CN110378962A - Scaling method, device and the computer readable storage medium of in-vehicle camera - Google Patents
Scaling method, device and the computer readable storage medium of in-vehicle camera Download PDFInfo
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Abstract
Present disclose provides a kind of scaling method of in-vehicle camera, device and computer readable storage mediums, are related to camera calibration technical field.Scaling method therein includes: to determine location information and posture information of the in-vehicle camera in calibration mark coordinate system using the collected image containing calibration mark of in-vehicle camera；Elevation information of the origin of coordinate system in earth axes is identified using location information of the in-vehicle camera in calibration mark coordinate system, and calibration, determines elevation information of the in-vehicle camera in earth axes；Using posture information of the in-vehicle camera in calibration mark coordinate system, and the rotation relationship between calibration mark coordinate system and earth axes, posture information of the in-vehicle camera in earth axes is determined.The external parameter of in-vehicle camera is demarcated in the realization that the disclosure can be simple and efficient, and is not only easy to implement, additionally it is possible to correct calibrating parameters in time.
Description
Technical field
This disclosure relates to field of computer technology, in particular to a kind of scaling method of in-vehicle camera, device and computer
Readable storage medium storing program for executing.
Background technique
Camera can perceive the letter such as azimuth information and lane line of vehicle periphery object as a kind of common sensor
Breath, be widely used scene on someone and automatic driving car.
In the vision measurement field for being related to vehicle, the external parameters such as installation site, the posture of in-vehicle camera on vehicle
It first has to be demarcated.The calibrating external parameters of in-vehicle camera are vehicle location and the perception of vehicle-surroundings barrier, measurement
Key.
Summary of the invention
The technical problem that the disclosure solves is that the outer ginseng of in-vehicle camera is marked in the realization how to be simple and efficient
It is fixed.
According to the one aspect of the embodiment of the present disclosure, a kind of scaling method of in-vehicle camera is provided, comprising: utilize vehicle-mounted
The collected image containing calibration mark of camera determines location information and posture of the in-vehicle camera in calibration mark coordinate system
Information；The origin of coordinate system is identified on ground using location information of the in-vehicle camera in calibration mark coordinate system, and calibration
Elevation information in coordinate system determines elevation information of the in-vehicle camera in earth axes；Wherein, the horizontal axis of earth axes
It is directed toward the direction of advance of vehicle, the vertical pivot of earth axes is perpendicular to the ground, the longitudinal axis of earth axes and earth axes
The axis oriented normal of horizontal axis and earth axes；Utilize posture information of the in-vehicle camera in calibration mark coordinate system, Yi Jibiao
The rotation relationship between coordinate system and earth axes is known in calibration, determines posture information of the in-vehicle camera in earth axes.
In some embodiments, plane where calibration mark is perpendicular to the ground, and the origin of calibration mark coordinate system is calibration
The longitudinal axis at the center of mark, calibration mark coordinate system is perpendicular to the ground, where the vertical pivot and calibration mark of calibration mark coordinate system
Plane is vertical, and the horizontal axis for demarcating mark is vertical with the longitudinal axis of calibration mark coordinate system and the calibration mark vertical pivot of coordinate system.
In some embodiments, location information of the in-vehicle camera in calibration mark coordinate system is that in-vehicle camera is marked in calibration
Know the ordinate in coordinate system；Posture information of the in-vehicle camera in calibration mark coordinate system is that in-vehicle camera is sat in calibration mark
Pitch angle and roll angle in mark system.
In some embodiments, the location information using in-vehicle camera in calibration mark coordinate system, and calibration mark
Elevation information of the coordinate origin in earth axes, determine that elevation information of the in-vehicle camera in earth axes includes:
By perpendicular seat of the coordinate origin of ordinate of the in-vehicle camera in calibration mark coordinate system and calibration mark in earth axes
Mark is added, and obtains elevation information of the in-vehicle camera in earth axes.
In some embodiments, the posture information using in-vehicle camera in calibration mark coordinate system, and calibration mark
Rotation relationship between coordinate system and earth axes, determine posture information of the in-vehicle camera in earth axes include: by
Pitch angle of the in-vehicle camera in calibration mark coordinate system, as pitch angle of the in-vehicle camera in earth axes；It will be vehicle-mounted
Roll angle of the camera in calibration mark coordinate system, as roll angle of the in-vehicle camera in earth axes.
In some embodiments, it is identified as AprilTag cooperation mark.
According to the other side of the embodiment of the present disclosure, a kind of caliberating device of in-vehicle camera is provided, comprising: information is true
Cover half block is configured as determining that in-vehicle camera is identified in calibration using the collected image containing calibration mark of in-vehicle camera
Location information and posture information in coordinate system；Height demarcating module is configured as identifying coordinate in calibration using in-vehicle camera
Location information in system, and calibration identify elevation information of the origin of coordinate system in earth axes, determine in-vehicle camera
Elevation information in earth axes；Wherein, the horizontal axis of earth axes is directed toward the direction of advance of vehicle, earth axes
Vertical pivot is perpendicular to the ground, the axis oriented normal of the longitudinal axis of earth axes and the horizontal axis of earth axes and earth axes；Appearance
State demarcating module is configured as the posture information using in-vehicle camera in calibration mark coordinate system, and calibration mark coordinate
Rotation relationship between system and earth axes, determines posture information of the in-vehicle camera in earth axes.
In some embodiments, plane where calibration mark is perpendicular to the ground, and the origin of calibration mark coordinate system is calibration
The longitudinal axis at the center of mark, calibration mark coordinate system is perpendicular to the ground, where the vertical pivot and calibration mark of calibration mark coordinate system
Plane is vertical, and the horizontal axis for demarcating mark is vertical with the longitudinal axis of calibration mark coordinate system and the calibration mark vertical pivot of coordinate system.
In some embodiments, location information of the in-vehicle camera in calibration mark coordinate system is that in-vehicle camera is marked in calibration
Know the ordinate in coordinate system；Posture information of the in-vehicle camera in calibration mark coordinate system is that in-vehicle camera is sat in calibration mark
Pitch angle and roll angle in mark system.
In some embodiments, height demarcating module is configured as: in-vehicle camera is vertical in calibration mark coordinate system
Coordinate is added with ordinate of the coordinate origin of calibration mark in earth axes, obtains in-vehicle camera in earth axes
Elevation information.
In some embodiments, posture demarcating module is configured as: by in-vehicle camera bowing in calibration mark coordinate system
The elevation angle, as pitch angle of the in-vehicle camera in earth axes；In-vehicle camera is identified into the roll angle in coordinate system in calibration,
As roll angle of the in-vehicle camera in earth axes.
In some embodiments, it is identified as AprilTag cooperation mark.
According to the another aspect of the embodiment of the present disclosure, the caliberating device of another in-vehicle camera is provided, comprising: storage
Device；And it is coupled to the processor of memory, processor is configured as executing above-mentioned based on instruction stored in memory
The scaling method of in-vehicle camera.
According to another aspect of the embodiment of the present disclosure, a kind of computer readable storage medium is provided, wherein computer
Readable storage medium storing program for executing is stored with computer instruction, and the scaling method of in-vehicle camera above-mentioned is realized in instruction when being executed by processor.
The outer ginseng of in-vehicle camera is demarcated in the realization that the disclosure can be simple and efficient, and is not only easy to implement, additionally it is possible to
Amendment calibrating parameters in time.
By the detailed description referring to the drawings to the exemplary embodiment of the disclosure, the other feature of the disclosure and its
Advantage will become apparent.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present disclosure or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Disclosed some embodiments without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows the flow diagram of the scaling method of the in-vehicle camera of some embodiments of the disclosure.
Fig. 2 shows a kind of specific display cases of calibration mark.
Fig. 3 shows the schematic diagram of PNP algorithm.
Fig. 4 shows the structural schematic diagram of the caliberating device of the in-vehicle camera of some embodiments of the disclosure.
Fig. 5 shows the structural schematic diagram of the caliberating device of the in-vehicle camera of the disclosure other embodiments.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation description, it is clear that described embodiment is only disclosure a part of the embodiment, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the disclosure and its application or making
Any restrictions.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making creative work premise
Under all other embodiment obtained, belong to the disclosure protection range.
Inventor the study found that relevant camera calibrating external parameters scheme need profession calibration tool, it is complicated for operation,
It is at high cost, it is not easy large scale deployment, leading to the camera installation parameter of current automatic driving car is all according to in-vehicle camera mostly
Design installation site on vehicle body is preset to unify.And in the method for default camera installation parameter, in-vehicle camera is being installed
When will appear different degrees of error, cause default installation parameter inaccurate；Also, later period vehicle long run can make in-vehicle camera
Positional shift causes external parameter deviation larger；In addition, can not also carry out the large scale deployment of in-vehicle camera on existing vehicle.
In view of the above problems, present disclose provides a kind of scaling method of in-vehicle camera, the realization pair that can be simple and efficient
The external parameter of in-vehicle camera is demarcated, and is not only easy to implement, additionally it is possible to correct calibrating parameters in time.It retouches in detail below
It states.
Fig. 1 is combined to describe some embodiments of the scaling method of disclosure in-vehicle camera first.
Fig. 1 shows the flow diagram of the scaling method of the in-vehicle camera of some embodiments of the disclosure.As shown in Figure 1,
The present embodiment includes step S102~step S110.
In step s 102, using the collected image containing calibration mark of in-vehicle camera, determine that in-vehicle camera is being marked
The location information and posture information in coordinate system are known in calibration.
For example, calibration mark is specifically as follows AprilTag cooperation mark.The coordinate system of calibration mark can be according to calibration
The display case of mark is set accordingly.In-vehicle camera passes through the vision cooperation mark and vision cooperation mark taken
Size, seek in-vehicle camera AprilTag cooperation marker coordinates system in location information and posture information, be to solve for PnP (n
Point perspective, Perspective-N-Point) problem process, can use classical PnP algorithm.PnP problem refers to set point
Pose estimation problem, using cooperation mark on a relative space position known to put as control point, acquired by video camera
One picture containing cooperation mark calculates the pose of the opposite cooperation mark of in-vehicle camera.In the present embodiment, meter can be passed through
Four control points for calculating AprilTag cooperation mark edge, solve vehicle-mounted according to the spatial coordinated information at known four control points
Location information and posture information (x of the camera in cooperation marker coordinates systemc,yc,zc,roll,pitch,yaw).Wherein, xc、yc、
zcAbscissa, ordinate, ordinate of the in-vehicle camera in cooperation marker coordinates system are respectively indicated, roll indicates that in-vehicle camera exists
Roll angle in calibration mark coordinate system, pitch indicate that pitch angle of the in-vehicle camera in calibration mark coordinate system, yaw indicate
Yaw angle of the in-vehicle camera in calibration mark coordinate system.
In step S104, sat using location information of the in-vehicle camera in calibration mark coordinate system, and calibration mark
Elevation information of the origin of system in earth axes is marked, determines elevation information of the in-vehicle camera in earth axes.
Wherein, the horizontal axis x of earth axeswIt is directed toward the direction of advance of vehicle, the vertical pivot z of earth axeswIt hangs down with ground
Directly, the longitudinal axis y of earth axeswWith the horizontal axis of earth axes and the axis oriented normal of earth axes.Utilize in-vehicle camera
Vertical height of the available in-vehicle camera of location information relative to calibration mark origin in calibration mark coordinate system
It is poor to spend, and identifies elevation information of the origin of coordinate system in earth axes in conjunction with calibration, available in-vehicle camera is opposite
In the vertical height of level road.
In step s 106, the posture information using in-vehicle camera in calibration mark coordinate system, and calibration mark are sat
Rotation relationship between mark system and earth axes, determines posture information of the in-vehicle camera in earth axes.
Wherein, posture information of the in-vehicle camera in earth axes is pitch angle of the in-vehicle camera relative to level road
And roll angle.Above-mentioned numerical value height, pitch angle and roll angle is the calibration that in-vehicle camera needs to use during installation
Parameter.
In above-described embodiment, the outer ginseng of in-vehicle camera is demarcated in the realization that the disclosure can be simple and efficient, not only easily
In implementation, additionally it is possible to correct calibrating parameters in time.
Fig. 2 shows a kind of specific display cases of calibration mark.Under the display case, calibration mark is hung down with ground
It is directly placed on the static unmanned Chinese herbaceous peony parked, it being capable of the simpler efficient external parameter progress realized to in-vehicle camera
Calibration.
The specific placement location of calibration mark can be moveable on bracket or on metope.Nobody is preferably positioned to drive
On the metope for sailing vehicle parking stall opposite, so that in-vehicle camera can be demarcated when vehicle starts every time, camera is corrected in time
Outer ginseng.When plane where calibration mark is perpendicular to the ground, the origin of calibration mark coordinate system is the center of calibration mark, calibration mark
The longitudinal axis y for knowing coordinate system is perpendicular to the ground, and plane where the vertical pivot z of calibration mark coordinate system is identified with calibration is vertical, calibration mark
The horizontal axis x of knowledge is vertical with the longitudinal axis y and the calibration mark vertical pivot z of coordinate system of calibration mark coordinate system.
When the plane where calibration identifies is perpendicular to the ground, in step s 102, in-vehicle camera identifies coordinate system in calibration
In location information be in-vehicle camera calibration mark coordinate system in ordinate, in-vehicle camera calibration mark coordinate system in
Posture information is pitch angle and roll angle of the in-vehicle camera in calibration mark coordinate system.Using in-vehicle camera it is collected containing
The image for demarcating mark determines that the process of location information and posture information of the in-vehicle camera in calibration mark coordinate system is simply situated between
It continues as follows.
Fig. 3 shows the schematic diagram of PNP algorithm.The four edges of AprilTag first in detection image extract AprilTag
Four vertex p1c、p2c、p3c、p4c, and interpret the encoded information of AprilTag.Due to four vertex p of AprilTag1c、p2c、
p3c、p4cPositioned at approximately the same plane, solving camera pose by the observation of this four points in the picture is that a coplanar P4P is asked
Topic, with direct linear transformation DLT (reference papers AprilTag:A robust and flexible visual fiducial
System document [22]) algorithm solution homography matrix H:
Homography matrix H describes four vertex p in AprilTag plane1、p2、p3、p4With observe in image
Four vertex p1c、p2c、p3c、p4cBetween transformation relation.With p1(x1,y1, 0) and p1c(u1,v1) for, p here1It is located at
In the plane of AprilTag, z coordinate 0, p1With p1cRelationship be described as follows with homography matrix:
So homography matrix H describes p1、p2、p3、p4With arrive p1c、p2c、p3c、p4cProjection relation.Camera is indicated with P
Projection matrix, E indicates the outer parameter matrix of position and posture of the description camera in AprilTag coordinate system, due to p1、p2、
p3、p4It is considered as the 2D point in the plane of AprilTag, z coordinate 0, so matrix E is by spin matrix R and translation matrix T
It constituting, third column relevant to ordinate rotation can remove in R, obtain following formula:
Wherein, the parameter only in scale s and matrix E is unknown wait ask.9 equations can be constructed in above formula to find out
9 other unknown numbers in formula in addition to s are the property of unit orthogonal matrix using spin matrix R, can find out R third arrange with
And the absolute value of s, the symbol of s can be located at the front T of camera according to AprilTagz< 0 the fact that, obtains.
Finally, calculating position and posture (x of the camera in AprilTag coordinate system by spin matrix R and translation matrix Tc,
yc,zc,roll,pitch,yaw).Wherein:
Roll=arctan (- R21/R22)
Pitch=arcsin (- R20)
Yaw=arctan (- R10/R00)
xc=Tx
yc=Ty
zc=Tz
At this point, ordinate of the in-vehicle camera in calibration mark coordinate system and calibration can be identified in step S104
Ordinate of the coordinate origin in earth axes be added, obtain elevation information of the in-vehicle camera in earth axes.
For example, cooperation mark is the square that side length is d, height of the lower edge away from ground is h, and wherein h and d is known
Parameter, can be by being pre-designed or measuring acquisition.Camera is fixedly mounted on the central axes of vehicle, camera optical axis direction phase
For vehicle body direction deflection angle there are the droop of very little, this deviation will not influence camera with respect to ground lane line etc. mark
The deflection angle of will object resolves, and there will not be cumulative effect to the resolution error of vehicle yaw, thus does not consider camera phase herein
Installation error of the optical axis direction to vehicle body direction fixed deflection angle.In-vehicle camera is H=relative to the vertical height of level road
yc+h+d/2。
In step s 106, the pitch angle by in-vehicle camera in calibration mark coordinate system, as in-vehicle camera on ground
Pitch angle in coordinate system；By roll angle of the in-vehicle camera in calibration mark coordinate system, as in-vehicle camera in ground coordinate
Roll angle in system.
The scaling method applicability of in-vehicle camera provided by the above embodiment is good and is easy deployment, and it is easy to reduce calibration difficulty
In implementation, and the external parameter of camera can be modified in time.
The caliberating device of the in-vehicle camera of some embodiments of the disclosure is described below with reference to Fig. 4.
Fig. 4 shows the structural schematic diagram of the caliberating device of the in-vehicle camera of some embodiments of the disclosure.As shown in figure 4,
The caliberating device 40 of in-vehicle camera in the present embodiment includes:
Information determination module 402 is configured as determining vehicle using the collected image containing calibration mark of in-vehicle camera
Carry location information and posture information of the camera in calibration mark coordinate system；
Height demarcating module 404 is configured as the location information using in-vehicle camera in calibration mark coordinate system, and
Elevation information of the origin of calibration mark coordinate system in earth axes, determines height of the in-vehicle camera in earth axes
Information；Wherein, the horizontal axis of earth axes is directed toward the direction of advance of vehicle, and the vertical pivot of earth axes is perpendicular to the ground, ground
The axis oriented normal of the longitudinal axis of coordinate system and the horizontal axis of earth axes and earth axes；
Posture demarcating module 406 is configured as the posture information using in-vehicle camera in calibration mark coordinate system, and
Rotation relationship between calibration mark coordinate system and earth axes determines posture letter of the in-vehicle camera in earth axes
Breath.
In above-described embodiment, the outer ginseng of in-vehicle camera is demarcated in the realization that the disclosure can be simple and efficient, not only easily
In implementation, additionally it is possible to correct calibrating parameters in time.
In some embodiments, plane where calibration mark is perpendicular to the ground, and the origin of calibration mark coordinate system is calibration
The longitudinal axis at the center of mark, calibration mark coordinate system is perpendicular to the ground, where the vertical pivot and calibration mark of calibration mark coordinate system
Plane is vertical, and the horizontal axis for demarcating mark is vertical with the longitudinal axis of calibration mark coordinate system and the calibration mark vertical pivot of coordinate system.
In some embodiments, location information of the in-vehicle camera in calibration mark coordinate system is that in-vehicle camera is marked in calibration
Know the ordinate in coordinate system；Posture information of the in-vehicle camera in calibration mark coordinate system is that in-vehicle camera is sat in calibration mark
Pitch angle and roll angle in mark system.
In some embodiments, height demarcating module 404 is configured as: by in-vehicle camera in calibration mark coordinate system
Ordinate is added with ordinate of the coordinate origin of calibration mark in earth axes, obtains in-vehicle camera in earth axes
In elevation information.
In some embodiments, posture demarcating module 406 is configured as: by in-vehicle camera in calibration mark coordinate system
Pitch angle, as pitch angle of the in-vehicle camera in earth axes；By rolling of the in-vehicle camera in calibration mark coordinate system
Angle, as roll angle of the in-vehicle camera in earth axes.
In some embodiments, it is identified as AprilTag cooperation mark.
The scaling method applicability of in-vehicle camera provided by the above embodiment is good and is easy deployment, and it is easy to reduce calibration difficulty
In implementation, and the external parameter of camera can be modified in time.
Fig. 5 shows the structural schematic diagram of the caliberating device of the in-vehicle camera of the disclosure other embodiments.Such as Fig. 5 institute
Show, the caliberating device 50 of the in-vehicle camera of the embodiment includes: memory 510 and the processor for being coupled to the memory 510
520, processor 520 is configured as executing the vehicle in aforementioned any some embodiments based on the instruction being stored in memory 510
Carry the scaling method of camera.
Wherein, memory 510 is such as may include system storage, fixed non-volatile memory medium.System storage
Device is for example stored with operating system, application program, Boot loader (Boot Loader) and other programs etc..
The caliberating device 50 of in-vehicle camera can also include input/output interface 530, network interface 540, memory interface 550
Deng.It can for example be connected by bus 560 between these interfaces 530,540,550 and memory 610 and processor 520.Its
In, the input-output equipment such as input/output interface 530 is display, mouse, keyboard, touch screen provide connecting interface.Network connects
Mouth 540 provides connecting interface for various networked devices.The external storages such as memory interface 550 is SD card, USB flash disk provide connection and connect
Mouthful.
The disclosure further includes a kind of computer readable storage medium, is stored thereon with computer instruction, and the instruction is processed
Device realizes the scaling method of the in-vehicle camera in aforementioned any some embodiments when executing.
It should be understood by those skilled in the art that, embodiment of the disclosure can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the disclosure
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the disclosure, which can be used in one or more,
The calculating implemented in non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) can be used
The form of machine program product.
The disclosure is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present disclosure
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely the preferred embodiments of the disclosure, not to limit the disclosure, all spirit in the disclosure and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the protection scope of the disclosure.
Claims (14)
1. a kind of scaling method of in-vehicle camera, comprising:
Using the collected image containing calibration mark of in-vehicle camera, position of the in-vehicle camera in calibration mark coordinate system is determined
Confidence breath and posture information；
It is sat using location information of the in-vehicle camera in calibration mark coordinate system, and the origin of calibration mark coordinate system on ground
Elevation information in mark system, determines elevation information of the in-vehicle camera in earth axes；Wherein, the horizontal axis of earth axes refers to
To the direction of advance of vehicle, the vertical pivot of earth axes is perpendicular to the ground, the longitudinal axis of earth axes and the cross of earth axes
The axis oriented normal of axis and earth axes；
Using in-vehicle camera calibration mark coordinate system in posture information, and calibration mark coordinate system and earth axes it
Between rotation relationship, determine posture information of the in-vehicle camera in earth axes.
2. scaling method as described in claim 1, wherein plane where calibration mark is perpendicular to the ground, calibration mark coordinate
The origin of system is the center of calibration mark, and the longitudinal axis of calibration mark coordinate system is perpendicular to the ground, the vertical pivot of calibration mark coordinate system
Plane where identifying with calibration is vertical, demarcates the horizontal axis of mark and the longitudinal axis of calibration mark coordinate system and calibration mark coordinate system
Vertical pivot it is vertical.
3. scaling method as claimed in claim 2, wherein
In-vehicle camera is ordinate of the in-vehicle camera in calibration mark coordinate system in the location information in calibration mark coordinate system；
In-vehicle camera is pitch angle of the in-vehicle camera in calibration mark coordinate system in the posture information in calibration mark coordinate system
And roll angle.
4. scaling method as claimed in claim 3, wherein the position using in-vehicle camera in calibration mark coordinate system
Information, and elevation information of the coordinate origin of mark in earth axes is demarcated, determine in-vehicle camera in earth axes
In elevation information include:
By the coordinate origin of ordinate of the in-vehicle camera in calibration mark coordinate system and calibration mark in earth axes
Ordinate is added, and obtains elevation information of the in-vehicle camera in earth axes.
5. scaling method as claimed in claim 3, wherein the posture using in-vehicle camera in calibration mark coordinate system
Rotation relationship between information, and calibration mark coordinate system and earth axes, determines in-vehicle camera in earth axes
Posture information include:
By pitch angle of the in-vehicle camera in calibration mark coordinate system, as pitch angle of the in-vehicle camera in earth axes；
By roll angle of the in-vehicle camera in calibration mark coordinate system, as roll angle of the in-vehicle camera in earth axes.
6. scaling method as described in claim 1, wherein described to be identified as AprilTag cooperation mark.
7. a kind of caliberating device of in-vehicle camera, comprising:
Information determination module is configured as determining in-vehicle camera using the collected image containing calibration mark of in-vehicle camera
Location information and posture information in calibration mark coordinate system；
Height demarcating module is configured as the location information using in-vehicle camera in calibration mark coordinate system, and calibration mark
Know elevation information of the origin of coordinate system in earth axes, determines elevation information of the in-vehicle camera in earth axes；
Wherein, the horizontal axis of earth axes is directed toward the direction of advance of vehicle, and the vertical pivot of earth axes is perpendicular to the ground, earth axes
The longitudinal axis and earth axes horizontal axis and earth axes axis oriented normal；
Posture demarcating module is configured as the posture information using in-vehicle camera in calibration mark coordinate system, and calibration mark
Know the rotation relationship between coordinate system and earth axes, determines posture information of the in-vehicle camera in earth axes.
8. caliberating device as claimed in claim 7, wherein plane where calibration mark is perpendicular to the ground, calibration mark coordinate
The origin of system is the center of calibration mark, and the longitudinal axis of calibration mark coordinate system is perpendicular to the ground, the vertical pivot of calibration mark coordinate system
Plane where identifying with calibration is vertical, demarcates the horizontal axis of mark and the longitudinal axis of calibration mark coordinate system and calibration mark coordinate system
Vertical pivot it is vertical.
9. caliberating device as claimed in claim 8, wherein
In-vehicle camera is ordinate of the in-vehicle camera in calibration mark coordinate system in the location information in calibration mark coordinate system；
In-vehicle camera is pitch angle of the in-vehicle camera in calibration mark coordinate system in the posture information in calibration mark coordinate system
And roll angle.
10. caliberating device as claimed in claim 9, wherein the height demarcating module is configured as:
By the coordinate origin of ordinate of the in-vehicle camera in calibration mark coordinate system and calibration mark in earth axes
Ordinate is added, and obtains elevation information of the in-vehicle camera in earth axes.
11. caliberating device as claimed in claim 9, wherein the posture demarcating module is configured as:
By pitch angle of the in-vehicle camera in calibration mark coordinate system, as pitch angle of the in-vehicle camera in earth axes；
By roll angle of the in-vehicle camera in calibration mark coordinate system, as roll angle of the in-vehicle camera in earth axes.
12. caliberating device as claimed in claim 7, wherein described to be identified as AprilTag cooperation mark.
13. a kind of caliberating device of in-vehicle camera, comprising:
Memory；And
It is coupled to the processor of the memory, the processor is configured to the instruction based on storage in the memory,
Execute the scaling method such as in-vehicle camera described in any one of claims 1 to 6.
14. a kind of computer readable storage medium, wherein the computer-readable recording medium storage has computer instruction, institute
State the scaling method realized when instruction is executed by processor such as in-vehicle camera described in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811424783.0A CN110378962B (en) | 2018-11-27 | 2018-11-27 | Calibration method and device for vehicle-mounted camera and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811424783.0A CN110378962B (en) | 2018-11-27 | 2018-11-27 | Calibration method and device for vehicle-mounted camera and computer readable storage medium |
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| Publication Number | Publication Date |
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| CN110378962A true CN110378962A (en) | 2019-10-25 |
| CN110378962B CN110378962B (en) | 2022-12-02 |
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