CN109559350B - Pre-calibration device and method for panoramic looking-around system - Google Patents
Pre-calibration device and method for panoramic looking-around system Download PDFInfo
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- CN109559350B CN109559350B CN201811403581.8A CN201811403581A CN109559350B CN 109559350 B CN109559350 B CN 109559350B CN 201811403581 A CN201811403581 A CN 201811403581A CN 109559350 B CN109559350 B CN 109559350B
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- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The invention relates to a pre-calibration device and a pre-calibration method for a panoramic looking-around system, wherein the device comprises a monitoring host, a bracket, an upper panel arranged at the top of the bracket and a lower panel arranged at the bottom of the bracket; the upper panel and the lower panel are both rectangular; the upper panel is made of transparent material; four corners of the upper panel are respectively provided with a camera connected with the monitoring host, and each camera transmits a camera image to the monitoring host and displays the camera image on a display screen of the monitoring host; the upper surface of the lower panel is coated with a plurality of color blocks which are arranged in a black-white manner, and all the color blocks on the lower panel are arranged in a central symmetry manner relative to the central point of the lower panel; each of the four color blocks located at the middle position of the lower panel is coated with a circular color block with the opposite color to the color of the color block. The pre-calibration device and the pre-calibration method for the panoramic looking-around system, provided by the invention, have the advantages of convenience in operation, high calibration precision, good calibration effect, short time consumption of calibration operation and low cost, and can well meet the requirements of practical application.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a pre-calibration device and method for a panoramic looking-around system.
Background
In recent years, the automobile electronic industry is developed vigorously, the automobile auxiliary driving technology, particularly a 360-degree panoramic all-around system, is developed fully, various vehicles can be adapted to different panoramic all-around system products, the panoramic all-around system splicing is difficult to find a uniform calibration mode due to different sizes of different automobile types, and for the condition, four calibration cloths of front, back, left and right are required to be used for calibrating once when a product is installed in a 4S shop. Particularly, for the same vehicle type, 100 sets of products in the same shop need to be calibrated for 100 times, 1000 sets of calibration cloth need to be prepared in 1000 shops, one set of calibration cloth is not cheap, the service cycle is not long, and the calibration cloth is easy to wrinkle and deform, so that the calibration precision is reduced. Different calibration effects can result due to different ways of laying the calibration cloth by different users. This is not only time consuming but also costly to maintain. Generally, the calibration device and method in the prior art are inconvenient to operate, low in calibration precision, long in time consumption, and incapable of well meeting the requirements of practical application, and need to be improved urgently.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a pre-calibration apparatus and method for a panoramic looking-around system, which can avoid the above technical drawbacks.
In order to achieve the above object, the present invention provides the following technical solutions:
a pre-calibration device of a panoramic looking-around system comprises a monitoring host, a bracket, an upper panel arranged at the top of the bracket and a lower panel arranged at the bottom of the bracket; the upper panel and the lower panel are both rectangular; the upper panel is made of transparent material; the four corners of the upper panel are respectively provided with a camera connected with the monitoring host, and the cameras transmit the camera images to the monitoring host and display the camera images on the display screen of the monitoring host.
Furthermore, the upper surface of the lower panel is coated with a plurality of color blocks which are arranged in a black-white manner, and all the color blocks on the lower panel are arranged in a central symmetry manner relative to the central point of the lower panel; each of the four color blocks located at the middle position of the lower panel is coated with a circular color block with the opposite color to the color of the color block.
Further, the upper panel has the length of 1560mm, the width of 1060mm and the thickness of 15 mm; the lower panel is 4000mm long and 1500mm wide; the distance between the upper panel and the lower panel is 867 mm.
A pre-calibration method of a panoramic looking-around system is realized by the pre-calibration device of the panoramic looking-around system.
Further, the method for pre-calibrating the panoramic looking-around system comprises the following steps:
the four cameras send the camera images to a monitoring host;
respectively establishing a right-hand coordinate system by taking the focus of each camera as the origin of the coordinate system;
the monitoring host machine processes and converts the image to obtain a pre-calibration parameter A:
A＝(Fx,Bx,Lx,Rx)＝[(fx1,fx2,fx3),(bx1,bx2,bx3),(lx1,lx2,lx3),(rx1,rx2,rx3)]；
fx, Bx, Lx and Rx respectively represent pixel points shot by four cameras in front, back, left and right, and the coordinates of the pixel points shot by the four cameras are respectively expressed as (Fx1, Fx2, Fx3), (Bx1, Bx2, Bx3), (Lx1, Lx2, Lx3), (Rx1, Rx2 and Rx 3);
obtaining the pixel coordinates of the front, back, left and right cameras, carrying out three-dimensional calculation on the pre-calibration parameters A, and integrating the camera distortion parameters
Obtaining a mapping relation B:
the pre-calibration parameter A is mapped to the actual on-vehicle calibration parameter C, i.e. the pre-calibration parameter A is mapped to the actual on-vehicle calibration parameter C
C needs to meet a preset error allowable range Y, if C < ═ Y, C can be judged to be valid, then C can be used for initializing the monitoring host to complete pre-calibration,
the pre-calibration device and the pre-calibration method for the panoramic looking-around system, provided by the invention, have the advantages of convenience in operation, high calibration precision, good calibration effect, short time consumption of calibration operation and low cost, and can well meet the requirements of practical application.
Drawings
FIG. 1 is a schematic top view of a pre-calibration apparatus of a panoramic looking-around system according to the present invention;
FIG. 2 is a schematic front view of another perspective of the pre-calibration apparatus of the panoramic looking-around system;
FIG. 3 is a black and white patch layout on the lower panel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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.
As shown in fig. 1-3, a pre-calibration device of a panoramic all-round looking system comprises a monitoring host, a bracket 1, an upper panel 2 arranged at the top of the bracket 1 and a lower panel 3 arranged at the bottom of the bracket 1; the upper panel 1 and the lower panel 3 are both rectangular; the upper surface of the lower panel 3 is coated with a plurality of color blocks which are arranged in a black-white manner, and all the color blocks on the lower panel 3 are arranged in a central symmetry manner about the central point of the lower panel 3; each of the four color blocks positioned in the middle of the lower panel 3 is coated with a circular color block with the color opposite to that of the color block; the upper panel 2 is made of transparent material; four corners of the upper panel 2 are respectively provided with a camera connected with the monitoring host, and the cameras transmit the camera images to the monitoring host and display the camera images on the display screen of the monitoring host.
The upper surface of the lower panel 3 is coated with black and white color block patterns, the contrast of black and white color blocks of a shot image of the patterns is obvious, image pixel processing is facilitated, the shot image can be conveniently analyzed and processed by a monitoring host, and the calibration processing speed and the accuracy of a calibration result are improved.
The upper panel 2 is 1560mm long, 1060mm wide and 15mm thick. The lower panel 3 is 4000mm long, 1500mm wide and 15mm thick. The distance between the upper panel 2 and the lower panel 3 is 867 mm. This is the preferred size parameter and may be adjusted appropriately for practical use.
A pre-calibration method of a panoramic looking-around system is realized by the pre-calibration device of the panoramic looking-around system, and comprises the following steps:
the four cameras send the camera images to a monitoring host;
respectively establishing a right-hand coordinate system by taking the focus of each camera as the origin of the coordinate system;
the monitoring host machine processes and converts the image to obtain a pre-calibration parameter A:
A＝(Fx,Bx,Lx,Rx)＝[(fx1,fx2,fx3),(bx1,bx2,bx3),(lx1,lx2,lx3),(rx1,rx2,rx3)]；
fx, Bx, Lx and Rx respectively represent pixel points shot by four cameras in front, back, left and right, and the coordinates of the pixel points shot by the four cameras are respectively expressed as (Fx1, Fx2, Fx3), (Bx1, Bx2, Bx3), (Lx1, Lx2, Lx3), (Rx1, Rx2 and Rx 3);
obtaining the pixel coordinates of the front, back, left and right cameras, carrying out three-dimensional calculation on the pre-calibration parameters A, and integrating the camera distortion parameters
Obtaining a mapping relation B:
the pre-calibration parameter A is mapped to the actual on-vehicle calibration parameter C, i.e. the pre-calibration parameter A is mapped to the actual on-vehicle calibration parameter C
C needs to meet a preset error allowable range Y, if C < ═ Y, C can be judged to be valid, then C can be used for initializing the monitoring host to complete pre-calibration,
the pre-calibration device and the pre-calibration method for the panoramic looking-around system, provided by the invention, have the advantages of convenience in operation, high calibration precision, good calibration effect, short time consumption of calibration operation and low cost, and can well meet the requirements of practical application.
The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (1)
1. A pre-calibration method for a panoramic looking-around system is characterized by comprising the following steps:
the four cameras send the camera images to a monitoring host;
respectively establishing a right-hand coordinate system by taking the focus of each camera as the origin of the coordinate system;
the monitoring host machine processes and converts the image to obtain a pre-calibration parameter A:
A＝(Fx,Bx,Lx,Rx)＝[(fx1,fx2,fx3),(bx1,bx2,bx3),(lx1,lx2,lx3),(rx1,rx2,rx3)]；
fx, Bx, Lx and Rx respectively represent pixel points shot by four cameras in front, back, left and right, and the coordinates of the pixel points shot by the four cameras are respectively expressed as (Fx1, Fx2, Fx3), (Bx1, Bx2, Bx3), (Lx1, Lx2, Lx3), (Rx1, Rx2 and Rx 3);
obtaining the pixel coordinates of the front, back, left and right cameras, carrying out three-dimensional calculation on the pre-calibration parameters A, and integrating the camera distortion parameters
Obtaining a mapping relation B:
the pre-calibration parameter A is mapped to the actual on-vehicle calibration parameter C, i.e. the pre-calibration parameter A is mapped to the actual on-vehicle calibration parameter C
C needs to meet a preset error allowable range Y, if C < ═ Y, C can be judged to be valid, then C can be used for initializing the monitoring host to complete pre-calibration,
the pre-calibration method of the panoramic looking-around system is applied to a pre-calibration device of the panoramic looking-around system, and the pre-calibration device of the panoramic looking-around system comprises a monitoring host, a bracket, an upper panel arranged at the top of the bracket and a lower panel arranged at the bottom of the bracket; the upper panel and the lower panel are both rectangular; the upper panel is made of transparent material; four corners of the upper panel are respectively provided with a camera connected with the monitoring host, and each camera transmits a camera image to the monitoring host and displays the camera image on a display screen of the monitoring host; the upper surface of the lower panel is coated with a plurality of color blocks which are arranged in a black-white manner, and all the color blocks on the lower panel are arranged in a central symmetry manner relative to the central point of the lower panel; each color block of the four color blocks positioned in the middle of the lower panel is coated with a circular color block with the color opposite to that of the color block; the upper panel has the length of 1560mm, the width of 1060mm and the thickness of 15 mm; the lower panel is 4000mm long and 1500mm wide; the distance between the upper panel and the lower panel is 867 mm.
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Denomination of invention: Pre calibration device and method of panoramic look around system Effective date of registration: 20220323 Granted publication date: 20211102 Pledgee: Bank of China Limited Guangzhou Development Zone Branch Pledgor: GUANGZHOU ROADPASSION ELECTRONIC TECHNOLOGY Co.,Ltd. Registration number: Y2022980003095 |
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Effective date of registration: 20230714 Address after: Room 301, 3rd Floor, Building 6, No. 2 Tiantai 1st Road, Science City, Huangpu District, Guangzhou City, Guangdong Province, 510000 Patentee after: Guangzhou Lupai Liuma Technology Co.,Ltd. Address before: 510032 Room 301, 3rd floor, building 6, No.2, Tiantai 1st Road, Science City, Guangzhou hi tech Industrial Development Zone, Guangdong Province Patentee before: GUANGZHOU ROADPASSION ELECTRONIC TECHNOLOGY Co.,Ltd. |