CN112215214A - Method and system for adjusting camera offset of intelligent vehicle-mounted terminal - Google Patents
Method and system for adjusting camera offset of intelligent vehicle-mounted terminal Download PDFInfo
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Abstract
The invention provides a method and a system for adjusting the offset of a camera of an intelligent vehicle-mounted terminal, wherein the method comprises the following steps: acquiring a first image according to the camera of the intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through the center point of the vehicle head and a lane line on a vehicle driving road in the first image, and determining a vanishing point; wherein the vanishing point comprises a pixel point determined in the first image; determining whether the camera is not at a preset installation position according to the central point and the vanishing point of the first image; if the camera is determined not to be in the preset installation position, determining a reference position point in a second image according to the pixel point determined in the first image in the second image acquired through the camera of the intelligent vehicle-mounted terminal; and the central point of the second image is coincided with the reference position point by adjusting the camera so as to enable the camera to be at the preset installation position. The offset of the vehicle-mounted camera is corrected, and the safety and the reliability of the vehicle are improved.
Description
Technical Field
The invention relates to the technical field of computer vision, in particular to a method and a system for adjusting the offset of a camera of an intelligent vehicle-mounted terminal.
Background
With the progress of society, the living standard of residents is continuously improved, and automobiles become important transportation tools which cannot be lacked by people. The vehicle-mounted camera is widely applied to automobile data recorders, reversing images (rearview), 360-degree panorama (panoramic view) and the like, provides auxiliary help for drivers, and provides guarantee for driving safety.
With the advent of the intelligent era, the internet of things is rapidly developed, the traffic system tends to be intelligent, and automatic driving is a necessary trend of vehicle development. The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human.
Automotive autopilot technology includes video cameras, radar sensors, and laser rangefinders to understand surrounding traffic conditions and navigate the road ahead through a detailed map (a map collected by a manned automobile).
The camera is a main sensor for automatic driving, and the automatic driving vehicle senses the environment by using the camera, so that the relative position and posture (position and posture, short for pose) of the camera and the vehicle is particularly important for the whole automatic control system. In the automatic driving process of the vehicle, errors can occur in the position and the angle of the camera, which are adverse to the automatic driving and seriously affect the safety.
However, when the camera is installed in the vehicle, it is difficult to conveniently obtain the accurate position and posture of the camera relative to the vehicle through a tool, and the accuracy of the camera relative to the vehicle pose data directly affects the position angle deviation of the camera image data.
Therefore, how to provide a method and a system for adjusting the offset of a camera of an intelligent vehicle-mounted terminal to correct the offset of the vehicle-mounted camera and improve the safety and reliability of a vehicle becomes a problem to be solved urgently.
Disclosure of Invention
Aiming at the defects in the prior art, the embodiment of the invention provides a method and a system for adjusting the offset of a camera of an intelligent vehicle-mounted terminal, which at least solve the technical problems that after the camera is installed, the accurate position and posture of the camera relative to a vehicle are difficult to conveniently acquire, and the offset of the camera is corrected.
The invention provides a method for adjusting the offset of a camera of an intelligent vehicle-mounted terminal, which comprises the following steps:
acquiring a first image according to the camera acquisition of the intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through the center point of a vehicle head and a lane line on a vehicle driving road in the first image, and determining a vanishing point; wherein the vanishing point comprises a determined pixel point in the first image;
determining whether the camera is in a preset installation position or not according to the central point of the first image and the vanishing point;
if the camera is determined not to be in the preset installation position, determining a reference position point in a second image acquired through the camera of the intelligent vehicle-mounted terminal according to a pixel point determined by the vanishing point in the first image;
and the central point of the second image is coincided with the reference position point by adjusting the camera so as to enable the camera to be in a preset installation position.
According to the method for adjusting the camera offset of the intelligent vehicle-mounted terminal provided by the invention,
the camera acquisition according to intelligent vehicle mounted terminal obtains first image acquire the perpendicular line and the lane line on the vehicle driving road through locomotive central point in the first image to determine the vanishing point, include:
determining lane lines on both sides of a vehicle body on a vehicle driving road in the first image;
determining the perpendicular line passing through the center point of the vehicle head in the first image based on the symmetry of the vehicle head;
determining that the vertical line passing through the center point of the vehicle head in the first image is intersected with three lines of lane lines on two sides of the vehicle body at one point;
and determining the intersection point of the three lines as the vanishing point.
According to the method for adjusting the camera offset of the intelligent vehicle-mounted terminal provided by the invention,
the determining the perpendicular line passing through the vehicle head central point in the first image based on the symmetry of the vehicle head comprises:
determining a vehicle head central point in the first image based on the symmetry of the vehicle head;
making a tangent line of the vehicle head based on the central point of the vehicle head;
and making the perpendicular line passing through the center point of the vehicle head in the first image based on the tangent line of the vehicle head.
According to the method for adjusting the camera offset of the intelligent vehicle-mounted terminal provided by the invention,
the determining whether the camera is in a preset installation position according to the central point of the first image and the vanishing point comprises:
determining whether a center point of the first image and the vanishing point coincide;
if the central point of the first image is superposed with the vanishing point, determining that the camera is at a preset installation position;
and if the central point of the first image is not superposed with the vanishing point, determining that the camera is not positioned at a preset installation position.
According to the method for adjusting the camera offset of the intelligent vehicle-mounted terminal provided by the invention,
if the camera is determined not to be in the preset installation position, determining a reference position point in a second image acquired through the camera of the intelligent vehicle-mounted terminal according to the pixel point determined by the vanishing point in the first image, wherein the reference position point comprises:
and if the camera is determined not to be at the preset installation position, determining the position of the pixel point corresponding to the vanishing point in the second image as the reference position point in the second image according to the vanishing point position in the first image.
According to the method for adjusting the camera offset of the intelligent vehicle-mounted terminal provided by the invention,
the adjusting the camera to coincide the center point of the second image with the reference position point so that the camera is in a preset installation position includes:
adjusting the position of the camera, and acquiring the second image in real time;
and when the central point of the second image is coincident with the reference position point, determining that the camera is at a preset installation position.
According to the method for adjusting the camera offset of the intelligent vehicle-mounted terminal provided by the invention,
the camera acquisition according to intelligent vehicle mounted terminal obtains first image acquire the perpendicular line and the lane line on the vehicle driving road through locomotive central point in the first image to determine the vanishing point, include:
if it is determined that the three lines of the perpendicular line passing through the center point of the vehicle head and the lane lines on the two sides of the vehicle body in the first image cannot be intersected at one point;
and acquiring a next frame of image as the first image according to the camera, and repeating the step of determining that the three lines of the perpendicular line passing through the center point of the vehicle head and the lane lines on the two sides of the vehicle body in the image intersect at one point until the first image enabling the three lines to intersect at one point is obtained.
The invention also provides a system for adjusting the offset of the camera of the intelligent vehicle-mounted terminal, which comprises the following steps:
the system comprises a construction unit, a control unit and a display unit, wherein the construction unit is used for acquiring a first image according to the camera acquisition of an intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through a center point of a vehicle head and a lane line on a vehicle driving road in the first image and determining a vanishing point; wherein the vanishing point comprises a determined pixel point in the first image;
the judging unit is used for determining whether the camera is in a preset installation position according to the central point of the first image and the vanishing point;
the determining unit is used for determining a reference position point in a second image acquired through a camera of the intelligent vehicle-mounted terminal according to a pixel point determined by the vanishing point in the first image if the camera is determined not to be at the preset installation position;
and the correcting unit is used for enabling the center point of the second image to be superposed with the reference position point by adjusting the camera so as to enable the camera to be in a preset installation position.
The invention also provides electronic equipment which comprises a memory and a processor, wherein the processor and the memory finish mutual communication through a bus; the memory stores program instructions executable by the processor, and the processor calls the program instructions to perform the steps of the method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of adjusting the camera offset of a smart car terminal as described above.
According to the method and the system for adjusting the camera offset of the intelligent vehicle-mounted terminal, provided by the invention, the vertical line passing through the center point of the vehicle head is used as a reference for judging the position of the vehicle in the lane line, the vanishing point position is determined through the intersection point of the lane line and the vertical line passing through the center point of the vehicle head, and further, the calibration of the camera is realized by taking the position relation between the vanishing point and the image center point as a reference.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for adjusting a camera offset of an intelligent vehicle-mounted terminal according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of vanishing point location determination provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a system for adjusting a camera offset of an intelligent vehicle-mounted terminal according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Reference numerals:
21: a vehicle head central point; 22: vanishing points;
201: cutting a line of the headstock; 202: a vertical line passing through the center point of the head;
203: a left lane line; 204: and a right lane line.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present 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.
Vanishing point refers to the point at which two or more LINEs representing parallel LINEs extend to far HORIZON (HORIZONs LINE) until convergence.
In the traffic field, the vanishing point may be calculated using lane lines. However, in a city, due to occlusion of buildings and the like, it is difficult to calculate a vanishing point from an intersection of a lane line and a horizon line.
The precondition for obtaining the intersection point (vanishing point) of the lane line to perform the attitude estimation is that the lane line needs to be a parallel straight line, and the vehicle body needs to be completely parallel to the lane line, but if the position of the vehicle in the lane is not correct (i.e. the vehicle is not parallel to the lane line), the calibration of the camera according to the vanishing point has a large error, which brings adverse consequences to the accuracy of acquiring image information by a subsequent camera, and may cause a safety problem if the accuracy is serious.
Judging whether the vehicle body and the lane are completely parallel is difficult to realize in the actual road and driving process, and a more complex algorithm is also needed to judge that the conditions are met, for example, a lane line needs to be identified, whether the lane line is a straight line needs to be judged, and whether the vehicle body and the lane are parallel needs to be judged.
The invention can effectively solve the problems and provides a method for adjusting the camera offset of the intelligent vehicle-mounted terminal, which is simpler and easier to implement, under the condition of ensuring the accuracy of the camera offset attitude estimation result.
Fig. 1 is a flowchart of a method for adjusting a camera offset of an intelligent vehicle-mounted terminal according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
step S1, acquiring a first image according to the camera acquisition of the intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through the center point of the vehicle head and a lane line on a vehicle driving road in the first image, and determining a vanishing point; wherein the vanishing point comprises a determined pixel point in the first image;
step S2, determining whether the camera is at a preset installation position according to the central point of the first image and the vanishing point;
step S3, if the camera is determined not to be at the preset installation position, determining a reference position point in a second image acquired by the camera of the intelligent vehicle-mounted terminal according to the pixel point determined by the vanishing point in the first image;
and step S4, the central point of the second image is coincided with the reference position point by adjusting the camera so as to enable the camera to be at a preset installation position.
Specifically, a straight and open road is selected as a test route, a test vehicle is on the test route, and in step S1, a first image is acquired according to the camera of the intelligent vehicle-mounted terminal, and the acquired first image is processed.
And determining the position of a perpendicular line passing through the center point of the vehicle head in the first image and the positions of lane lines on two sides of the vehicle body, and determining a vanishing point according to the perpendicular line passing through the center point of the vehicle head in the first image and the intersection point of the two lane lines. And determining the pixel point of the vanishing point corresponding to the first image.
Further, it can be understood that after the first image acquired by the camera is collected, the image can be preprocessed (for example, image enhancement processing, denoising and the like) to enhance the capability of the image to embody a target straight line, so that the first image can intuitively reflect the position relation of three lines, and the problem of inaccurate vanishing point positioning caused by external factors such as environment and the like is avoided.
It should be noted that the method for obtaining the perpendicular line passing through the center point of the vehicle head may be determined according to a mathematical geometry method based on the symmetry of the vehicle head, or a method for implementing automatic determination according to the obtained image information by adopting a training neural network model, and the like, and this embodiment does not limit this.
In step S2, a center point of the first image is determined based on the intersection of the diagonals of the first image. And determining whether the camera is at a preset installation position or not according to the central point of the first image and the vanishing point.
And if the central point of the first image is superposed with the vanishing point, determining that the camera is in the preset installation position without adjustment. If the central point of the first image is not coincident with the vanishing point, it is determined that the camera is not located at the preset installation position, and the installation position and the angle of the camera need to be adjusted.
In step S3, if it is determined in step S2 that the camera is not located at the preset installation position, a second image is captured by the camera of the smart car terminal. And determining the position of the pixel point in the second image corresponding to the mapping according to the pixel point corresponding to the vanishing point determined in the first image, and determining the reference position point of the vanishing point in the second image.
In step S4, the intelligent vehicle-mounted terminal installs a display screen for displaying an image collected by the camera, and is also provided with a program capable of adjusting the camera, and the image collected by the camera and the program together realize adjustment of the position of the camera, so that the position of the camera is adjusted to a preset installation position.
And displaying the reference position point determined in the step S3 on the display screen, adjusting the position of the camera and acquiring the image in real time as a second image, and displaying the intersection point of the diagonal lines of the second image on the display screen as the center point of the second image.
When the position of the camera is adjusted, the relative positions of the reference position point and the central point of the second image on the display screen are continuously changed, and when the position of the central point of the second image is superposed with the reference position point, the camera is determined to be in the preset installation position.
It should be noted that, on the basis of this embodiment, it may also be possible to determine, without setting the display screen to display the acquired image information, the offset corresponding to the reference position point and the second image center point directly according to the pixel point information corresponding to the vanishing point acquired by the first image and the subsequent second image information, and adjust the position of the camera according to the offset in cooperation with a software program, which is not limited in this embodiment.
Next, in this embodiment, a method of determining the center point of the first image and the second image according to the intersection point of the image diagonal lines is adopted, which corresponds to a case where the image captured by the camera is a regular quadrangle. If the shape of the image collected by the camera is not a regular quadrangle, other methods may be used to determine the image center point (for example, the collected image is a circle, and the center of the circle is determined as the center point).
The method for adjusting the camera offset of the intelligent vehicle-mounted terminal provided by the invention is characterized in that a vertical line passing through the center point of a vehicle head is used as a reference for judging the position of a vehicle in a lane line, a vanishing point position is determined through the intersection point of the lane line and the vertical line passing through the center point of the vehicle head, and further, the calibration of the camera is realized by taking the position relation between the vanishing point and the image center point as a reference.
Optionally, in the method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to any embodiment of the present invention,
the camera acquisition according to intelligent vehicle mounted terminal obtains first image acquire the perpendicular line and the lane line on the vehicle driving road through locomotive central point in the first image to determine the vanishing point, include:
determining lane lines on both sides of a vehicle body on a vehicle driving road in the first image;
determining the perpendicular line passing through the center point of the vehicle head in the first image based on the symmetry of the vehicle head;
determining that the vertical line passing through the center point of the vehicle head in the first image is intersected with three lines of lane lines on two sides of the vehicle body at one point;
and determining the intersection point of the three lines as the vanishing point.
Specifically, after the first image is acquired, image recognition is performed, lane lines on two sides of a vehicle body on a vehicle driving road in the first image are determined, and a perpendicular line passing through a center point of a vehicle head in the first image is determined based on symmetry of the vehicle head.
The method includes the steps that straight lines are made along lane lines on two sides of a vehicle body until the corresponding straight lines of the two lane lines are intersected, the lane lines are generally broken lines, dirt coverage and damage to a certain degree exist due to use, the problem that the far end in a shot image is blurred and unclear and the like may exist, and the position of the lane lines in the image can be accurately reflected by using an extension line. And the vertical line of the center point of the vehicle head is extended, so that an intersection point exists between the vertical line and the lane line.
The position relation of two lane lines and the perpendicular line through the locomotive central point can be divided into two kinds: the vertical line passing through the center point of the vehicle head is intersected with one of the lane lines, or the vertical line passing through the center point of the vehicle head is intersected with three lines of two lane lines at the same point.
The vanishing point can be determined only if three lines intersect at the same time. And if the fact that the vertical line passing through the center point of the vehicle head and the three lines of the lane lines on the two sides of the vehicle body intersect at one point can be determined in the first image, determining that the intersection point of the three lines is a vanishing point.
It should be noted that, during the driving process of the vehicle, the quality of the image information collected by the vehicle-mounted camera is affected in many ways (the real-time speed of the vehicle, the cleanliness of the vehicle head, the weather and the air quality, etc.). Therefore, after the image is acquired, the image can be subjected to image enhancement processing, so that more features can be extracted from the image. The specific image processing method may be selected according to actual situations, which is not limited in this embodiment.
The method for adjusting the camera offset of the intelligent vehicle-mounted terminal determines a perpendicular line passing through the center point of the vehicle head through the symmetry of the vehicle head, takes the perpendicular line of the vehicle head as a reference for judging the position of a vehicle in a lane line, determines a vanishing point position through the intersection point of the lane line and the perpendicular line of the vehicle head, and further realizes the calibration of the camera by taking the position relation between the vanishing point and the image center point as a reference.
Optionally, in the method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to any embodiment of the present invention,
the determining the perpendicular line passing through the vehicle head central point in the first image based on the symmetry of the vehicle head comprises:
determining a vehicle head central point in the first image based on the symmetry of the vehicle head;
making a tangent line of the vehicle head based on the central point of the vehicle head;
and making the perpendicular line passing through the center point of the vehicle head in the first image based on the tangent line of the vehicle head.
Specifically, fig. 2 is a schematic view of determining a vanishing point position according to an embodiment of the present invention, as shown in fig. 2, a curve part in the diagram represents a vehicle head, a vehicle head central point 21 is determined in the first image based on symmetry of the vehicle head, a tangent line 201 of the vehicle head is made based on the vehicle head central point 21, and a perpendicular line 202 passing through the vehicle head central point is made based on the tangent line 201 of the vehicle head.
Further, in fig. 2, there is one lane line on both sides of the vehicle body, and the lane line on the left side of the vehicle is denoted as a left lane line 203 and the lane line on the right side of the vehicle is denoted as a right lane line 204 in accordance with the positional relationship with the vehicle (with the vehicle traveling direction as the forward direction).
When three lines, namely a vertical line 202 passing through the center point of the head of the vehicle, a left lane line 203 and a right lane line 204 in the image, intersect at one point, the intersection point of the three lines is determined as a vanishing point 22 (a far-end vanishing point in the image).
Only when the vehicle body is parallel to the lane, the three lines can be ensured to be intersected at one point (vanishing point), otherwise, the three lines cannot be intersected.
The method for adjusting the camera offset of the intelligent vehicle-mounted terminal determines the center point of the vehicle head through a mathematical geometry method, further performs tangent line of the vehicle head to obtain a perpendicular line passing through the center point of the vehicle head, and takes the perpendicular line passing through the center point of the vehicle head as a reference for judging the position of a vehicle in a lane line. And determining whether the vehicle is parallel to the lane in the lane according to whether the perpendicular line passing through the center point of the vehicle head, the left lane line and the right lane line can be intersected at one point, and determining the vanishing point position through the intersection point of the lane line and the perpendicular line of the vehicle head. Further, the calibration of the camera is realized by taking the position relation between the vanishing point and the central point of the image as a reference.
Optionally, in the method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to any embodiment of the present invention,
the determining whether the camera is in a preset installation position according to the central point of the first image and the vanishing point comprises:
determining whether a center point of the first image and the vanishing point coincide;
if the central point of the first image is superposed with the vanishing point, determining that the camera is at a preset installation position;
and if the central point of the first image is not superposed with the vanishing point, determining that the camera is not positioned at a preset installation position.
Specifically, after determining that a vanishing point exists in the first image and determining the vanishing point position, the center point of the first image is determined according to the intersection point of the diagonal lines of the first image. And judging whether the central point and the vanishing point of the first image are coincident or not.
And if the center point of the first image is judged to be coincident with the vanishing point, determining that the camera is positioned at the preset installation position. And if the central point and the vanishing point of the first image are judged and determined not to be superposed, determining that the camera is not positioned at the preset installation position.
Further, the camera mounting position is adjusted when it is determined that the camera is not in the preset mounting position.
The method for adjusting the camera offset of the intelligent vehicle-mounted terminal determines the vanishing point position through the intersection point of the lane line and the perpendicular line passing through the center point of the vehicle head, further realizes the calibration of the camera by determining whether the image center point and the vanishing point are superposed, provides a basis for the adjustment of the installation position of the camera, and ensures the accuracy of the calibrated camera.
Optionally, in the method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to any embodiment of the present invention,
before the step of determining a vanishing point according to a perpendicular line passing through a center point of the vehicle head and a lane line in the image, the method further comprises the following steps:
if the camera is determined not to be in the preset installation position, determining a reference position point in a second image acquired through the camera of the intelligent vehicle-mounted terminal according to the pixel point determined by the vanishing point in the first image, wherein the reference position point comprises:
and if the camera is determined not to be at the preset installation position, determining the position of the pixel point corresponding to the vanishing point in the second image as the reference position point in the second image according to the vanishing point position in the first image.
Specifically, because it is difficult to realize that the vehicle body and the lane are completely parallel in the actual road and driving process, a straight and open road is selected as a test route, and a test vehicle runs on the test route.
After the corresponding vanishing point of the first image is determined, and under the condition that the current camera is not located at the preset installation position according to the relation between the vanishing point and the center point of the first image, the acquired image of the vehicle-mounted camera (the camera to be rectified) is acquired in real time to serve as a second image.
And determining the corresponding position of the pixel point corresponding to the vanishing point in the second image as a reference position point in the second image according to the vanishing point position in the first image. The reference position point is used for realizing the calibration of the camera together with the central point of the second image.
According to the method for adjusting the camera offset of the intelligent vehicle-mounted terminal, more image information can be effectively acquired by acquiring and processing the image information acquired by the vehicle-mounted camera of the running vehicle, and the camera mounting position is adjusted according to the corresponding reference position point of the confirmed vanishing point corresponding pixel point in the first image in the second image and the position relation between the corresponding reference position point of the second image and the center point of the second image. Through when the camera is adjusted, the second image collected by the camera is acquired in real time for judgment, and the accuracy of deviation correction of the installation position of the camera can be improved.
Optionally, in the method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to any embodiment of the present invention,
the adjusting the camera to coincide the center point of the second image with the reference position point so that the camera is in a preset installation position includes:
adjusting the position of the camera, and acquiring the second image in real time;
and when the central point of the second image is coincident with the reference position point, determining that the camera is at a preset installation position.
Specifically, according to the vanishing point position in the first image, the corresponding position of the pixel point corresponding to the vanishing point in the second image is determined to be behind the reference position point in the second image. And adjusting the position of the camera to enable the camera to be at a preset installation position.
Furthermore, in the process of adjusting the camera, the camera acquires an image in real time as a second image, the relative position relationship between the reference position point in the second image and the central point of the second image is constantly changed, and when the reference position point in the second image and the central point of the second image are superposed, the camera is determined to be in the preset installation position, so that the calibration of the camera is realized.
According to the method for adjusting the camera offset of the intelligent vehicle-mounted terminal, the pixel point corresponding to the vanishing point is determined in the first image, the pixel point is mapped to the second image to determine the reference position point, the offset and the offset direction are determined according to the relative position relation between the reference position point and the center point in the second image, image information is collected in real time in the camera adjusting process, the camera offset can be guaranteed to be intuitively reflected according to the position relation between the reference position point and the center point in the second image in real time in the camera position adjusting process, and the real-time performance and the accuracy of camera deviation correction are improved.
Optionally, in the method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to any embodiment of the present invention,
the camera acquisition according to intelligent vehicle mounted terminal obtains first image acquire the perpendicular line and the lane line on the vehicle driving road through locomotive central point in the first image to determine the vanishing point, include:
if it is determined that the three lines of the perpendicular line passing through the center point of the vehicle head and the lane lines on the two sides of the vehicle body in the first image cannot be intersected at one point;
and acquiring a next frame of image as the first image according to the camera, and repeating the step of determining that the three lines of the perpendicular line passing through the center point of the vehicle head and the lane lines on the two sides of the vehicle body in the image intersect at one point until the first image enabling the three lines to intersect at one point is obtained.
Specifically, it is difficult to determine the vanishing point from only one frame of image because it is difficult to determine that the vehicle body is completely parallel to the lane in the actual road and driving process, and the relative position relationship with the lane line changes in real time in the driving process of the vehicle.
Therefore, it is necessary to obtain image information acquired by the vehicle-mounted camera in real time during the driving process of the vehicle, and determine whether a vanishing point (whether a perpendicular line passing through the center point of the vehicle head in the image and three lines of lane lines on two sides can intersect at a point) exists in the image.
If it is determined that the perpendicular line passing through the center point of the vehicle head in the acquired first image and the three lines of the lane lines on the two sides cannot be intersected at one point, namely, no vanishing point exists, the vehicle is not parallel to the lane lines at the moment, and the first image does not meet the requirement.
And continuously acquiring the next frame of image as a first image by the camera, repeatedly acquiring a vertical line and a lane line passing through the center point of the vehicle head in the first image, and judging whether the three lines can be intersected at one point or not until the first image enabling the three lines to be intersected at one point is obtained.
Further, after the vanishing point in the first image is determined, the reference position point in the second image is determined according to the corresponding pixel point of the vanishing point in the first image, and the correction of the camera is realized.
According to the method for adjusting the camera offset of the intelligent vehicle-mounted terminal, the vehicle-mounted camera image information of the running vehicle is collected and processed, the images can be effectively screened according to whether the vanishing point exists in the images, and the situation that the perpendicular line passing through the center point of the vehicle head and the three lines of the lane line intersect at one point in the obtained images to obtain the vanishing point is ensured. According to the position relation between the vanishing point and the central point, the driving position of the vehicle is adjusted, a foundation is provided for adjusting the installation position of the camera in the follow-up process, and the problem that the data of the parallel condition of the vehicle and the lane line are difficult to obtain in the driving state is solved.
Fig. 3 is a schematic structural diagram of a system for adjusting a camera offset of an intelligent vehicle-mounted terminal according to an embodiment of the present invention, and as shown in fig. 3, the present invention further provides a system for adjusting a camera offset of an intelligent vehicle-mounted terminal, including:
the construction unit 310 is used for acquiring a first image according to the camera of the intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through the center point of the vehicle head and a lane line on a vehicle driving road in the first image, and determining a vanishing point; wherein the vanishing point comprises a determined pixel point in the first image;
a judging unit 320, configured to determine whether the camera is located at a preset installation position according to the central point of the first image and the vanishing point;
a determining unit 330, configured to determine, if it is determined that the camera is not located at the preset installation position, a reference position point in a second image acquired by a camera of the intelligent vehicle-mounted terminal according to a pixel point determined by the vanishing point in the first image;
a correcting unit 340, configured to adjust the camera to make the center point of the second image coincide with the reference position point, so that the camera is located at a preset installation position.
Specifically, a straight and open road is selected as a test route, a test vehicle is on the test route, and the construction unit 310 acquires a first image according to the camera of the intelligent vehicle-mounted terminal and processes the acquired first image.
And determining the position of a perpendicular line passing through the center point of the vehicle head in the first image and the positions of lane lines on two sides of the vehicle body, and determining a vanishing point according to the perpendicular line passing through the center point of the vehicle head in the first image and the intersection point of the two lane lines. And determining the pixel point of the vanishing point corresponding to the first image.
Further, it can be understood that after the first image acquired by the camera is collected, the image can be preprocessed (for example, image enhancement processing, denoising and the like) to enhance the capability of the image to embody a target straight line, so that the first image can intuitively reflect the position relation of three lines, and the problem of inaccurate vanishing point positioning caused by external factors such as environment and the like is avoided.
It should be noted that the method for obtaining the perpendicular line passing through the center point of the vehicle head may be determined according to a mathematical geometry method based on the symmetry of the vehicle head, or a method for implementing automatic determination according to the obtained image information by adopting a training neural network model, and the like, and this embodiment does not limit this.
The determining unit 320 is configured to determine a center point of the first image according to an intersection of diagonal lines of the first image. And determining whether the camera is at a preset installation position or not according to the central point of the first image and the vanishing point.
And if the central point of the first image is superposed with the vanishing point, determining that the camera is in the preset installation position without adjustment. If the central point of the first image is not coincident with the vanishing point, it is determined that the camera is not located at the preset installation position, and the installation position and the angle of the camera need to be adjusted.
If it is determined in the determining unit 320 that the camera is not located at the preset installation position, the determining unit 330 is configured to acquire a second image through the camera of the intelligent vehicle-mounted terminal. And determining the position of the pixel point in the second image corresponding to the mapping according to the pixel point corresponding to the vanishing point determined in the first image, and determining the reference position point of the vanishing point in the second image.
The intelligent vehicle-mounted terminal installation display screen is used for displaying images collected by the camera, meanwhile, a program capable of adjusting the camera is further arranged, and the correction unit 340 is used for adjusting the position of the camera through the images collected by the camera and the program to enable the camera to be adjusted to a preset installation position.
And displaying the reference position point determined in the determination unit 330 on the display screen, adjusting the position of the camera and acquiring the image in real time as a second image, and displaying the intersection point of the diagonal lines of the second image on the display screen as the center point of the second image.
When the position of the camera is adjusted, the relative positions of the reference position point and the central point of the second image are continuously changed, and when the position of the central point of the second image is superposed with the reference position point, the camera is determined to be in the preset installation position.
It should be noted that, on the basis of this embodiment, it may also be possible to determine, without setting the display screen to display the acquired image information, the offset corresponding to the reference position point and the second image center point directly according to the pixel point information corresponding to the vanishing point acquired by the first image and the subsequent second image information, and adjust the position of the camera according to the offset in cooperation with a software program, which is not limited in this embodiment.
The system for adjusting the camera offset of the intelligent vehicle-mounted terminal provided by the invention takes the perpendicular line passing through the center point of the vehicle head as the reference for judging the position of the vehicle in the lane line, determines the vanishing point position through the intersection point of the lane line and the perpendicular line passing through the center point of the vehicle head, and further realizes the calibration of the camera by taking the position relation of the vanishing point and the image center point as reference.
It should be noted that, the system for adjusting the camera offset of the intelligent vehicle-mounted terminal according to the embodiment of the present invention is used for executing the method for adjusting the camera offset of the intelligent vehicle-mounted terminal, and a specific implementation manner of the system is consistent with that of the method, and is not described herein again.
Fig. 4 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device may include: a processor (processor) 410, a communication interface (communication interface) 420, a memory (memory) 430 and a communication bus (bus) 440, wherein the processor 410, the communication interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may call logic instructions in the memory 430 to execute the above method for adjusting the camera offset of the smart car terminal, including: acquiring a first image according to the camera acquisition of the intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through the center point of a vehicle head and a lane line on a vehicle driving road in the first image, and determining a vanishing point; wherein the vanishing point comprises a determined pixel point in the first image; determining whether the camera is in a preset installation position or not according to the central point of the first image and the vanishing point; if the camera is determined not to be in the preset installation position, determining a reference position point in a second image acquired through the camera of the intelligent vehicle-mounted terminal according to a pixel point determined by the vanishing point in the first image; and the central point of the second image is coincided with the reference position point by adjusting the camera so as to enable the camera to be in a preset installation position.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the method for adjusting the camera offset of the smart car terminal provided in the above-mentioned method embodiments, where the method includes: acquiring a first image according to the camera acquisition of the intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through the center point of a vehicle head and a lane line on a vehicle driving road in the first image, and determining a vanishing point; wherein the vanishing point comprises a determined pixel point in the first image; determining whether the camera is in a preset installation position or not according to the central point of the first image and the vanishing point; if the camera is determined not to be in the preset installation position, determining a reference position point in a second image acquired through the camera of the intelligent vehicle-mounted terminal according to a pixel point determined by the vanishing point in the first image; the center point of the second image is coincided with the reference position point by adjusting the camera so that the camera is located at a preset installation position
In still another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to perform the method for adjusting the camera offset of the smart car terminal provided in the foregoing embodiments, and the method includes: acquiring a first image according to the camera acquisition of the intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through the center point of a vehicle head and a lane line on a vehicle driving road in the first image, and determining a vanishing point; wherein the vanishing point comprises a determined pixel point in the first image; determining whether the camera is in a preset installation position or not according to the central point of the first image and the vanishing point; if the camera is determined not to be in the preset installation position, determining a reference position point in a second image acquired through the camera of the intelligent vehicle-mounted terminal according to a pixel point determined by the vanishing point in the first image; and the central point of the second image is coincided with the reference position point by adjusting the camera so as to enable the camera to be in a preset installation position.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The method for adjusting the camera offset of the intelligent vehicle-mounted terminal is characterized by comprising the following steps of:
acquiring a first image according to the camera acquisition of the intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through the center point of a vehicle head and a lane line on a vehicle driving road in the first image, and determining a vanishing point; wherein the vanishing point comprises a determined pixel point in the first image;
determining whether the camera is in a preset installation position or not according to the central point of the first image and the vanishing point;
if the camera is determined not to be in the preset installation position, determining a reference position point in a second image acquired through the camera of the intelligent vehicle-mounted terminal according to a pixel point determined by the vanishing point in the first image;
and the central point of the second image is coincided with the reference position point by adjusting the camera so as to enable the camera to be in a preset installation position.
2. The method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to claim 1,
the camera acquisition according to intelligent vehicle mounted terminal obtains first image acquire the perpendicular line and the lane line on the vehicle driving road through locomotive central point in the first image to determine the vanishing point, include:
determining lane lines on both sides of a vehicle body on a vehicle driving road in the first image;
determining the perpendicular line passing through the center point of the vehicle head in the first image based on the symmetry of the vehicle head;
determining that the vertical line passing through the center point of the vehicle head in the first image is intersected with three lines of lane lines on two sides of the vehicle body at one point;
and determining the intersection point of the three lines as the vanishing point.
3. The method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to claim 2,
the determining the perpendicular line passing through the vehicle head central point in the first image based on the symmetry of the vehicle head comprises:
determining a vehicle head central point in the first image based on the symmetry of the vehicle head;
making a tangent line of the vehicle head based on the central point of the vehicle head;
and making the perpendicular line passing through the center point of the vehicle head in the first image based on the tangent line of the vehicle head.
4. The method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to claim 1,
the determining whether the camera is in a preset installation position according to the central point of the first image and the vanishing point comprises:
determining whether a center point of the first image and the vanishing point coincide;
if the central point of the first image is superposed with the vanishing point, determining that the camera is at a preset installation position;
and if the central point of the first image is not superposed with the vanishing point, determining that the camera is not positioned at a preset installation position.
5. The method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to claim 1,
if the camera is determined not to be in the preset installation position, determining a reference position point in a second image acquired through the camera of the intelligent vehicle-mounted terminal according to the pixel point determined by the vanishing point in the first image, wherein the reference position point comprises:
and if the camera is determined not to be at the preset installation position, determining the position of the pixel point corresponding to the vanishing point in the second image as the reference position point in the second image according to the vanishing point position in the first image.
6. The method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to claim 5, wherein the method is characterized in that
The adjusting the camera to coincide the center point of the second image with the reference position point so that the camera is in a preset installation position includes:
adjusting the position of the camera, and acquiring the second image in real time;
and when the central point of the second image is coincident with the reference position point, determining that the camera is at a preset installation position.
7. The method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to any one of claims 2 to 6,
the camera acquisition according to intelligent vehicle mounted terminal obtains first image acquire the perpendicular line and the lane line on the vehicle driving road through locomotive central point in the first image to determine the vanishing point, include:
if it is determined that the vertical line passing through the center point of the vehicle head in the first image cannot intersect with three lines of lane lines on two sides of the vehicle body at one point;
and acquiring a next frame of image as the first image according to the camera, and repeating the step of determining that the three lines of the perpendicular line passing through the center point of the vehicle head and the lane lines on the two sides of the vehicle body in the image intersect at one point until the first image enabling the three lines to intersect at one point is obtained.
8. The utility model provides a system for adjustment intelligence vehicle mounted terminal's camera skew which characterized in that includes:
the system comprises a construction unit, a control unit and a display unit, wherein the construction unit is used for acquiring a first image according to the camera acquisition of an intelligent vehicle-mounted terminal, acquiring a perpendicular line passing through a center point of a vehicle head and a lane line on a vehicle driving road in the first image and determining a vanishing point; wherein the vanishing point comprises a determined pixel point in the first image;
the judging unit is used for determining whether the camera is in a preset installation position according to the central point of the first image and the vanishing point;
the determining unit is used for determining a reference position point in a second image acquired through a camera of the intelligent vehicle-mounted terminal according to a pixel point determined by the vanishing point in the first image if the camera is determined not to be at the preset installation position;
and the correcting unit is used for enabling the center point of the second image to be superposed with the reference position point by adjusting the camera so as to enable the camera to be in a preset installation position.
9. An electronic device, comprising a memory and a processor, wherein the processor and the memory communicate with each other via a bus; the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method for adjusting the offset of the camera of the intelligent vehicle-mounted terminal according to any one of claims 1 to 7.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the method for adjusting the camera offset of the intelligent vehicle-mounted terminal according to any one of claims 1 to 7.
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