate in a shooting area in front of the calibrated camera, where a distance between the calibration plate placing position and the second position is equal to the specified distance;
the calibration line adjusting module is used for adjusting the position of a calibration line on a calibration plate in a display screen of the ADAS after the calibrated camera is started, so that the calibration line is on each scale of the calibration plate;
the distance reading module is used for respectively reading the calibration distance of the calibration line on each scale;
and the scale value determining module is used for determining the read values of the calibration distances as corresponding scale values of the scales.
Further, the first position determination module may include:
a measuring scale placing unit for placing a height measuring scale perpendicular to the ground in an area in front of the target camera, wherein the upper end of the height measuring scale is higher than the target camera;
the direction calibration unit is used for calibrating the horizontal direction and the vertical direction of the height measuring scale;
the first distance measuring unit is used for measuring a first distance between the target camera and the height measuring scale;
and the position moving unit is used for moving the first distance from the lower end position of the height measuring scale to the direction of the target camera to determine the first position of the target camera, which is vertical to the ground.
Further, the calibration device of the ADAS camera may further include:
the specified distance determining module is used for determining a specified calibration distance for verification;
the rod-shaped object placing module is used for placing a rod-shaped object on the ground which is right in front of the target camera and is separated from the first position by the specified calibration distance, and the rod-shaped object is vertical to the right in front;
the calibration line adjusting module is used for adjusting the calibration line in the ADAS display screen after the target camera is started, so that the calibration distance corresponding to the calibration line is equal to the specified calibration distance;
the coincidence judgment module is used for judging whether the calibration line in the ADAS display screen coincides with the rod-shaped object displayed in the display screen;
the first determining module is used for determining that the calibration result of the target camera is accurate if the judgment result of the coincidence judging module is positive;
and the second determining module is used for determining that the calibration result of the target camera is inaccurate if the judgment result of the coincidence judging module is negative.
Fig. 8 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 8, the terminal device 8 of this embodiment includes: a processor 80, a memory 81 and a computer program 82 stored in said memory 81 and being executable on said processor 80, for example a program for performing the calibration method of the ADAS camera as described above. The processor 80, when executing the computer program 82, implements the steps in the embodiments of the calibration method for the ADAS cameras described above, such as the steps 101 to 107 shown in fig. 1. Alternatively, the processor 80, when executing the computer program 82, implements the functions of each module/unit in each device embodiment described above, for example, the functions of the modules 701 to 707 shown in fig. 7.
Illustratively, the computer program 82 may be partitioned into one or more modules/units that are stored in the memory 81 and executed by the processor 80 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 82 in the terminal device 8.
The terminal device 8 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of a terminal device 8 and does not constitute a limitation of terminal device 8 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 81 may be an internal storage unit of the terminal device 8, such as a hard disk or a memory of the terminal device 8. The memory 81 may also be an external storage device of the terminal device 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the terminal device 8. The memory 81 is used for storing the computer program and other programs and data required by the terminal device. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A calibration method of an ADAS camera is characterized by comprising the following steps:
measuring the installation height of a target camera on a vehicle, wherein the vehicle is placed on a flat ground;
determining a first position of the target camera perpendicular to the ground;
selecting a calibration plate corresponding to the installation height, wherein the calibration plate is provided with scales;
placing the calibration plate in a shooting area in front of the target camera at a position away from the first position by a specified distance, wherein the specified distance and the calibration plate have a preset corresponding relation;
after the target camera is started, determining the current scale of a calibration line on the calibration board in a display screen of the ADAS;
reading a calibration distance corresponding to the current calibration line;
adjusting the shooting angle of the target camera to enable the calibration line to move from the current scale to a target scale with a scale value equal to the read calibration distance;
the scale value of each scale on the calibration plate is a calibration distance which is obtained by reading the calibrated camera with the same installation height in the same calibration environment in advance and corresponds to the calibration line when the calibration line falls on each scale of the calibration plate.
2. The method for calibrating an ADAS camera according to claim 1, wherein the scale values of the respective scales on the calibration plate are obtained in advance by:
determining a second position, perpendicular to the ground, of a calibrated camera installed on the installation height, and placing a vehicle provided with the calibrated camera on the flat ground;
placing the calibration plate in a shooting area in front of the calibrated camera, wherein the distance between the placement position of the calibration plate and the second position is equal to the specified distance;
after the calibrated camera is started, adjusting the position of a calibration line on a calibration plate in a display screen of the ADAS so that the calibration line falls on each scale of the calibration plate;
respectively reading the calibration distance of the calibration line on each scale;
and determining the read values of the calibration distances as corresponding scale values of the scales.
3. The method for calibrating an ADAS camera as recited in claim 1, wherein determining the first position of the target camera perpendicular to the ground comprises:
placing a height measuring scale vertical to the ground in an area in front of the target camera, wherein the upper end of the height measuring scale is higher than the target camera;
calibrating the horizontal direction and the vertical direction of the height measuring scale;
measuring a first distance between the target camera and the height measuring scale;
and moving the first distance from the lower end position of the height measuring scale to the direction of the target camera to determine the first position of the target camera, which is vertical to the ground.
4. The method for calibrating an ADAS camera according to any one of claims 1 to 3, wherein after adjusting the shooting angle of the target camera so that the calibration line moves from the current scale to a target scale with a scale value equal to the read calibration distance, the method further comprises:
determining a designated calibration distance for verification;
placing a rod-shaped object on the ground right in front of the target camera and separated from the first position by the specified calibration distance, wherein the rod-shaped object is vertical to the right front direction;
after the target camera is started, adjusting a calibration line in the ADAS display screen to enable the calibration distance corresponding to the calibration line to be equal to the specified calibration distance;
judging whether a calibration line in the ADAS display screen is overlapped with a rod-shaped object displayed in the display screen;
if the calibration line in the ADAS display screen is overlapped with the rod-shaped object displayed in the display screen, determining that the calibration result of the target camera is accurate;
and if the calibration line in the ADAS display screen is not coincident with the rod-shaped object displayed in the display screen, determining that the calibration result of the target camera is inaccurate.
5. A calibration device of an ADAS camera is characterized by comprising:
the mounting height measuring module is used for measuring the mounting height of a target camera on a vehicle, and the vehicle is placed on a flat ground;
the first position determining module is used for determining a first position of the target camera perpendicular to the ground;
the calibration plate selecting module is used for selecting a calibration plate corresponding to the installation height, and scales are arranged on the calibration plate;
a calibration plate placing module, configured to place the calibration plate in a shooting area in front of the target camera at a position away from the first position by a specified distance, where the specified distance and the calibration plate have a preset corresponding relationship;
the current scale determining module is used for determining the current scale of a calibration line on the calibration plate in a display screen of the ADAS after the target camera is started;
the calibration distance reading module is used for reading the calibration distance corresponding to the current calibration line;
the adjusting module is used for adjusting the shooting angle of the target camera so that the calibration line moves from the current scale to a target scale with a scale value equal to the read calibration distance;
the scale value of each scale on the calibration plate is a calibration distance which is obtained by reading the calibrated camera with the same installation height in the same calibration environment in advance and corresponds to the calibration line when the calibration line falls on each scale of the calibration plate.
6. The calibration device for an ADAS camera as claimed in claim 5, wherein the scale values of the scales on the calibration plate are obtained in advance by:
the second position determining module is used for determining a second position, perpendicular to the ground, of the calibrated camera installed on the installation height, and a vehicle provided with the calibrated camera is placed on the flat ground;
a calibration plate placing module, configured to place the calibration plate in a shooting area in front of the calibrated camera, where a distance between the calibration plate placing position and the second position is equal to the specified distance;
the calibration line adjusting module is used for adjusting the position of a calibration line on a calibration plate in a display screen of the ADAS after the calibrated camera is started, so that the calibration line is on each scale of the calibration plate;
the distance reading module is used for respectively reading the calibration distance of the calibration line on each scale;
and the scale value determining module is used for determining the read values of the calibration distances as corresponding scale values of the scales.
7. The calibration device for an ADAS camera as claimed in claim 5, wherein the first position determining module comprises:
a measuring scale placing unit for placing a height measuring scale perpendicular to the ground in an area in front of the target camera, wherein the upper end of the height measuring scale is higher than the target camera;
the direction calibration unit is used for calibrating the horizontal direction and the vertical direction of the height measuring scale;
the first distance measuring unit is used for measuring a first distance between the target camera and the height measuring scale;
and the position moving unit is used for moving the first distance from the lower end position of the height measuring scale to the direction of the target camera to determine the first position of the target camera, which is vertical to the ground.
8. Calibration arrangement for an ADAS camera according to one of the claims 5 to 7, characterized in that it further comprises:
the specified distance determining module is used for determining a specified calibration distance for verification;
the rod-shaped object placing module is used for placing a rod-shaped object on the ground which is right in front of the target camera and is separated from the first position by the specified calibration distance, and the rod-shaped object is vertical to the right in front;
the calibration line adjusting module is used for adjusting the calibration line in the ADAS display screen after the target camera is started, so that the calibration distance corresponding to the calibration line is equal to the specified calibration distance;
the coincidence judgment module is used for judging whether the calibration line in the ADAS display screen coincides with the rod-shaped object displayed in the display screen;
the first determining module is used for determining that the calibration result of the target camera is accurate if the judgment result of the coincidence judging module is positive;
and the second determining module is used for determining that the calibration result of the target camera is inaccurate if the judgment result of the coincidence judging module is negative.
9. Terminal device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor, when executing said computer program, carries out the steps of the calibration method of an ADAS camera according to any of the claims 1 to 4.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for calibration of an ADAS camera according to any one of claims 1 to 4.
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| 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 |
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| CN108235776A CN108235776A (en) | 2018-06-29 |
| CN108235776B true CN108235776B (en) | 2021-09-17 |
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| CN110555436A (en) * | 2019-10-10 | 2019-12-10 | 深圳市鹏巨术信息技术有限公司 | Selection method, device and equipment of ADAS target and storage medium |
| CN111275761B (en) * | 2020-01-17 | 2023-10-03 | 湖北三江航天红峰控制有限公司 | Visual positioning laser marking method with self-adaptive height |
| CN111310943B (en) * | 2020-02-11 | 2023-11-24 | 深圳市道通科技股份有限公司 | ADAS system calibration guiding method and device and automobile diagnosis equipment |
| CN111322949B (en) * | 2020-04-10 | 2022-03-11 | 广景视睿科技（深圳）有限公司 | Wall surface calibration method and side calibration method |
| CN112255627A (en) * | 2020-09-25 | 2021-01-22 | 深圳市道通科技股份有限公司 | Positioning method, system and device of ADAS calibration equipment and readable storage medium |
| CN112912932B (en) * | 2021-01-29 | 2024-03-08 | 深圳市锐明技术股份有限公司 | Calibration method and device for vehicle-mounted camera and terminal equipment |
| CN113052920B (en) * | 2021-04-26 | 2022-11-22 | 歌尔光学科技有限公司 | Camera calibration method, device and computer readable storage medium |
| CN113766211B (en) * | 2021-08-24 | 2023-07-25 | 武汉极目智能技术有限公司 | Camera installation angle detection system and method of ADAS (advanced automatic attachment system) equipment |
| CN113781577A (en) * | 2021-09-07 | 2021-12-10 | 北京安铁软件技术有限公司 | Calibration device for rail vehicle brake lining detection |
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| CN114066992B (en) * | 2021-10-13 | 2022-09-16 | 珠海视熙科技有限公司 | Camera calibration method, system, device and storage medium |
| CN115797468B (en) * | 2023-02-03 | 2023-05-16 | 厦门农芯数字科技有限公司 | Automatic correction method, device and equipment for installation height of fish-eye camera |
| CN116147686B (en) * | 2023-04-19 | 2023-07-07 | 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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