CN113298878A - Calibration method and device for vehicle-mounted all-around camera, electronic equipment and readable storage medium - Google Patents
Calibration method and device for vehicle-mounted all-around camera, electronic equipment and readable storage medium Download PDFInfo
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- CN113298878A CN113298878A CN202110544201.8A CN202110544201A CN113298878A CN 113298878 A CN113298878 A CN 113298878A CN 202110544201 A CN202110544201 A CN 202110544201A CN 113298878 A CN113298878 A CN 113298878A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012545 processing Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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Abstract
The invention discloses a calibration method and device for a vehicle-mounted all-round-looking camera, electronic equipment and a readable storage medium. The calibration method comprises the steps of placing a vehicle to be calibrated in a calibration room, and shooting a calibration pattern in the calibration room by using a vehicle-mounted all-round camera; the wall surfaces of the calibration rooms are vertical and flat, the two adjacent wall surfaces form 90 degrees, calibration patterns are arranged on the wall surfaces, and the space of the calibration rooms is slightly larger than the size of a vehicle to be calibrated; extracting a calibration pattern in a picture shot by the vehicle-mounted all-round-looking camera, and determining the position of the vehicle-mounted all-round-looking camera in a calibration room according to the position of the calibration pattern in the shot picture and the position of the calibration pattern in an actual space; and splicing the pictures shot by the vehicle-mounted all-around camera to obtain a panoramic spliced picture. The invention adopts a space calibration scheme, and the calibration pattern is arranged on the wall surface of the calibration room, so that the requirement on the ground is reduced, the occupied area is greatly reduced, and the space is saved.
Description
Technical Field
The invention belongs to the field of vehicle engineering, and particularly relates to a calibration technology of a vehicle-mounted all-round-looking camera.
Background
With the rapid development of image and computer vision technologies, more and more technologies are applied to the field of automotive electronics, a traditional image-based reversing image system only installs a camera at the tail of a car and can only cover a limited area around the tail of the car, while blind areas around the car and the head of the car undoubtedly increase the hidden danger of safe driving, and collision and scratch events easily occur in narrow and congested urban areas and parking lots. In order to enlarge the visual field of a driver, the driver needs to be capable of sensing 360-degree all-directional environment, a whole set of video images around the whole vehicle are formed through the mutual cooperation of a plurality of visual sensors and then through video synthesis processing, and the vehicle-mounted all-around camera is produced on the basis of the requirement.
At present, a vehicle-mounted all-round-looking camera is mounted in more and more vehicle types and tends to be calibrated gradually, but the vehicle-mounted all-round-looking camera needs to be calibrated during installation and maintenance. The existing calibration scheme needs to lay a calibration plate on the ground, and has requirements on the ground flatness and the field size.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a calibration method and device for a vehicle-mounted all-round-looking camera, electronic equipment and a readable storage medium.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
a calibration method of a vehicle-mounted all-round-looking camera comprises the following steps:
(1) placing a vehicle to be calibrated in a calibration room, and shooting a calibration pattern in the calibration room by using a vehicle-mounted all-round-looking camera;
the wall surfaces of the calibration rooms are vertical and flat, the two adjacent wall surfaces form 90 degrees, calibration patterns are arranged on the wall surfaces, and the space of each calibration room is slightly larger than the size of a vehicle to be calibrated;
(2) extracting a calibration pattern in a picture shot by the vehicle-mounted all-round-looking camera, and determining the position of the vehicle-mounted all-round-looking camera in a calibration room according to the position of the calibration pattern in the shot picture and the position of the calibration pattern in an actual space;
(3) and (3) splicing the pictures shot by the vehicle-mounted all-around camera according to the result obtained in the step (2) to obtain a panoramic spliced picture.
Further, the vehicle to be calibrated is placed in the middle of the calibration room.
Further, the bottom color of the wall surface of the calibration room is light color.
Further, the orientation of the vehicle to be calibrated is set to be consistent with the long axis direction of the calibration room.
Furthermore, the calibration pattern is formed on the wall surface of the calibration room in a spraying mode.
Further, the actual spatial coordinates of the calibration pattern are known with certainty.
A calibration device for a vehicle-mounted all-round camera comprises:
the data transmission unit is used for transmitting the pictures shot by the vehicle-mounted all-around camera to the data processing unit and the data splicing unit;
the data processing unit is used for extracting a calibration pattern in a picture shot by the vehicle-mounted all-round-looking camera and determining the position of the vehicle-mounted all-round-looking camera in a calibration room according to the position of the calibration pattern in the shot picture and the position of the calibration pattern in an actual space;
and the data splicing unit is used for splicing the pictures shot by the vehicle-mounted all-around camera to obtain a panoramic spliced picture according to the result obtained by the data processing unit.
Further, the calibration device further comprises a data storage unit for storing the actual spatial position coordinates of each calibration pattern.
An electronic device comprises a processor and a memory, wherein the memory stores execution instructions of the processor, and the processor is configured to execute the execution instructions to realize the calibration method of the vehicle-mounted all-around camera.
A computer readable storage medium is used for storing a program, and the program is executed to realize the calibration method of the vehicle-mounted all-round-looking camera.
Adopt the beneficial effect that above-mentioned technical scheme brought:
compared with the prior art that the calibration board is laid on the ground, the calibration pattern is arranged on the wall surface of the calibration room by adopting a space calibration scheme, the requirement on the ground is reduced, the occupied area is greatly reduced, and the space is saved.
Drawings
FIG. 1 is a flow chart of a calibration method of the present invention;
fig. 2 is a schematic view of the calibration device of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The invention designs a calibration method of a vehicle-mounted all-round-looking camera, which comprises the following steps as shown in figure 1:
step 1, placing a vehicle to be calibrated in a calibration room, and shooting a calibration pattern in the calibration room by using a vehicle-mounted all-round-looking camera;
the wall surfaces of the calibration rooms are vertical and flat, the two adjacent wall surfaces form 90 degrees, calibration patterns are arranged on the wall surfaces, and the space of each calibration room is slightly larger than the size of a vehicle to be calibrated;
step 2, extracting a calibration pattern in a picture shot by the vehicle-mounted all-around camera, and determining the position of the vehicle-mounted all-around camera in a calibration room according to the position of the calibration pattern in the shot picture and the position of the calibration pattern in an actual space;
and 3, splicing the pictures shot by the vehicle-mounted all-around camera according to the result obtained in the step 2 to obtain a panoramic spliced picture.
In the present embodiment, it is preferable that the vehicle to be calibrated is placed in the middle of the calibration room.
In this embodiment, preferably, the bottom color of the wall surface of the calibration room is light.
In this embodiment, it is preferable that the orientation of the vehicle to be calibrated is set to coincide with the long axis direction of the calibration room.
In this embodiment, preferably, the calibration pattern is formed on the wall surface of the calibration room by spraying.
In this embodiment, it is preferred that the actual spatial coordinates of the calibration pattern are known with certainty.
The invention designs a calibration device of a vehicle-mounted all-round-looking camera, which comprises the following components as shown in figure 2
The data transmission unit is used for transmitting the pictures shot by the vehicle-mounted all-around camera to the data processing unit and the data splicing unit;
the data processing unit is used for extracting a calibration pattern in a picture shot by the vehicle-mounted all-round-looking camera and determining the position of the vehicle-mounted all-round-looking camera in a calibration room according to the position of the calibration pattern in the shot picture and the position of the calibration pattern in an actual space;
and the data splicing unit is used for splicing the pictures shot by the vehicle-mounted all-around camera to obtain a panoramic spliced picture according to the result obtained by the data processing unit.
In this embodiment, the calibration apparatus further includes a data storage unit, configured to store actual spatial position coordinates of each calibration pattern.
The invention also designs an electronic device which comprises a processor and a memory, wherein the memory stores an execution instruction of the processor, and the processor is configured to execute the execution instruction to realize the calibration method of the vehicle-mounted all-round-looking camera.
The invention also designs a computer readable storage medium for storing a program, and the program is executed to realize the calibration method of the vehicle-mounted all-round-looking camera.
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.
Claims (10)
1. A calibration method of a vehicle-mounted all-round-looking camera is characterized by comprising the following steps:
(1) placing a vehicle to be calibrated in a calibration room, and shooting a calibration pattern in the calibration room by using a vehicle-mounted all-round-looking camera;
the wall surfaces of the calibration rooms are vertical and flat, the two adjacent wall surfaces form 90 degrees, calibration patterns are arranged on the wall surfaces, and the space of each calibration room is slightly larger than the size of a vehicle to be calibrated;
(2) extracting a calibration pattern in a picture shot by the vehicle-mounted all-round-looking camera, and determining the position of the vehicle-mounted all-round-looking camera in a calibration room according to the position of the calibration pattern in the shot picture and the position of the calibration pattern in an actual space;
(3) and (3) splicing the pictures shot by the vehicle-mounted all-around camera according to the result obtained in the step (2) to obtain a panoramic spliced picture.
2. The calibration method of the vehicle-mounted panoramic camera according to claim 1, characterized in that a vehicle to be calibrated is placed in the middle of a calibration room.
3. The method for calibrating the vehicle-mounted panoramic camera according to claim 1, wherein the ground color of the wall surface of the calibration room is light color.
4. The calibration method of the vehicle-mounted panoramic camera according to claim 1, characterized in that the orientation of the vehicle to be calibrated is set to be consistent with the long axis direction of the calibration room.
5. The calibration method of the vehicle-mounted panoramic camera according to claim 1, wherein the calibration pattern is formed on the wall surface of the calibration room by spraying.
6. The calibration method of the vehicle-mounted all-round camera according to claim 1, characterized in that the actual spatial coordinates of the calibration pattern are known by certainty.
7. The utility model provides a calibration device of on-vehicle look around camera which characterized in that includes:
the data transmission unit is used for transmitting the pictures shot by the vehicle-mounted all-around camera to the data processing unit and the data splicing unit;
the data processing unit is used for extracting a calibration pattern in a picture shot by the vehicle-mounted all-round-looking camera and determining the position of the vehicle-mounted all-round-looking camera in a calibration room according to the position of the calibration pattern in the shot picture and the position of the calibration pattern in an actual space;
and the data splicing unit is used for splicing the pictures shot by the vehicle-mounted all-around camera to obtain a panoramic spliced picture according to the result obtained by the data processing unit.
8. The calibration device for the vehicle-mounted panoramic camera according to claim 7, further comprising a data storage unit for storing the actual spatial position coordinates of each calibration pattern.
9. An electronic device, comprising a processor and a memory, wherein the memory stores execution instructions of the processor, and the processor is configured to execute the execution instructions to implement the calibration method of the vehicle-mounted all-around camera according to any one of claims 1 to 6.
10. A computer-readable storage medium storing a program, wherein the program is executed to implement the calibration method of the vehicle-mounted panoramic camera according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110544201.8A CN113298878A (en) | 2021-05-19 | 2021-05-19 | Calibration method and device for vehicle-mounted all-around camera, electronic equipment and readable storage medium |
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| CN202110544201.8A CN113298878A (en) | 2021-05-19 | 2021-05-19 | Calibration method and device for vehicle-mounted all-around camera, electronic equipment and readable storage medium |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007261463A (en) * | 2006-03-29 | 2007-10-11 | Clarion Co Ltd | Calibration system of vehicle-mounted camera |
| CN102163331A (en) * | 2010-02-12 | 2011-08-24 | 王炳立 | Image-assisting system using calibration method |
| CN112308927A (en) * | 2020-10-26 | 2021-02-02 | 南昌智能新能源汽车研究院 | Fusion device of panoramic camera and laser radar and calibration method thereof |
| CN112669390A (en) * | 2020-12-16 | 2021-04-16 | 惠州市德赛西威汽车电子股份有限公司 | Panoramic image calibration method for after-sales vehicles |
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- 2021-05-19 CN CN202110544201.8A patent/CN113298878A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007261463A (en) * | 2006-03-29 | 2007-10-11 | Clarion Co Ltd | Calibration system of vehicle-mounted camera |
| CN102163331A (en) * | 2010-02-12 | 2011-08-24 | 王炳立 | Image-assisting system using calibration method |
| CN112308927A (en) * | 2020-10-26 | 2021-02-02 | 南昌智能新能源汽车研究院 | Fusion device of panoramic camera and laser radar and calibration method thereof |
| CN112669390A (en) * | 2020-12-16 | 2021-04-16 | 惠州市德赛西威汽车电子股份有限公司 | Panoramic image calibration method for after-sales vehicles |
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