CN113099219A - System and method for calibrating arrangement position matching of panoramic camera - Google Patents
System and method for calibrating arrangement position matching of panoramic camera Download PDFInfo
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- CN113099219A CN113099219A CN202110388224.4A CN202110388224A CN113099219A CN 113099219 A CN113099219 A CN 113099219A CN 202110388224 A CN202110388224 A CN 202110388224A CN 113099219 A CN113099219 A CN 113099219A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
Abstract
The invention discloses a system and a method for calibrating the arrangement position matching of a panoramic camera, wherein the system for calibrating the arrangement position matching of the panoramic camera comprises a ground rack, a rack controller, a controllable mechanical arm, a panoramic camera, a projection laser and an upper computer, wherein the controllable mechanical arm is fixedly arranged on the ground rack; the method has the advantages that the camera arrangement position can be completely determined before the digital-analog and real vehicle matching is not carried out, and the matching effect of the camera calibration algorithm can be tested.
Description
Technical Field
The invention relates to the technical field of matching and calibrating of arrangement positions of panoramic cameras, in particular to a system and a method for matching and calibrating the arrangement positions of the panoramic cameras.
Background
The basic operation mode of the arrangement position of the all-round looking camera at present is as follows: the technical requirements of customers are matched with the requirements of basic arrangement positions of suppliers, real-vehicle test adjustment is carried out after the arrangement positions are designed according to vehicle digital-analog, but the problems that the arrangement positions of cameras cannot be completely determined before the digital-analog is matched with a real vehicle, and the matching effect of a camera calibration algorithm cannot be tested exist
The invention provides a system and a method for matching and calibrating the arrangement position of a panoramic camera, which solve the problems.
Disclosure of Invention
The invention aims to solve the technical problems that the arrangement position of a camera cannot be completely determined before matching of a digital-analog and a real vehicle is not carried out in the current operation mode, and the matching effect of a camera calibration algorithm cannot be tested, and provides a system and a method for calibrating the arrangement position matching of a panoramic camera, wherein the system for calibrating the arrangement position matching of the panoramic camera comprises the following steps:
ground rack, rack controller, steerable robotic arm, look around camera, projection laser instrument and host computer, steerable robotic arm fixed mounting be in on the rack of ground, look around the camera with solve control robotic arm fixed connection, steerable robotic arm projection laser instrument with look around the camera simultaneously with the rack controller electricity is connected, the rack controller with the host computer electricity is connected.
Further, the number of the controllable mechanical arms is 4.
Further, the two controllable mechanical arms arranged in front and back are simultaneously installed on the transverse central line of the ground rack, and the distance between the two controllable mechanical arms arranged in front and back is more than 6 meters.
Further, the two controllable mechanical arms arranged left and right are respectively installed on the longitudinal central line of the ground rack, and the distance between the two controllable mechanical arms arranged left and right is more than 2.5 meters.
Further, the projection laser is fixedly installed above the ground rack, and the distance between the projection laser and the upper surface of the ground rack is greater than 3 meters.
Furthermore, the number of the all-round cameras is the same as that of the controllable mechanical arms, and the all-round cameras are fixedly mounted on the controllable mechanical arms through supports.
Furthermore, the gantry controller comprises an LVDS input interface and an ethernet interface, the surround-view camera is electrically connected with the LVDS input interface through an LVDS differential cable, and the controllable mechanical arm is electrically connected with the ethernet interface through an ethernet cable.
Furthermore, the upper computer is also electrically connected with an external 220V power supply, the controllable mechanical arm and the projection laser are simultaneously electrically connected with an external 24V power supply, and the panoramic camera is electrically connected with an external 12V power supply.
In another aspect, the present invention further provides a method for matching and calibrating the arrangement position of the panoramic camera, wherein the method includes:
inputting the technical requirement parameters into an upper computer, and comparing the technical requirement parameters with the existing parameters in the upper computer;
after the comparison is completed, generating a current position parameter file, transmitting the position parameter file to the rack controller, and simultaneously transmitting the calibration pattern to the rack controller;
the controllable mechanical arm is controlled by the rack controller to be adjusted to the position provided by the position parameter file, and the position is projected to the corresponding position of the ground rack by the projection laser;
and confirming the position of the camera by a calibration algorithm in the upper computer and synchronously matching the calibration algorithm to generate a current calibration parameter file for algorithm debugging.
The implementation of the invention has the following beneficial effects:
the method can completely determine the arrangement position of the camera before the matching of the digital analogy and the real vehicle is not carried out, and can test the matching effect of the camera calibration algorithm.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Examples
In this embodiment, referring to fig. 1 of the specification, a technical problem to be solved in this embodiment is that a camera arrangement position cannot be completely determined and a camera calibration algorithm matching effect cannot be tested before a digital-analog and real-vehicle matching is not performed in a current operation mode, and a panoramic camera arrangement position matching calibration system is provided, where the panoramic camera arrangement position matching calibration system includes:
ground rack, rack controller, steerable robotic arm, look around camera, projection laser instrument and host computer, steerable robotic arm fixed mounting be in on the rack of ground, look around the camera with solve control robotic arm fixed connection, steerable robotic arm projection laser instrument with look around the camera simultaneously with the rack controller electricity is connected, the rack controller with the host computer electricity is connected.
In a specific embodiment, the number of the controllable mechanical arms is 4.
In a specific embodiment, two controllable mechanical arms arranged in tandem are simultaneously installed on the transverse center line of the ground platform, and the distance between the two controllable mechanical arms arranged in tandem is more than 6 meters.
In a specific embodiment, two left and right controllable mechanical arms are respectively installed on a longitudinal center line of the ground platform, and the distance between the two left and right controllable mechanical arms is more than 2.5 meters.
In a particular embodiment, the projection laser is fixedly mounted above the floor gantry, the projection laser being more than 3 meters from an upper surface of the floor gantry.
In a specific embodiment, the number of the look-around cameras is the same as that of the controllable mechanical arms, and the look-around cameras are fixedly mounted on the controllable mechanical arms through a bracket.
In a specific embodiment, the gantry controller includes an LVDS input interface and an ethernet interface, the surround-view camera is electrically connected to the LVDS input interface through an LVDS differential cable, and the controllable robot is electrically connected to the ethernet interface through an ethernet cable.
In a specific embodiment, the upper computer is further electrically connected with an external 220V power supply, the controllable mechanical arm and the projection laser are simultaneously electrically connected with an external 24V power supply, and the panoramic camera is electrically connected with an external 12V power supply.
Examples
In this embodiment, referring to fig. 1 of the specification, a technical problem to be solved in this embodiment is that a camera arrangement position cannot be completely determined and a camera calibration algorithm matching effect cannot be tested before a digital-analog and real-vehicle matching is not performed in a current operation mode, and a system and a method for calibrating a camera arrangement position matching are provided, where the system for calibrating a camera arrangement position matching includes:
ground rack, rack controller, steerable robotic arm, look around camera, projection laser instrument and host computer, steerable robotic arm fixed mounting be in on the rack of ground, look around the camera with solve control robotic arm fixed connection, steerable robotic arm projection laser instrument with look around the camera simultaneously with the rack controller electricity is connected, the rack controller with the host computer electricity is connected.
In a specific embodiment, the number of the controllable mechanical arms is 4.
In a specific embodiment, two controllable mechanical arms arranged in tandem are simultaneously installed on the transverse center line of the ground platform, and the distance between the two controllable mechanical arms arranged in tandem is more than 6 meters.
In a specific embodiment, two left and right controllable mechanical arms are respectively installed on a longitudinal center line of the ground platform, and the distance between the two left and right controllable mechanical arms is more than 2.5 meters.
In a particular embodiment, the projection laser is fixedly mounted above the floor gantry, the projection laser being more than 3 meters from an upper surface of the floor gantry.
In a specific embodiment, the number of the look-around cameras is the same as that of the controllable mechanical arms, and the look-around cameras are fixedly mounted on the controllable mechanical arms through a bracket.
In a specific embodiment, the gantry controller includes an LVDS input interface and an ethernet interface, the surround-view camera is electrically connected to the LVDS input interface through an LVDS differential cable, and the controllable robot is electrically connected to the ethernet interface through an ethernet cable.
In a specific embodiment, the upper computer is further electrically connected with an external 220V power supply, the controllable mechanical arm and the projection laser are simultaneously electrically connected with an external 24V power supply, and the panoramic camera is electrically connected with an external 12V power supply.
In another aspect, the present invention further provides a method for matching and calibrating the arrangement position of the panoramic camera, wherein the method includes:
inputting the technical requirement parameters into an upper computer, and comparing the technical requirement parameters with the existing parameters in the upper computer;
after the comparison is completed, generating a current position parameter file, transmitting the position parameter file to the rack controller, and simultaneously transmitting the calibration pattern to the rack controller;
the controllable mechanical arm is controlled by the rack controller to be adjusted to the position provided by the position parameter file, and the position is projected to the corresponding position of the ground rack by the projection laser;
and confirming the position of the camera by a calibration algorithm in the upper computer and synchronously matching the calibration algorithm to generate a current calibration parameter file for algorithm debugging.
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 (9)
1. The utility model provides a look around camera and arrange position matching calibration system which characterized in that, includes ground rack, rack controller, steerable robotic arm, looks around camera, projection laser instrument and host computer, steerable robotic arm fixed mounting be in on the ground rack, look around the camera with solve control robotic arm fixed connection, steerable robotic arm projection laser instrument with look around the camera simultaneously with the rack controller electricity is connected, the rack controller with the host computer electricity is connected.
2. The system for matching and calibrating the arrangement position of the look-around camera according to claim 1, wherein the number of the controllable mechanical arms is 4.
3. The system for matching and calibrating the arrangement position of the panoramic camera according to claim 2, wherein the two controllable mechanical arms arranged in the front-back direction are simultaneously installed on the transverse center line of the ground rack, and the distance between the two controllable mechanical arms arranged in the front-back direction is more than 6 meters.
4. The system for matching and calibrating the arrangement position of the panoramic camera according to claim 3, wherein the two controllable mechanical arms arranged left and right are respectively installed on a longitudinal central line of the ground rack, and the distance between the two controllable mechanical arms arranged left and right is more than 2.5 meters.
5. The looking-around camera arranging position matching calibration system according to claim 4, wherein the projection laser is fixedly installed above the ground bench, and the distance from the projection laser to the upper surface of the ground bench is more than 3 meters.
6. The system for matching and calibrating the arrangement position of the look-around cameras according to claim 5, wherein the number of the look-around cameras is the same as that of the controllable mechanical arms, and the look-around cameras are fixedly mounted on the controllable mechanical arms through brackets.
7. The system for calibrating placement of a look-around camera according to claim 6, wherein the stage controller comprises an LVDS input interface and an ethernet interface, the look-around camera is electrically connected to the LVDS input interface via an LVDS differential cable, and the controllable robot is electrically connected to the ethernet interface via an ethernet cable.
8. The system for matching and calibrating the placement position of a panoramic camera according to claim 7, wherein the upper computer is further electrically connected to an external 220V power supply, the controllable mechanical arm and the projection laser are simultaneously electrically connected to an external 24V power supply, and the panoramic camera is electrically connected to an external 12V power supply.
9. A method for matching and calibrating the arrangement position of a panoramic camera is characterized by comprising the following steps:
inputting the technical requirement parameters into an upper computer, and comparing the technical requirement parameters with the existing parameters in the upper computer;
after the comparison is completed, generating a current position parameter file, transmitting the position parameter file to the rack controller, and simultaneously transmitting the calibration pattern to the rack controller;
the controllable mechanical arm is controlled by the rack controller to be adjusted to the position provided by the position parameter file, and the position is projected to the corresponding position of the ground rack by the projection laser;
and confirming the position of the camera by a calibration algorithm in the upper computer and synchronously matching the calibration algorithm to generate a current calibration parameter file for algorithm debugging.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110388224.4A CN113099219A (en) | 2021-04-12 | 2021-04-12 | System and method for calibrating arrangement position matching of panoramic camera |
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| CN202110388224.4A CN113099219A (en) | 2021-04-12 | 2021-04-12 | System and method for calibrating arrangement position matching of panoramic camera |
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Citations (6)
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|---|---|---|---|---|
| US20140320658A1 (en) * | 2011-11-15 | 2014-10-30 | Magna Electronics Inc. | Calibration system and method for vehicular surround vision system |
| WO2015043507A1 (en) * | 2013-09-27 | 2015-04-02 | 比亚迪股份有限公司 | Image processing method and apparatus for cars, method for generating car surround view image, and car surround view system |
| CN107707905A (en) * | 2017-09-26 | 2018-02-16 | 惠州市德赛西威汽车电子股份有限公司 | A kind of multi-cam tests display system |
| CN209043238U (en) * | 2018-09-29 | 2019-06-28 | 株洲中车时代电气股份有限公司 | Viewing field of camera test and caliberating device |
| CN111272082A (en) * | 2020-03-20 | 2020-06-12 | 苏州测迅智能汽车科技有限公司 | Automatic device of adjusting well of on-vehicle all around camera of intelligent automobile |
| CN112422936A (en) * | 2020-11-13 | 2021-02-26 | 中国第一汽车股份有限公司 | Vehicle panoramic image calibration system, method, server and storage medium |
-
2021
- 2021-04-12 CN CN202110388224.4A patent/CN113099219A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140320658A1 (en) * | 2011-11-15 | 2014-10-30 | Magna Electronics Inc. | Calibration system and method for vehicular surround vision system |
| WO2015043507A1 (en) * | 2013-09-27 | 2015-04-02 | 比亚迪股份有限公司 | Image processing method and apparatus for cars, method for generating car surround view image, and car surround view system |
| CN107707905A (en) * | 2017-09-26 | 2018-02-16 | 惠州市德赛西威汽车电子股份有限公司 | A kind of multi-cam tests display system |
| CN209043238U (en) * | 2018-09-29 | 2019-06-28 | 株洲中车时代电气股份有限公司 | Viewing field of camera test and caliberating device |
| CN111272082A (en) * | 2020-03-20 | 2020-06-12 | 苏州测迅智能汽车科技有限公司 | Automatic device of adjusting well of on-vehicle all around camera of intelligent automobile |
| CN112422936A (en) * | 2020-11-13 | 2021-02-26 | 中国第一汽车股份有限公司 | Vehicle panoramic image calibration system, method, server and storage medium |
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Effective date of registration: 20221104 Address after: Building 20, Lane 1000, Zhangheng Road, Pudong New Area, Shanghai 200000 Applicant after: MOTOVIS TECHNOLOGY (SHANGHAI) CO.,LTD. Address before: 200240 room 1001, 1st floor, building B, 555 Dongchuan Road, Minhang District, Shanghai Applicant before: SHANGHAI NETCAR TECH LTD. |
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Application publication date: 20210709 |