CN113074910A - Automobile camera calibration device and method - Google Patents
Automobile camera calibration device and method Download PDFInfo
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- CN113074910A CN113074910A CN202010008986.2A CN202010008986A CN113074910A CN 113074910 A CN113074910 A CN 113074910A CN 202010008986 A CN202010008986 A CN 202010008986A CN 113074910 A CN113074910 A CN 113074910A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention relates to the technical field of automobiles, and discloses an automobile camera calibration device and a method thereof, wherein the automobile camera calibration device comprises: the first mounting frame is used for being connected with the automobile body and is provided with a first laser emitter and a second laser emitter; the base is used for being placed in front of the first mounting rack; the second mounting frame is rotatably mounted on the base, a center calibration alignment card is arranged on the second mounting frame, a light hole and a first target position are formed in the center calibration alignment card, a laser beam emitted by the second laser can be aligned to the first target position through the light hole, a second target position is further arranged on the second mounting frame, and the laser beam emitted by the first laser emitter can be aligned to the second target position; and the calibration plate is arranged on the back surface of the second mounting frame, and the calibration card is vertical to the central axis of the light hole. The invention has the beneficial effects that: the device can get rid of the dependence on harsh calibration environment, has simple calibration and high flexibility, and the calibration device has simple structure and is convenient to carry.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automobile camera calibration device and method.
Background
The unmanned automobile is a future development trend, the camera is one of important sensors of the unmanned automobile, plays an important role in environmental perception, and the measurement accuracy of the camera can directly influence the use of the unmanned function, so that the camera calibration method has very important significance.
At present, the work of calibrating the automobile camera is required to be carried out in a workshop, a fixed calibration plate is required to be arranged in the workshop, then a vehicle to be calibrated is moved to a specified position, the posture of the vehicle body is required to be strictly controlled, the vehicle body is kept horizontal, and the uneven ground of a calibration place and the inclination of the posture of the vehicle body are not allowed.
Disclosure of Invention
The purpose of the invention is: the device and the method for calibrating the automobile camera can get rid of the harsh requirements on a calibration environment in the calibration process, allow the conditions of uneven ground, inclined body posture and the like in a calibration place, and improve the flexibility of calibration.
In order to achieve the above object, a first aspect of the present invention provides an automotive camera calibration apparatus, including:
the first mounting frame is used for being connected with a vehicle body;
the first laser transmitter is arranged on the first mounting frame;
the second laser emitter is mounted on the first mounting frame and can displace relative to the first laser emitter;
the base is placed in front of the first mounting rack and can stretch out and draw back along the vertical direction;
the second mounting rack is rotatably mounted at the top of the base;
the central calibration alignment card is arranged on the second mounting frame, a light hole is formed in the central calibration alignment card, a first target position is arranged at the position, passing through the central axis of the light hole, of the central calibration alignment card, and the laser beam emitted by the second laser can be aligned to the first target position through the light hole;
the second target position is arranged on the second mounting frame and can be displaced relative to the first target position, and the laser beam emitted by the first laser emitter can be aligned to the second target position; and
and the calibration plate is arranged on the back surface of the second mounting frame, and the calibration card is vertical to the central axis of the light hole.
As a preferred scheme, a horizontal calibration alignment card is further arranged on the second mounting frame, a linear sliding groove is formed in the horizontal calibration alignment card, the linear sliding groove is parallel to the calibration plate and perpendicular to the central axis of the light hole, and the second target position is slidably arranged in the linear sliding groove.
Preferably, the central alignment card and the horizontal alignment card are both fastened to the second mounting frame.
Preferably, the center calibration alignment card includes:
the plate body is perpendicular to the calibration plate and is arranged on the second mounting frame;
the first extension part extends upwards or downwards along the front end of the plate body, and the light hole is formed in the first extension part; and
the second extension portion extends upwards or downwards along the rear end of the plate body, and the first target position is arranged on the face, opposite to the first extension portion, of the second extension portion.
Preferably, the first mounting bracket includes:
the rear end of the connecting piece is connected with the vehicle body; and
the supporting piece is vertically arranged with the connecting piece;
the support piece comprises a first support rod and a second support rod which are connected in a sliding mode, the first support rod is connected with the connecting piece in a rotating mode, the first laser emitter is installed on the first support rod and is connected with the connecting piece, and the second laser is installed on the second support rod.
Preferably, the first support rod is further provided with:
the first locking piece is used for locking the first supporting rod and the connecting piece; and
and the second locking piece is used for locking the second supporting rod and the first supporting rod.
Preferably, the second mounting bracket includes:
a first adjusting bracket rotatably connected to the base, an
The second adjusting frame is rotatably connected with the first adjusting frame;
the rotation axis of the first adjusting frame is perpendicular to the rotation axis of the second adjusting frame, and the center calibration aligning card and the second target position are both mounted on the second adjusting frame.
Preferably, a first arc-shaped mounting groove is formed in the first adjusting frame, a first fastening piece penetrates through the first arc-shaped mounting groove in a sliding mode, and the first fastening piece is connected with the first adjusting frame and the base;
a second arc-shaped mounting groove is formed in the second adjusting frame, a second fastener penetrates through the second arc-shaped mounting groove in a sliding mode, and the second fastener is connected with the first adjusting frame and the base.
In a second aspect of the present invention, there is provided an automobile camera calibration method using the automobile camera calibration device according to any one of the first aspect, including the following steps:
the method comprises the following steps that firstly, the first mounting frame is connected to the front side or the rear side of a vehicle body, and the base is arranged above the first mounting frame;
moving the second laser transmitter to enable a connecting line of the second laser transmitter and the first laser transmitter to be parallel to a y axis in a vehicle coordinate system, and meanwhile enabling the second laser transmitter to be located at a central axis of the vehicle body in the y axis direction of the vehicle coordinate system;
step three, opening the second laser emitter, and enabling a laser beam emitted by the second laser emitter to pass through the light hole and then to be aligned to the first target position by moving the base, adjusting the height of the base and rotating the second mounting frame; turning on the first laser emitter, and enabling the laser beam emitted by the first laser emitter to be aligned with the second target position by moving the second target position; at the moment, positioning of the calibration plate in the vehicle coordinate system is completed, so that a position relation function is established between the calibration coordinate system and the vehicle coordinate system;
setting a calibration point on the calibration plate, and determining the coordinate value of the calibration point in the vehicle coordinate system according to the coordinate value of the calibration point in the calibration coordinate system and the position relation function; and measuring the coordinate value of the calibration point in the camera coordinate system through the camera, and calibrating the camera by comparing the coordinate value of the calibration point in the camera coordinate system with the coordinate value of the calibration point in the vehicle coordinate system.
Preferably, in the first step, the first mounting bracket is connected to a front towing hole or a rear towing hole of a vehicle body.
Compared with the prior art, the automobile camera calibration device and method provided by the embodiment of the invention have the beneficial effects that:
according to the calibration device and the calibration method for the automobile camera, the first mounting frame is mounted on the automobile body, the second mounting frame connected with the calibration plate is placed in front of the automobile body, the first laser emitter and the second laser emitter are arranged on the first mounting frame, and the second mounting frame is correspondingly provided with the second target position and the first target position; in the calibration process of the camera, a first laser transmitter and a second laser transmitter are respectively adjusted to a determined position in a vehicle coordinate system, and then a calibration plate is adjusted, so that a laser beam emitted by the second laser transmitter passes through a light hole and then is aligned to a first target position, and a laser beam emitted by the first laser transmitter is aligned to a second target position, so that the calibration plate is positioned, and a position relation function is established between a calibration coordinate system and the vehicle coordinate system; in the embodiment, the harsh requirements on the calibration environment are reduced, the camera calibration can be performed only by adjusting the position relation between the calibration plate and the vehicle body, and the calibration flexibility is high.
Drawings
FIG. 1 is a schematic structural diagram of an automobile camera calibration device in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an automobile camera calibration process in an embodiment of the invention;
FIG. 3 is a schematic view of an installation structure of a first mounting bracket in an automobile camera calibration process according to an embodiment of the invention;
FIG. 4 is a partial schematic view of an automotive camera calibration apparatus according to an embodiment of the present invention, with respect to a second mounting bracket;
fig. 5 is a partial schematic view of a camera calibration device for a vehicle in accordance with an embodiment of the present invention, with respect to a first mount.
In the figure, 1, a first mounting frame; 11. a connecting member; 12. a support member; 121. a first support bar; 122. a second support bar; 13. a first locking member; 14. a second locking member; 2. a first laser transmitter; 3. a second laser transmitter; 4. a base; 5. a second mounting bracket; 51. a first adjusting bracket; 511. a first arc-shaped mounting groove; 52. a second adjusting bracket; 521. a second arc-shaped mounting groove; 53. a first fastener; 54. a second fastener; 6. a central calibration alignment card; 61. a light-transmitting hole; 62. a first target site; 63. a plate body; 64. a first extension portion; 65. a second epitaxial portion; 7. horizontally aligning the alignment card; 71. a second target site; 72. a linear chute; 8. and (5) calibrating the board.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "first", "second", etc. are used to describe various information, but the information should not be limited to these terms, and these terms are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.
As shown in fig. 1 to 5, an automobile camera calibration apparatus according to a preferred embodiment of the present invention includes: the device comprises a first mounting frame 1, a first laser emitter 2, a second laser emitter 3, a base 4, a second mounting frame 5, a center calibration and alignment card 6, a second target position 71 and a calibration plate 8; specifically, a first mounting frame 1 is used for being connected with a vehicle body, a first laser emitter 2 is installed on the first mounting frame 1, a second laser emitter 3 is installed on the first mounting frame 1 and can be displaced relative to the first laser emitter 2, a base 4 is used for being placed in front of the first mounting frame 1, the base 4 can be extended and retracted along a vertical direction, a second mounting frame 5 is rotatably installed at the top of the base 4, a center calibration and alignment card 6 is installed on the second mounting frame 5, a light hole 61 is formed in the center calibration and alignment card 6, a first target position 62 is arranged at a position of a central axis of the center calibration and alignment card 6 passing through the light hole 61, a 3 laser beam emitted by the second laser can be aligned with the first target position 62 through the light hole 61, a second target position 71 is installed on the second mounting frame 5 and can be displaced relative to the first target position 62, the laser line bundle of first laser emitter 2 transmission can aim at second target position 71, calibration board 8 install in the back of second mounting bracket 5, just calibration card 8 with the central axis of light trap 61 is perpendicular.
Specifically, the specific steps of utilizing the device to calibrate the automobile camera are as follows:
step one, connecting the first mounting frame 1 to the front side or the rear side of a vehicle body, and placing the base 4 in front of the first mounting frame 1; specifically, when the front camera is calibrated, the first mounting frame 1 is mounted on the front side of the vehicle body, and when the rear camera is calibrated, the first mounting frame 1 is mounted on the rear side of the vehicle body;
moving the second laser transmitter 3, so that a connection line between the second laser transmitter 3 and the first laser transmitter 2 is parallel to a y-axis in a vehicle coordinate system (specifically, the vehicle coordinate system is x-y-z, see fig. 2), and at the same time, the second laser transmitter 3 is located at a central axis of the vehicle body along the y-axis direction of the vehicle coordinate system, that is, the second laser transmitter 3 is located at a center along the width of the vehicle body, which can be specifically referred to fig. 3;
step three, opening the second laser emitter 3, and enabling a laser beam emitted by the second laser emitter 3 to pass through the light hole 61 and then align to the first target position 62 by moving the base 4, adjusting the height of the base 4 and rotating the second mounting rack 5, so that the calibration plate 8 is ensured to be vertical to the x axis of the vehicle coordinate system; the first laser emitter 2 is turned on, and the laser beam emitted by the first laser emitter 2 is aligned to the second target position 71 by moving the second target position 71, so that the connection line between the orthographic projection of the first target position 62 on the calibration plate 8 and the orthographic projection of the second target position 71 on the calibration plate 8 is ensured to be parallel to the y axis of the vehicle coordinate system; at this time, positioning of the calibration plate 8 in the vehicle coordinate system is completed, and thus a determined position relation function is established between the calibration coordinate system and the vehicle coordinate system;
fourthly, setting a calibration point on the calibration plate 8, and determining the coordinate value of the calibration point in the vehicle coordinate system according to the coordinate value of the calibration point in the calibration coordinate system and the position relation function; and measuring the coordinate value of the calibration point in a camera coordinate system through the camera, and calibrating the camera by comparing the coordinate value of the calibration point in the camera coordinate system with the coordinate value of the calibration point in a vehicle coordinate system.
In the calibration process, the calibration coordinate system is X-Y which is a plane coordinate system, when the orthographic projection of the first target position 62 on the calibration plate 8 is arranged at the origin of the calibration coordinate system, and the connecting line between the orthographic projection of the first target position 62 on the calibration plate 8 and the orthographic projection of the second target position 71 on the calibration plate 8 is a Y axis, the Y axis of the calibration coordinate system is parallel to the Y axis of the vehicle coordinate system, and the X axis of the calibration coordinate system is parallel to the X axis of the vehicle coordinate system; at this time, if the coordinate values of the second laser emitter 3 in the vehicle coordinate system are known to be (x1, y1, z1), the distance between the second laser emitter 3 and the first target position 62 is known to be L1, and the distance between the first target position 62 and the calibration plate 8 is known to be L2, the coordinate values of the origin of the calibration coordinate system in the vehicle coordinate system are known to be (x1+ L1+ L2, y1, z1), and the coordinate values of any point (δ y, δ z) on the calibration plate 8 in the vehicle coordinate system are known to be (x1+ L1+ L2, y1+ δ y, z1+ δ z), so that a determined position relation function is established between the calibration coordinate system and the vehicle coordinate system.
Based on the above technical scheme, in this embodiment, in the process of calibrating the automobile camera, only after the calibration plate 8 is positioned, a determined position relation function can be established between the calibration coordinate system and the automobile coordinate system without ensuring the levelness of the automobile body, so that the requirement on the calibration environment is reduced, the calibration is simple, the flexibility is high, and the calibration device is simple in structure and convenient to carry.
In addition, most vehicles are provided with a front traction hole at the front side of the vehicle body and a rear traction hole at the rear side of the vehicle body; therefore, the first mounting bracket 1 is installed in the front towing hole or the rear towing hole during the calibration process.
In this embodiment, in order to adjust the second target position 71, a horizontal calibration alignment card 7 is further disposed on the second mounting frame 5, a linear sliding groove 72 is disposed on the horizontal calibration alignment card 7, the linear sliding groove 72 is parallel to the calibration plate 8 and perpendicular to the central axis of the light-transmitting hole 61, and the second target position 71 is slidably disposed in the linear sliding groove 72.
In this embodiment, for convenience of detachment, the center calibration alignment card 6 and the horizontal calibration card 7 are both clipped on the second mounting frame 5.
Further, in order to facilitate the adjustment of the calibration plate 8 to be arranged perpendicular to the laser beam emitted by the second laser emitter 3, the center alignment card 6 comprises a plate body 63, a first extension 64 and a second extension 65; plate body 63 perpendicular to calibration plate 8 install in on the second mounting bracket 5, first extension 64 is followed the front end of plate body 63 upwards or downwardly extending forms, light trap 61 is seted up in on the first extension 64, second extension 65 is followed the rear end of plate body 63 upwards or downwardly extending forms, first target position 62 is located second extension 65 with on the first extension 64 face in opposite directions.
For convenience of installation and adjustment, the first mounting frame 1 comprises a connecting piece 11 and a supporting piece 12; the rear end of the connecting piece 11 is connected with a vehicle body, the supporting piece 12 is perpendicular to the connecting piece 11, the supporting piece 12 comprises a first supporting rod 121 and a second supporting rod 122 which are connected in a sliding manner, the first supporting rod 121 is connected with the connecting piece 11 in a rotating manner, the first laser emitter 2 is mounted on the first supporting rod 121 at a position connected with the connecting piece 11, and the second laser 3 is mounted on the second supporting rod 122, which is specifically shown in fig. 5; by sliding the second support bar 122 along the first support bar 121, the relative position of the second laser transmitter 3 with respect to the first laser transmitter 2 can be adjusted.
In this embodiment, in order to lock the positional relationship between the first support rod 121 and the connecting member 11 and the positional relationship between the second support rod 122 and the first support rod 121, the first support rod 121 is further provided with a first locking member 13 and a second locking member 14; the first locking member 13 is used for locking the first supporting rod 121 with the connecting member 11, and the second locking member 14 is used for locking the second supporting rod 122 with the first supporting rod 121.
Similarly, as shown in fig. 4, in order to facilitate the adjustment of the position of the calibration plate 8, the second mounting bracket 5 includes a first adjustment bracket 51 and a second adjustment bracket 52, the first adjustment bracket 51 is rotatably connected to the base 4, and the second adjustment bracket 52 is rotatably connected to the first adjustment bracket 51; the rotation axis of the first adjusting frame 51 is perpendicular to the rotation axis of the second adjusting frame 52, the center alignment card 6 and the second target 71 are both mounted on the second adjusting frame 52, the first adjusting frame 51 is mainly used for adjusting a pitch angle, and the second adjusting frame 52 is used for adjusting a roll angle.
Further, in order to facilitate adjustment and locking, a first arc-shaped installation groove 511 is formed in the first adjustment frame 51, a first fastening piece 53 is slidably inserted into the first arc-shaped installation groove 511, and the first fastening piece 53 is connected with the first adjustment frame 51 and the base 4; a second arc-shaped mounting groove 521 is formed in the second adjusting frame 52, a second fastening piece 54 is slidably inserted into the second arc-shaped mounting groove 521, and the second fastening piece 54 is connected with the first adjusting frame 51 and the second adjusting frame 52, as shown in fig. 4. For example, the first fastening member 53 and the second fastening member 54 are fastening bolts.
Illustratively, the base 4 in this embodiment is hydraulically driven for height adjustment.
In summary, the embodiments of the present invention provide an apparatus and a method for calibrating an automobile camera, in a process of calibrating the automobile camera, only after a calibration plate is positioned, a determined position relationship function can be established between a calibration coordinate system and an automobile coordinate system without ensuring levelness of an automobile body, so that dependence on a harsh calibration environment can be eliminated, calibration is simple, flexibility is high, and the apparatus has a simple structure and is convenient to carry.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides an automobile camera calibration device which characterized in that includes:
the first mounting frame is used for being connected with a vehicle body;
the first laser transmitter is arranged on the first mounting frame;
the second laser emitter is mounted on the first mounting frame and can displace relative to the first laser emitter;
the base is placed in front of the first mounting rack and can stretch out and draw back along the vertical direction;
the second mounting rack is rotatably mounted at the top of the base;
the central calibration alignment card is arranged on the second mounting frame, a light hole is formed in the central calibration alignment card, a first target position is arranged at the position, passing through the central axis of the light hole, of the central calibration alignment card, and the laser beam emitted by the second laser can be aligned to the first target position through the light hole;
the second target position is arranged on the second mounting frame and can be displaced relative to the first target position, and the laser beam emitted by the first laser emitter can be aligned to the second target position; and
and the calibration plate is arranged on the back surface of the second mounting frame, and the calibration card is vertical to the central axis of the light hole.
2. The calibration device for the automobile camera according to claim 1, wherein a horizontal calibration alignment card is further disposed on the second mounting frame, a linear sliding slot is disposed on the horizontal calibration alignment card, the linear sliding slot is parallel to the calibration plate and perpendicular to the central axis of the light hole, and the second target position is slidably disposed in the linear sliding slot.
3. The calibration device for the camera of the vehicle as claimed in claim 2, wherein the central calibration alignment card and the horizontal calibration alignment card are both clipped on the second mounting frame.
4. The vehicle camera calibration device of claim 1, wherein the center alignment card comprises:
the plate body is perpendicular to the calibration plate and is arranged on the second mounting frame;
the first extension part extends upwards or downwards along the front end of the plate body, and the light hole is formed in the first extension part; and
the second extension portion extends upwards or downwards along the rear end of the plate body, and the first target position is arranged on the face, opposite to the first extension portion, of the second extension portion.
5. The vehicle camera calibration device of claim 1, wherein the first mounting bracket comprises:
the rear end of the connecting piece is connected with the vehicle body; and
the supporting piece is vertically arranged with the connecting piece;
the support piece comprises a first support rod and a second support rod which are connected in a sliding mode, the first support rod is connected with the connecting piece in a rotating mode, the first laser emitter is installed on the first support rod and is connected with the connecting piece, and the second laser is installed on the second support rod.
6. The calibration device for the camera of the vehicle as claimed in claim 5, wherein the first supporting rod is further provided with:
the first locking piece is used for locking the first supporting rod and the connecting piece; and
and the second locking piece is used for locking the second supporting rod and the first supporting rod.
7. The vehicle camera calibration device of claim 1, wherein the second mounting bracket comprises:
a first adjusting bracket rotatably connected to the base, an
The second adjusting frame is rotatably connected with the first adjusting frame;
the rotation axis of the first adjusting frame is perpendicular to the rotation axis of the second adjusting frame, and the center calibration aligning card and the second target position are both mounted on the second adjusting frame.
8. The calibration device for the automobile camera as claimed in claim 7, wherein the first adjusting bracket is provided with a first arc-shaped mounting groove, a first fastening member is slidably inserted in the first arc-shaped mounting groove, and the first fastening member connects the first adjusting bracket and the base;
a second arc-shaped mounting groove is formed in the second adjusting frame, a second fastener penetrates through the second arc-shaped mounting groove in a sliding mode, and the second fastener is connected with the first adjusting frame and the base.
9. A calibration method for an automotive camera, characterized in that, by using the calibration device for an automotive camera according to any one of claims 1 to 8, the method comprises the following steps:
the method comprises the following steps that firstly, the first mounting frame is connected to the front side or the rear side of a vehicle body, and the base is arranged in front of the first mounting frame;
moving the second laser transmitter to enable a connecting line of the second laser transmitter and the first laser transmitter to be parallel to a y axis in a vehicle coordinate system, and meanwhile enabling the second laser transmitter to be located at a central axis of the vehicle body in the y axis direction of the vehicle coordinate system;
step three, opening the second laser emitter, and enabling a laser beam emitted by the second laser emitter to pass through the light hole and then to be aligned to the first target position by moving the base, adjusting the height of the base and rotating the second mounting frame; turning on the first laser emitter, and enabling the laser beam emitted by the first laser emitter to be aligned with the second target position by moving the second target position; at the moment, positioning of the calibration plate in the vehicle coordinate system is completed, so that a position relation function is established between the calibration coordinate system and the vehicle coordinate system;
setting a calibration point on the calibration plate, and determining the coordinate value of the calibration point in the vehicle coordinate system according to the coordinate value of the calibration point in the calibration coordinate system and the position relation function; and measuring the coordinate value of the calibration point in the camera coordinate system through the camera, and calibrating the camera by comparing the coordinate value of the calibration point in the camera coordinate system with the coordinate value of the calibration point in the vehicle coordinate system.
10. The vehicle camera calibration method according to claim 9, wherein in the first step, the first mount is attached to a front or rear traction hole of a vehicle body.
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| CN202010008986.2A CN113074910B (en) | 2020-01-03 | 2020-01-03 | Automobile camera calibration device and method |
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| CN202010008986.2A CN113074910B (en) | 2020-01-03 | 2020-01-03 | Automobile camera calibration device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114413767A (en) * | 2022-01-24 | 2022-04-29 | 中国工程物理研究院机械制造工艺研究所 | Laser transmission precision rotary positioning adjusting device |
| CN114577188A (en) * | 2022-01-25 | 2022-06-03 | 武汉理工大学 | Laser alignment guide device and system for tunnel construction |
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| CN113074910B (en) | 2024-06-18 |
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