CN109003306B - Optical axis deflection measuring device and method for vehicle-mounted camera - Google Patents
Optical axis deflection measuring device and method for vehicle-mounted camera Download PDFInfo
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- CN109003306B CN109003306B CN201710423135.2A CN201710423135A CN109003306B CN 109003306 B CN109003306 B CN 109003306B CN 201710423135 A CN201710423135 A CN 201710423135A CN 109003306 B CN109003306 B CN 109003306B
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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
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/0221—Testing optical properties by determining the optical axis or position of lenses
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to an optical axis deflection measuring device and method of a vehicle-mounted camera, wherein the device comprises a laser emitting module for generating laser, a vehicle-mounted camera adjusting module parallel to the laser emitting module and a reflecting module parallel to the vehicle-mounted camera adjusting module; the method comprises the following steps: the laser transmitting module transmits laser for initial calibration, and the laser transmitting module, the vehicle-mounted camera adjusting module and the reflecting module are adjusted according to a laser path to realize the initial calibration of the optical axis deflection measuring device; the laser transmitting module transmits laser for optical axis deflection measurement, and the vehicle-mounted camera calculates according to the received self mirror image position and the reflected light position of the laser to obtain deflection data of the optical axis. Compared with the prior art, the invention has the advantages of cost saving, strong flexibility, high measurement precision and the like.
Description
Technical Field
The invention relates to the field of camera calibration design, in particular to an optical axis deflection measuring device and method for a vehicle-mounted camera.
Background
Cameras for automobiles are in a high-speed development stage and are increasingly being used in the active safety field. The high sensitivity, the safety and the time-activated product characteristics of the field bring extremely high requirements to the manufacturing and calibration capability of the camera, and the position of the optical axis of the camera has extremely important influence on the active safety field, and the prior art lacks a device and a method for measuring the deflection angle of the optical axis, which are easy to realize.
Disclosure of Invention
The invention aims to provide an optical axis deflection measuring device and method for a vehicle-mounted camera.
The aim of the invention can be achieved by the following technical scheme:
an optical axis deflection measurement device of an in-vehicle camera, the device comprising:
the laser emission module is used for generating laser for initial calibration or optical axis deflection measurement;
the vehicle-mounted camera adjusting module is parallel to the laser emitting module and is used for fixing the vehicle-mounted camera and passing through laser of the laser emitting module;
and the reflecting module is parallel to the vehicle-mounted camera adjusting module and is used for reflecting mirror images of the vehicle-mounted camera and laser to the vehicle-mounted camera, so that the deflection measurement of the optical axis of the vehicle-mounted camera is realized.
The laser emission module includes:
a calibration laser transmitter for generating a calibration laser beam for calibrating the optical axis deflection measuring device;
the self-horizontal laser transmitter is positioned above the calibration laser transmitter and is used for generating a laser beam for optical axis deflection measurement;
and the first angle position regulator is respectively connected with the calibration laser transmitter and the self-leveling laser transmitter and is used for regulating the heights of the calibration laser transmitter and the self-leveling laser transmitter so as to realize the initial calibration of the device.
The vehicle-mounted camera adjusting module comprises:
the clamp is connected with the vehicle-mounted camera and used for fixing the vehicle-mounted camera;
the level gauge is fixed on the clamp and used for horizontally initializing the vehicle-mounted camera;
the spectroscope is fixed on the clamp and is used for passing laser of the laser emission module;
and the second angle position regulator is connected with the clamp and used for regulating the heights of the vehicle-mounted camera and the spectroscope so as to realize the initial calibration of the device.
The light reflecting module includes:
the reflector is used for reflecting mirror images of the vehicle-mounted camera and the laser to the vehicle-mounted camera so as to realize the deflection measurement of the optical axis of the vehicle-mounted camera;
and the third angle position regulator is connected with the reflector and is used for regulating the height of the reflector so as to realize the initial calibration of the device.
An optical axis deflection measuring method implemented by the optical axis deflection measuring device of the vehicle-mounted camera, the method comprising the steps of:
1) The laser transmitting module transmits laser for initial calibration, and the laser transmitting module, the vehicle-mounted camera adjusting module and the reflecting module are adjusted according to a laser path to realize the initial calibration of the optical axis deflection measuring device;
2) The laser transmitting module transmits laser for optical axis deflection measurement, and the vehicle-mounted camera calculates according to the received self mirror image position and the reflected light position of the laser to obtain deflection data of the optical axis.
The step 1) specifically comprises the following steps:
11 A laser emitting module emits laser for initial calibration;
12 The vehicle-mounted camera adjusting module respectively reflects and refracts the laser subjected to initial calibration to obtain first reflected light and first refracted light;
13 The first refraction light is reflected by the reflection module to obtain second reflection light;
14 The positions of the laser emission module, the vehicle-mounted camera adjustment module and the light reflection module are adjusted, so that the superposition of laser, first reflected light rays and second reflected light rays is realized, and the initial calibration of the optical axis deflection measuring device is completed.
The deflection data of the optical axis includes a vertical direction deflection angle, a horizontal direction deflection angle, and a horizontal direction rotation angle.
The step 2) specifically comprises the following steps:
21 The laser transmitting module generates laser for optical axis deflection measurement;
22 The reflection module respectively reflects laser for optical axis deflection measurement and images of the vehicle-mounted camera to the vehicle-mounted camera;
23 The vehicle-mounted camera calculates according to the received coordinate position of the mirror image of the vehicle-mounted camera to obtain a vertical deflection angle and a horizontal deflection angle of the optical axis;
24 The vehicle-mounted camera calculates according to the received reflected light coordinate position of the laser to obtain the horizontal rotation angle of the optical axis.
The step 23) specifically comprises the following steps:
231 Calculating a first pixel coordinate difference between the mirror image coordinates of the vehicle-mounted camera and the center coordinates of the vehicle-mounted camera picture, wherein the first pixel coordinate difference comprises a first pixel horizontal coordinate difference and a first pixel vertical coordinate difference;
232 Calculating the quotient of the first pixel horizontal coordinate difference and the first pixel vertical coordinate difference and the pixel value in the step 231) respectively, and obtaining the vertical deflection angle and the horizontal deflection angle of the optical axis.
The step 24) specifically comprises the following steps:
241 Calculating a second pixel coordinate difference between two end point values of reflected light of the laser, wherein the second pixel coordinate difference comprises a second pixel horizontal coordinate difference and a second pixel vertical coordinate difference;
242 Calculating the quotient of the absolute value of the second pixel horizontal coordinate difference and the second pixel vertical coordinate difference to obtain the horizontal direction rotation angle of the optical axis.
Compared with the prior art, the invention has the following beneficial effects:
(1) The device simple structure through parallel arrangement's laser emission module, on-vehicle camera adjustment module and reflection of light module, can realize the measurement to camera optical axis deflection angle according to the shooting performance of light's reflection principle and camera itself, and device simple structure is convenient for realize on the one hand, has also saved measuring cost on the other hand greatly, and the practicality is strong.
(2) The laser emission module comprises a calibration laser emitter, a self-leveling laser emitter and a first angle position regulator, wherein the calibration laser emitter is used for realizing the calibration of the device, the working precision of the device is ensured, the measurement of the optical axis deflection angle is realized from the self-leveling laser emitter, and the laser emission module is separated from the calibration laser emitter so as to be convenient for debugging and overhauling.
(3) The vehicle-mounted camera adjusting module comprises a level meter, a clamp and a spectroscope, the clamp is matched with the vehicle-mounted camera to realize the fixation of the vehicle-mounted camera, and the clamp is matched with the shape of the vehicle-mounted camera, so that if different cameras need to be subjected to optical axis deflection measurement, the vehicle-mounted camera adjusting module can be realized only by replacing the clamp, and has strong practicability, the level meter can horizontally initialize the vehicle-mounted camera before calibrating the device, the working accuracy of the device is further improved, the spectroscope is used as an intermediate medium, the laser transmitter is ensured to be parallel to the vehicle-mounted camera adjusting module on one hand, the vehicle-mounted camera adjusting module is ensured to be parallel to the reflecting module on the other hand, and the parallelism among three modules of the calibrated device can be ensured according to the straightness and parallelism principle of light, so that the accuracy is improved.
(4) According to the optical axis deflection measuring method, firstly, the optical axis deflection measuring device is calibrated and calibrated initially, then the optical axis deflection is measured according to the light reflection principle and the shooting performance of the camera, and the measurement is performed after the calibration, so that the measurement accuracy can be guaranteed to the greatest extent.
(5) When the optical axis deflection measuring device is calibrated, first reflected light of the laser is obtained by the vehicle-mounted camera adjusting module, the laser is overlapped with the first reflected light by the adjusting device, the vehicle-mounted camera adjusting module and the laser emitting module can be guaranteed to be parallel, and then the first reflected light obtained by refraction and the second reflected light obtained by the reflection module are overlapped, so that the vehicle-mounted camera adjusting module and the reflection module are guaranteed to be parallel, three modules can be parallel according to the parallel principle, the accuracy of measuring the deflection angle of the optical axis subsequently is guaranteed, the principle is simple, the implementation is convenient, and the practicability is strong.
(6) The data finally obtained by measuring the deflection of the optical axis comprises a vertical deflection angle, a horizontal deflection angle and a horizontal rotation angle of the optical axis, wherein the three angles cover three directions of x, y and z of the space, the deflection of the optical axis in the three-dimensional space can be fully measured, and the measurement is comprehensive.
(7) When deflection measurement is carried out, the deflection angle of the optical axis in the horizontal plane, namely the x direction and the y direction can be determined according to the offset of the position of the camera image relative to the center point, and the deflection angle of the optical axis in the space z axis is determined according to the offset of the two end points of the reflected light of the laser, so that the deflection angle measurement in the three-dimensional space is realized, and the measurement method is simple, high in reliability and high in practicability.
Drawings
Fig. 1 is a schematic structural view of an optical axis deflection measuring device of a vehicle-mounted camera;
FIG. 2 is a schematic view of the light beam of the optical axis deflection measuring device of the vehicle-mounted camera when calibration is performed;
fig. 3 is a picture taken by the vehicle-mounted camera;
wherein, 1 is demarcating laser emitter, 2 is the spectroscope, 3 is the reflector, 4 is first angular position regulator, 5 is second angular position regulator, 6 is third angular position regulator, 7 is the spirit level, 8 is from horizontal laser emitter, 9 is anchor clamps, 10 is on-vehicle camera.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
The embodiment provides an optical axis deflection measuring device of a vehicle-mounted camera, which comprises: the laser emission module is used for generating laser for initial calibration or optical axis deflection measurement; the vehicle-mounted camera adjusting module is parallel to the laser emitting module and is used for fixing the vehicle-mounted camera and passing through laser of the laser emitting module; and the reflecting module is parallel to the vehicle-mounted camera adjusting module and is used for reflecting mirror images of the vehicle-mounted camera and laser to the vehicle-mounted camera, so that the deflection measurement of the optical axis of the vehicle-mounted camera is realized.
Wherein, the laser emission module includes: a calibration laser transmitter for generating a calibration laser beam for calibrating the optical axis deflection measuring device; the self-horizontal laser transmitter is positioned above the calibration laser transmitter and is used for generating a laser beam for optical axis deflection measurement; and the first angle position regulator is respectively connected with the calibration laser transmitter and the self-leveling laser transmitter and is used for regulating the heights of the calibration laser transmitter and the self-leveling laser transmitter so as to realize the initial calibration of the device. The vehicle-mounted camera adjusting module comprises: the clamp is connected with the vehicle-mounted camera and used for fixing the vehicle-mounted camera, the clamp is adaptive to the structure and the shape of the vehicle-mounted camera, and the common camera is not easy to fix through the clamp due to overlarge volume, so that the device is suitable for the vehicle-mounted camera; the level gauge is fixed on the clamp and used for horizontally initializing the vehicle-mounted camera; the spectroscope is fixed on the clamp and is used for passing laser of the laser emission module; and the second angle position regulator is connected with the clamp and used for regulating the heights of the vehicle-mounted camera and the spectroscope so as to realize the initial calibration of the device. The light reflecting module includes: the reflector is used for reflecting mirror images of the vehicle-mounted camera and the laser to the vehicle-mounted camera so as to realize the deflection measurement of the optical axis of the vehicle-mounted camera; and the third angle position regulator is connected with the reflector and is used for regulating the height of the reflector so as to realize the initial calibration of the device.
The optical axis deflection measuring method realized by the device comprises the following steps:
1) The laser emission module emits laser for initial calibration, and the laser emission module, the vehicle-mounted camera adjustment module and the light reflection module are adjusted according to a laser path to realize the initial calibration of the optical axis deflection measuring device, specifically:
11 A laser emitting module emits laser for initial calibration;
12 The vehicle-mounted camera adjusting module respectively reflects and refracts the laser subjected to initial calibration to obtain first reflected light and first refracted light;
13 The first refraction light is reflected by the reflection module to obtain second reflection light;
14 The positions of the laser emission module, the vehicle-mounted camera adjustment module and the light reflection module are adjusted, so that superposition of laser, first reflected light and second reflected light is realized, and initial calibration of the optical axis deflection measuring device is completed;
2) The laser transmitting module transmits laser for optical axis deflection measurement, the vehicle-mounted camera calculates according to the received self mirror image position and the reflected light position of the laser to obtain deflection data of an optical axis, and the method specifically comprises the following steps:
21 The laser transmitting module generates laser for optical axis deflection measurement;
22 The reflection module respectively reflects laser for optical axis deflection measurement and images of the vehicle-mounted camera to the vehicle-mounted camera;
23 The vehicle-mounted camera calculates according to the received coordinate position of the mirror image of the vehicle-mounted camera to obtain the vertical deflection angle and the horizontal deflection angle of the optical axis, and the method specifically comprises the following steps:
231 Calculating a first pixel coordinate difference between the mirror image coordinates of the vehicle-mounted camera and the center coordinates of the vehicle-mounted camera picture, wherein the first pixel coordinate difference comprises a first pixel horizontal coordinate difference and a first pixel vertical coordinate difference;
232 Calculating the quotient of the first pixel horizontal coordinate difference and the first pixel vertical coordinate difference and the pixel value in the step 231) respectively to obtain a vertical deflection angle and a horizontal deflection angle of the optical axis;
24 The vehicle-mounted camera calculates according to the received reflected light coordinate position of the laser to obtain the horizontal rotation angle of the optical axis, and the method specifically comprises the following steps:
241 Calculating a second pixel coordinate difference between two end point values of reflected light of the laser, wherein the second pixel coordinate difference comprises a second pixel horizontal coordinate difference and a second pixel vertical coordinate difference;
242 Calculating the quotient of the absolute value of the second pixel horizontal coordinate difference and the second pixel vertical coordinate difference to obtain the horizontal direction rotation angle of the optical axis.
The calibration of the optical axis deflection measuring device shown in fig. 1 is performed according to the above method, and the procedure is as follows:
the device is placed on a horizontal table top, and the initialization of the calibration mode can be completed through the following steps, so that the angles of the laser part, the camera part and the reflector part in the space three-dimensional coordinates are relatively zeroed.
a. The spectroscope 2, the level meter 7 and the vehicle-mounted camera 10 are placed on a clamp 9 for fixation and then placed on a second angle position regulator 5;
b. the second angle position regulator 5 is regulated to enable the display angle of the level meter 7 on the clamp 9 to be 0, so that the vehicle-mounted camera 10 is partially initialized horizontally;
c. turning on the calibration laser transmitter 1 so that the laser light passes through the beam splitter 2 and the mirror 3, as shown in fig. 2, light rays AD, DE, DC, and BE will BE generated;
d. adjusting the first, second and third angular position adjusters 4, 5 and 6 so that the AD, DE, DC and BE rays coincide in any direction;
e. turning on the self-leveling laser transmitter 8;
in the above manner, the initialization completion setting.
And then the optical axis deflection measurement is carried out by using the device which has completed the initialization setting, and the process is as follows: fig. 3 is a diagram of a camera capturing a mirror, and the resolution of the camera is 1280x960, and the horizontal and vertical viewing angles are 52 degrees and 38 degrees, respectively, so that the pixel point corresponding to each angle is 25. In theoretical design, the camera lens itself should be located at the center of the picture (solid rectangle in the upper picture, coordinates 640x 480), and the horizontal side is parallel to the horizontal laser line MN. However, due to actual assembly and manufacturing errors, the position of the lens, i.e. the optical axis, will be deflected, as a ', B ', C ' in fig. 3.
Taking the position a' as an example, the position has a coordinate of 632×470, and the deflection pixel generated with respect to the theoretical design is (-8, -10), and the deflection angle in the vertical direction is: -8/25 = -0.32 degrees, the angle of deflection in the horizontal direction is-10/25 = -0.4 degrees, simultaneously in the camera grabbing the picture, the coordinates of points M and N can also be read. In the figure, the M coordinate is (940,0), the N coordinate is (950, 1280), and then the rotation angle of the camera in the horizontal direction is (940-950)/1280= -0.45 degrees through calculation, and the deflection angles of the optical axis of the camera in three directions in space can be measured and calculated through the method.
Claims (10)
1. An optical axis deflection measuring device of a vehicle-mounted camera, the device comprising:
the laser emission module is used for generating laser for initial calibration and optical axis deflection measurement, wherein the laser emission module comprises a self-horizontal laser emitter which is used for generating laser for optical axis deflection measurement;
the vehicle-mounted camera adjusting module is parallel to the laser transmitting module, is used for fixing the vehicle-mounted camera and comprises a spectroscope, wherein laser for initial calibration passes through the spectroscope;
the reflecting module is parallel to the vehicle-mounted camera adjusting module and is used for reflecting the image of the vehicle-mounted camera and the mirror image of the laser used for measuring the deflection of the optical axis to the vehicle-mounted camera so as to realize the deflection measurement of the optical axis of the vehicle-mounted camera,
wherein the laser emission module, the vehicle-mounted camera adjustment module, and the light reflection module are configured to: when the laser emission module emits the laser of initial calibration, the laser emission module, the vehicle-mounted camera adjusting module and the reflecting module can be adjusted so as to realize that the calibrated three modules are parallel to each other.
2. The apparatus according to claim 1, wherein the laser emission module includes:
a calibration laser transmitter for generating a calibration laser beam for calibrating the optical axis deflection measuring device;
the self-leveling laser transmitter is positioned above the calibration laser transmitter;
and the first angle position regulator is respectively connected with the calibration laser transmitter and the self-leveling laser transmitter and is used for regulating the heights of the calibration laser transmitter and the self-leveling laser transmitter so as to realize the initial calibration of the device.
3. The apparatus according to claim 1, wherein the in-vehicle camera adjustment module includes:
the clamp is connected with the vehicle-mounted camera and used for fixing the vehicle-mounted camera;
the level gauge is fixed on the clamp and used for horizontally initializing the vehicle-mounted camera;
the spectroscope is fixed on the clamp; and the second angle position regulator is connected with the clamp and used for regulating the heights of the vehicle-mounted camera and the spectroscope so as to realize the initial calibration of the device.
4. The apparatus according to claim 1, wherein the light reflecting module includes:
the reflector is used for reflecting mirror images of the vehicle-mounted camera and the laser to the vehicle-mounted camera so as to realize the deflection measurement of the optical axis of the vehicle-mounted camera;
and the third angle position regulator is connected with the reflector and is used for regulating the height of the reflector so as to realize the initial calibration of the device.
5. An optical axis deflection measuring method implemented by the optical axis deflection measuring device of the in-vehicle camera according to claim 1, characterized in that the method comprises the steps of:
1) The laser transmitting module transmits laser for initial calibration, and the laser transmitting module, the vehicle-mounted camera adjusting module and the reflecting module are adjusted according to a laser path to realize the initial calibration of the optical axis deflection measuring device;
2) The laser transmitting module transmits laser for optical axis deflection measurement, and the vehicle-mounted camera calculates according to the received self mirror image position and the reflected light position of the laser to obtain deflection data of the optical axis.
6. The optical axis deflection measuring method according to claim 5, wherein the step 1) specifically comprises:
11 A laser emitting module emits laser for initial calibration;
12 The vehicle-mounted camera adjusting module respectively reflects and refracts the laser subjected to initial calibration to obtain first reflected light and first refracted light;
13 The first refraction light is reflected by the reflection module to obtain second reflection light;
14 The positions of the laser emission module, the vehicle-mounted camera adjustment module and the light reflection module are adjusted, so that the superposition of laser, first reflected light rays and second reflected light rays is realized, and the initial calibration of the optical axis deflection measuring device is completed.
7. The optical axis deflection measurement method according to claim 5, wherein the deflection data of the optical axis includes a vertical direction deflection angle, a horizontal direction deflection angle, and a horizontal direction rotation angle.
8. The optical axis deflection measuring method according to claim 7, wherein the step 2) is specifically:
21 A laser emitting module emits laser for optical axis deflection measurement;
22 The reflection module respectively reflects laser for optical axis deflection measurement and images of the vehicle-mounted camera to the vehicle-mounted camera;
23 The vehicle-mounted camera calculates according to the received coordinate position of the mirror image of the vehicle-mounted camera to obtain a vertical deflection angle and a horizontal deflection angle of the optical axis;
24 The vehicle-mounted camera calculates according to the received reflected light coordinate position of the laser to obtain the horizontal rotation angle of the optical axis.
9. The optical axis deflection measurement method according to claim 8, wherein the step 23) is specifically:
231 Calculating a first pixel coordinate difference between the mirror image coordinates of the vehicle-mounted camera and the center coordinates of the vehicle-mounted camera picture, wherein the first pixel coordinate difference comprises a first pixel horizontal coordinate difference and a first pixel vertical coordinate difference;
232 Calculating the quotient of the first pixel horizontal coordinate difference and the first pixel vertical coordinate difference and the pixel value in the step 231) respectively, and obtaining the vertical deflection angle and the horizontal deflection angle of the optical axis.
10. The optical axis deflection measurement method according to claim 8, wherein the step 24) is specifically:
241 Calculating a second pixel coordinate difference between two end point values of reflected light of the laser, wherein the second pixel coordinate difference comprises a second pixel horizontal coordinate difference and a second pixel vertical coordinate difference;
242 Calculating the quotient of the absolute value of the second pixel horizontal coordinate difference and the second pixel vertical coordinate difference to obtain the horizontal direction rotation angle of the optical axis.
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