CN110111393B - Automobile panorama calibration method, device and system - Google Patents
Automobile panorama calibration method, device and system Download PDFInfo
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- CN110111393B CN110111393B CN201910254469.0A CN201910254469A CN110111393B CN 110111393 B CN110111393 B CN 110111393B CN 201910254469 A CN201910254469 A CN 201910254469A CN 110111393 B CN110111393 B CN 110111393B
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention relates to the technical field of automobile panorama calibration, in particular to an automobile panorama calibration method, device and system. The method comprises the following steps: acquiring a calibration target vehicle body parameter and a camera arrangement parameter; the ranging unit determines the position information of the calibration target vehicle in a plane coordinate system; obtaining a calibration pattern of panoramic calibration of a calibration target vehicle, and converting the calibration pattern into a preset calibration scene in a plane coordinate system of the calibration target vehicle; and projecting a calibration grid at a position corresponding to the calibration target vehicle according to a preset calibration scene. According to the invention, by combining the ranging and the image unit, the calibration system can identify any calibration pattern, convert the calibration pattern into a calibration scene in the current plane coordinate system of the vehicle, project the calibration scene on the plane coordinate system of the vehicle through the projection unit, and meanwhile, by combining the brightness adjusting unit, drive the projection unit to dynamically adjust the projection brightness, so that the ideal of the calibration scene is achieved, and the calibration accuracy is improved.
Description
Technical Field
The invention relates to the technical field of automobile panorama calibration, in particular to an automobile panorama calibration method, device and system.
Background
Along with the improvement of living standard, the popularization rate of the automobile is higher, and the driving experience, comfort and safety and intelligent driving auxiliary functions of the automobile are more and more emphasized. The 360-degree panoramic system is used as an automobile driving auxiliary technology and gradually becomes a standard function of an automobile. The technology can enable a driver to easily grasp the situation around the automobile, and effectively reduce the accidents such as scratch, collision, collapse and the like.
Panoramic calibration is one of the most critical technologies of a 360-degree panoramic system, a plurality of calibration methods are available in the market at present, but the calibration methods are relatively complex in process and severe in calibration condition, and the common calibration method has high requirements on flatness and illuminance of a calibration field, light change in the calibration process and anti-reflection capability of the calibration field, and can be used for panoramic calibration only by requiring a special field and a standard calibration grid, so that the method is poor in expandability and can be generally only used in a parking system. Therefore, how to adapt to more calibration scenes becomes one of the key points to be solved for 360 panoramic systems.
Disclosure of Invention
The invention provides an automobile panorama calibration method, device and system for overcoming at least one defect (deficiency) in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an automobile panorama calibration method, comprising the following steps:
acquiring a calibration target vehicle body parameter and a camera arrangement parameter;
the ranging unit determines the position information of the calibration target vehicle in a plane coordinate system;
obtaining a calibration pattern of panoramic calibration of a calibration target vehicle, and converting the calibration pattern into a preset calibration scene in a plane coordinate system of the calibration target vehicle;
and projecting a calibration grid at a position corresponding to the calibration target vehicle according to a preset calibration scene.
Further, the ranging unit determines the position information of the calibration target vehicle in the plane coordinate system as follows:
the measuring unit measures position information under a plane coordinate system of the calibration target vehicle;
the control unit sends the measured position information to the control unit.
Further, the conversion of the calibration pattern into a calibration scene in a calibration target vehicle plane coordinate system includes:
the control unit analyzes and processes the calibration pattern;
and the control unit converts the calibration pattern into a calibration scene in a plane coordinate system of the calibration target vehicle according to the analysis data.
Further, the control unit analyzes the calibration pattern, including:
the image acquisition unit recognizes the calibration pattern and feeds back the image information of the calibration pattern to the control unit;
the control unit analyzes the calibration pattern according to the image information.
Further, the projecting the calibration grid at the corresponding position of the calibration target vehicle by the corresponding calibration pattern includes:
the measuring unit determines calibration scene position information;
the projection unit projects a corresponding calibration grid at the corresponding position of the calibration target vehicle according to the calibration scene position information.
Further, the projecting the calibration grid at the corresponding position of the calibration target vehicle by the corresponding calibration pattern further comprises:
the brightness adjusting unit acquires the brightness information of the surrounding environment of the calibration target vehicle before projection and feeds the brightness information back to the control unit;
the control unit analyzes and processes the brightness information and adjusts the projection brightness of the projection unit.
The invention also provides an automobile panorama calibration device, which comprises:
the control unit receives and processes the feedback information and sends out corresponding instructions;
the ranging unit is used for measuring and feeding back the position information of the calibrated target vehicle and the surrounding environment;
the image acquisition unit is used for identifying and feeding back the image information of the surrounding environment of the calibration target vehicle;
and the projection unit is used for receiving the instruction to project the calibration grid and feeding back projection information.
Further, the device further comprises:
and the brightness adjusting unit is used for collecting and feeding back the ambient brightness information of the calibrated target vehicle.
Further, the device further comprises:
and the brightness adjusting unit is used for collecting and feeding back the ambient brightness information of the calibrated target vehicle.
Further, the device further comprises:
a wireless communication unit for connection of the device with an external network;
and the power management unit is used for connecting the device with an external power supply.
The invention also provides an automobile panorama calibration system, which comprises:
the control unit receives and processes the feedback information and sends out corresponding instructions;
the ranging unit is used for measuring and feeding back the position information of the calibrated target vehicle and the surrounding environment;
the image acquisition unit is used for identifying and feeding back the image information of the surrounding environment of the calibration target vehicle;
the projection unit receives the instruction to project the calibration grid and feeds back projection information;
the brightness adjusting unit is used for collecting and feeding back the ambient brightness information of the calibrated target vehicle;
a wireless communication unit for connection of the device with an external network;
and the power management unit is used for connecting the device with an external power supply.
According to the invention, by combining the ranging and the image unit, the calibration system can identify any calibration pattern, convert the calibration pattern into a calibration scene in the current plane coordinate system of the vehicle, project the calibration scene on the plane coordinate system of the vehicle through the projection unit, and meanwhile, by combining the brightness adjusting unit, drive the projection unit to dynamically adjust the projection brightness, so that the ideal of the calibration scene is achieved, and the calibration accuracy is improved.
Drawings
Fig. 1 is a schematic structural diagram of an automobile panorama calibration method according to an embodiment of the present invention.
FIG. 2 is a flowchart of a second embodiment of a method for calibrating panorama of an automobile.
FIG. 3 is a block diagram of a three-vehicle panoramic calibration apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a calibration grid for panoramic calibration according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 4 shows a schematic view of a calibration grid of a panoramic calibration projection in an embodiment of the invention.
Example 1
Fig. 1 shows a structural flow chart of an automobile panorama calibration method according to an embodiment of the present invention.
The panoramic calibration method of the embodiment comprises the following steps:
step S110, obtaining the parameters of the body of the calibration target vehicle and the arrangement parameters of the cameras.
As an embodiment of the invention, the calibration target vehicle is a calibration projection base point in panoramic calibration, that is, the calibration target vehicle is a center of a panoramic calibration process and a calibration reference object. The control unit is connected with an external network through the wireless communication unit, and the calibration target vehicle information transmitted by the user is identified through the external network to obtain vehicle parameters and camera arrangement information.
In some embodiments, the calibrated target vehicle body parameters include track, wheel base, bumper to rear wheel distance, vehicle width, minimum left turning radius, and minimum right turning radius; the arrangement parameters of the cameras comprise: the camera number, the distribution position of the cameras on the calibration target vehicle, the height of the cameras from the ground, the corresponding relation between the incidence angle of the cameras and the projection radius, the resolution of the cameras and the focal length of the cameras.
In step S120, the ranging unit determines the position information of the calibration target vehicle in the planar coordinate system.
The ranging unit is used for measuring the position information of the target vehicle in the plane coordinate system and the position information of the obstacles around the target vehicle, wherein the obstacles represent any object, mark and personnel on the ground of the plane coordinate system except the target vehicle and devices on the target vehicle.
The specific process of step S120 is as follows:
s121, measuring position information under a plane coordinate system of a calibration target vehicle by a measuring unit;
s122, the control unit sends the measured position information to the control unit.
The position information measured by the measuring unit comprises coordinate information of the calibration target vehicle in a plane coordinate system and central position information of front and rear axles of the calibration target vehicle.
And step S130, obtaining a calibration pattern of panoramic calibration of the calibration target vehicle, and converting the calibration pattern into a calibration scene in a plane coordinate system of the calibration target vehicle.
The control unit processes the position information of the calibration target vehicle, and uploads the processed position information of the calibration target vehicle to an external network through the wireless communication unit to obtain a calibration pattern of the calibration target vehicle, which is matched with the current panoramic calibration.
In addition, the specific process of converting the calibration pattern into the calibration scene in the plane coordinate system of the calibration target vehicle in step S130 includes:
s131, the control unit analyzes and processes the calibration pattern;
s132, the control unit converts the calibration pattern into a calibration scene in a plane coordinate system of the calibration target vehicle according to the analysis data.
Converting the calibration pattern into a calibration scene in the plane coordinate system of the calibration target vehicle comprises calculating calibration grids in the calibration pattern through a control unit and matching with preset projection calibration grids in the calibration scene in the plane coordinate system of the calibration target vehicle, so that conversion from the calibration pattern into the calibration scene in the plane coordinate system is realized.
And step S140, projecting a calibration grid at the corresponding position of the calibration target vehicle according to the calibration pattern.
The specific operation steps of step S140 include:
s141, determining calibration scene position information by a measuring unit;
s142, the projection unit projects a corresponding calibration lattice at the corresponding position of the calibration target vehicle according to the calibration scene position information.
The control unit sends a measuring signal to the measuring unit, the measuring unit determines position information in the calibration scene and feeds the position information of the calibration scene back to the control unit, the control unit processes the position information of the calibration scene, and the control unit sends a projection signal to the projection unit to carry out calibration lattice projection according to the processed position information of the calibration scene.
In step S142, before the projection unit projects, the method further includes:
s1421, collecting surrounding environment brightness information of a calibration target vehicle by a brightness adjusting unit before projection, and feeding back the surrounding environment brightness information to a control unit;
s1422, the control unit analyzes and processes the brightness information and adjusts the projection brightness of the projection unit.
The control unit analyzes and processes the brightness information, and adjusts the projection signal sent to the projection unit, so as to control and adjust the projection brightness of the calibration grid of the projection unit. Therefore, the projection brightness of the calibration grid is dynamically adjusted according to the brightness collection of the brightness adjusting unit so as to adapt to different calibration scene requirements.
Example two
Fig. 2 shows a flow of a panoramic calibration method according to a second embodiment of the present invention, which is similar to the first embodiment, and includes a specific implementation flow of the calibration method, where the steps include:
step S210, the system is powered on.
And connecting the panoramic calibration system with an external power supply through a power management unit, and starting panoramic calibration on the calibration target vehicle.
Step S220, connecting a network to acquire vehicle body data.
The control unit is connected with an external network through the wireless communication unit, acquires vehicle information of the calibration target vehicle transmitted by a user, and acquires position information of the calibration target vehicle through the ranging unit.
In step S230, the system interprets the data and constructs a planar coordinate system.
The panoramic calibration system processes the position information of the calibration target vehicle through the interpretation of the control unit and constructs a current plane coordinate system of the calibration target vehicle.
Step S240, determine whether to continue.
Judging whether to continue calibrating the panoramic calibration of the target vehicle:
if yes, continuing to perform S250 operation;
if not, the current interpretation data is saved, and the system is in a standby state.
Step S250, the calibration patterns are acquired through visual recognition.
The image information of the plane coordinate system where the calibration target vehicle is located is visually identified through the image acquisition unit and fed back to the control unit, the control unit analyzes and processes the image information, and the calibration pattern to be adapted is acquired from an external network.
In step S260, the system interprets the calibration pattern and converts to a planar coordinate system.
The control unit analyzes and processes the calibration pattern, and converts the calibration pattern into a preset calibration scene of the plane coordinate system, wherein the preset calibration scene is used for constructing a preset calibration grid in the plane coordinate system.
Step S270, the projection unit and the measuring unit are driven to measure and project the calibration pattern.
The control unit sends a measurement signal to the measurement unit, the measurement unit detects calibration scene position information corresponding to the calibration pattern and feeds back the calibration scene position information to the control unit, the control unit processes the calibration scene position information, and the projection unit is driven to carry out calibration lattice projection according to the processed data.
Step S280, judging whether the projection of the calibration pattern is successful.
Judging whether the projection of the calibration lattice of the calibration pattern is successful or not:
if yes, continuing to execute panoramic calibration work;
if not, determine whether to repeat: if the selection is heavy, jumping to step S250; if not, finishing panoramic calibration.
Example III
FIG. 3 shows a block diagram of a three-vehicle panoramic calibration apparatus in accordance with an embodiment of the present invention.
An automotive panorama calibration device comprising:
the control unit 310 receives and processes the feedback information and issues a corresponding instruction.
In some embodiments, the control unit may be a CPU of the calibration target vehicle, but may be any other suitable control unit, and in this embodiment, the control unit is a CPU of the calibration target vehicle. The CPU is connected to an external network through the wireless communication unit 360, and a user inputs vehicle information through an external device such as a tablet, a cell phone, or a computer, and the CPU acquires the information through the network and processes the vehicle information. And performs information transfer with the ranging unit 320, the image acquisition unit 330, the projection unit 340 and the brightness adjustment unit 350 in the device, performs analysis processing on various information, and transmits the processed information.
The ranging unit 320 measures and feeds back the calibration target vehicle and its surrounding environment position information.
In some embodiments, the ranging unit 320 may be a lidar, but of course, any other suitable ranging unit 320 may be used, and in this embodiment, the ranging unit 320 is a lidar. The laser radar is arranged on the calibration target vehicle, receives measurement signals of the CPU, measures the position information of the calibration target vehicle in a plane coordinate system where the calibration target vehicle is positioned and the position information of the calibration scene, feeds back the measurement information to the CPU, and realizes the projection of the calibration grid through the cooperation of the CPU and the image acquisition unit and the projection unit of the device.
The image acquisition unit 330 recognizes and feeds back the image information of the surroundings of the calibration target vehicle.
The image acquisition unit 330 receives the acquisition signal of the CPU, acquires the surrounding environment image of the calibration target vehicle, feeds back the acquired image information to the CPU, acquires the calibration pattern matched with the panoramic calibration from an external network through the processing of the CPU, can identify any calibration pattern through image visual recognition, and analyzes and converts the calibration pattern into an actual calibration scene through the CPU, thereby saving the construction of a calibration site. The actual calibration scene is the calibration scene of the calibration target vehicle.
The projection unit 340 receives the instruction to project the calibration grid and feeds back the projection information.
The projection unit 340 receives the projection information of the CPU, projects a calibration grid calibrated by the panorama system at a preset calibration grid position, and performs dynamic brightness adjustment on the projection of the calibration scene by combining the CPU with the brightness adjustment unit 350, so as to achieve the ideal of the calibration scene.
The brightness adjusting unit 350 collects and feeds back the ambient brightness information around the calibration target vehicle.
In some embodiments, the brightness adjusting unit 350 receives the brightness adjusting signal of the CPU, performs brightness acquisition on the surrounding environment of the calibration target vehicle and the position of the preset calibration scene through the photosensitive module, feeds the acquired information back to the CPU, and combines with the projection unit 340 to complete brightness adjustment of the preset calibration scene, thereby improving calibration accuracy.
A wireless communication unit 360 for connection of the device to an external network.
The wireless communication unit 360 is connected with the CPU and the external network, and the CPU performs information interaction with the external network through the wireless communication unit 360, so that a user can conveniently transmit relevant information into the CPU of the calibration target vehicle, and panoramic calibration of the calibration target vehicle is completed.
The power management unit 370 is used for connecting the device with an external power source.
The power management unit 370 is connected to an external power source of the device, and is distributed to the respective units of the device through the processing of the power management unit 370, thereby ensuring the normal operation of the respective units of the device.
Example IV
An automobile panorama calibration system, comprising each bit unit in the panorama calibration device in the third embodiment, specifically, the panorama calibration system comprises:
and the control unit is used for receiving and processing the feedback information and sending out corresponding instructions.
And the ranging unit is used for measuring and feeding back the position information of the calibrated target vehicle and the surrounding environment.
And the image acquisition unit is used for identifying and feeding back the image information of the surrounding environment of the calibration target vehicle.
And the projection unit is used for receiving the instruction to project the calibration grid and feeding back projection information.
And the brightness adjusting unit is used for collecting and feeding back the ambient brightness information of the calibrated target vehicle.
And the wireless communication unit is used for connecting the device with an external network.
And the power management unit is used for connecting the device with an external power supply.
It can be seen that the panoramic calibration system performs environment measurement, image acquisition, identification, processing and panoramic projection on the calibration target vehicle through the panoramic calibration method in the first embodiment, so that the projection of any calibration pattern can be performed without a special calibration scene in the automobile panoramic system, and the projection of the calibration grid of the automobile panoramic system is completed.
It is to be understood that the above examples of the present invention are provided by way of illustration only and are not intended to limit the scope of the invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (6)
1. An automobile panorama calibration method is characterized by comprising the following steps:
acquiring a calibration target vehicle body parameter and a camera arrangement parameter;
the ranging unit determines the position information of the calibration target vehicle in a plane coordinate system;
obtaining a calibration pattern for panoramic calibration of a calibration target vehicle;
the image acquisition unit recognizes the calibration pattern and feeds back the image information of the calibration pattern to the control unit;
the control unit analyzes the calibration pattern according to the image information;
the control unit converts the calibration pattern into a calibration scene in a plane coordinate system of the calibration target vehicle according to the analysis data;
the image information of the plane coordinate system where the calibration target vehicle is located is visually identified through the image acquisition unit and fed back to the control unit, the control unit analyzes and processes the image information, and a calibration pattern to be matched is acquired from an external network;
the measuring unit determines calibration scene position information, wherein the ranging unit is a laser radar;
the projection unit projects a corresponding calibration grid at the corresponding position of the calibration target vehicle according to the calibration scene position information;
the brightness adjusting unit acquires the brightness information of the surrounding environment of the calibration target vehicle before projection and feeds the brightness information back to the control unit;
the control unit analyzes and processes the brightness information and adjusts the projection brightness of the projection unit.
2. The method for calibrating the panorama of an automobile according to claim 1, wherein the ranging unit determines the position information of the calibration target vehicle in the planar coordinate system as follows:
the measuring unit measures position information under a plane coordinate system of the calibration target vehicle;
the control unit sends the measured position information to the control unit.
3. An automotive panoramic calibration apparatus, said apparatus comprising:
the control unit receives and processes the feedback information and sends out corresponding instructions;
the ranging unit is used for measuring and feeding back the position information of the calibrated target vehicle and the surrounding environment;
the image acquisition unit is used for identifying and feeding back the image information of the surrounding environment of the calibration target vehicle;
the projection unit receives the instruction to project the calibration grid and feeds back projection information;
the automobile panorama calibration device invokes a ranging unit, an image acquisition unit and a projection unit through a control unit to execute the automobile panorama calibration method according to claim 1 or 2.
4. An automotive panorama calibration device according to claim 3, wherein the device further comprises:
and the brightness adjusting unit is used for collecting and feeding back the ambient brightness information of the calibrated target vehicle.
5. An automotive panorama calibration device according to claim 3, wherein the device further comprises:
a wireless communication unit for connection of the device with an external network;
and the power management unit is used for connecting the device with an external power supply.
6. An automotive panoramic calibration system, said system comprising:
the control unit receives and processes the feedback information and sends out corresponding instructions;
the ranging unit is used for measuring and feeding back the position information of the calibrated target vehicle and the surrounding environment;
the image acquisition unit is used for identifying and feeding back the image information of the surrounding environment of the calibration target vehicle;
the projection unit receives the instruction to project the calibration grid and feeds back projection information;
the brightness adjusting unit is used for collecting and feeding back the ambient brightness information of the calibrated target vehicle;
a wireless communication unit for connection of the device with an external network;
the power management unit is used for connecting the device with an external power supply;
the automobile panorama calibration system performs the automobile panorama calibration method according to claim 1 or 2 through a control unit.
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| CN111667538B (en) * | 2020-04-20 | 2023-10-24 | 长城汽车股份有限公司 | Calibration method, device and system of panoramic looking around system |
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