CN113450420A - Method and system for jointly calibrating vehicle windshield and camera lens and vehicle - Google Patents

Method and system for jointly calibrating vehicle windshield and camera lens and vehicle Download PDF

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CN113450420A
CN113450420A CN202110785302.4A CN202110785302A CN113450420A CN 113450420 A CN113450420 A CN 113450420A CN 202110785302 A CN202110785302 A CN 202110785302A CN 113450420 A CN113450420 A CN 113450420A
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axis
windshield
camera lens
plane
displacement deviation
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孔宏志
方瑞芳
杨拓宇
陈炯
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Weilai Automobile Technology Anhui Co Ltd
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Weilai Automobile Technology Anhui Co Ltd
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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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract

本发明提供了车辆挡风玻璃和摄像头镜头联合标定的方法、系统和车辆。所述方法包括如下步骤：S1：对所述挡风玻璃（G）和所述摄像头镜头（C）组成的光学系统进行联合建模，S2：在存在有所述挡风玻璃（G）和没有所述挡风玻璃（G）的情况下，计算所述物体在所述摄像头镜头（C）上的成像像素点在真实物理世界的任一方向上的位移偏差，其中，所述任一方向被规定成垂直于所述摄像头镜头（C）的光学轴线，S3：利用所述摄像头镜头（C）原本的内参畸变矫正以及所得到的位移偏差来实现所述光学系统的联合矫正。

Figure 202110785302

The present invention provides a method, system and vehicle for joint calibration of vehicle windshield and camera lens. The method includes the following steps: S1: jointly modeling the optical system composed of the windshield (G) and the camera lens (C), S2: in the presence of the windshield (G) and without the windshield (G) In the case of the windshield (G), calculate the displacement deviation of the imaging pixels of the object on the camera lens (C) in any direction in the real physical world, wherein the any direction is specified be perpendicular to the optical axis of the camera lens (C), S3: use the original internal parameter distortion correction of the camera lens (C) and the obtained displacement deviation to realize the joint correction of the optical system.

Figure 202110785302

Description

Method and system for jointly calibrating vehicle windshield and camera lens and vehicle
Technical Field
The invention relates to the field of vehicle windshield and camera lens combined calibration, which is used for mapping a three-dimensional real world derived from a two-dimensional image, in particular to a method and a system for vehicle windshield and camera lens combined calibration and a vehicle.
Background
In advanced driver assistance as well as autonomous driving, the camera is the main sensor, completing the projection from the real physical world to the CMOS image sensor.
In the prior art, a distortion model of a camera is mainly described by internal parameters, camera module manufacturers generally calibrate the internal parameters of the modules through specific equipment in a production process, and calibration results are transmitted to software and an algorithm in the form of distortion coefficients to correct distortion. However, the existing distortion correction equipment only performs distortion correction on a camera independently and does not consider the factor of glass.
The reasons for this include that the modeling of the whole optical system integrating the camera and the glass is complex, and a certain tilt angle exists when the whole vehicle is integrated and installed, and previous researches often make spherical assumption on the lens, which can be described by polar coordinates, so that when the tilt angle exists, the characteristic cannot be described by polar coordinates.
There is therefore a need to provide new methods for modeling and calibrating a combined lens and glass optical system.
Patent document No. CN 103481824B provides an apparatus and method for removing reflected light from an image of an imaging apparatus. The device comprises: a filter controller configured to output a control signal for controlling an opening or closing operation of at least one filter to a windshield or an imaging device lens at predetermined intervals, wherein the filter may be disposed on the windshield and a camera lens of the vehicle to pass reflected light; an image obtaining unit configured to obtain an image captured by a camera, the camera being mountable in a direction toward a windshield of a vehicle; a differential image generating unit configured to generate a differential image by subtracting a reflected image photographed when the filter is turned on from a normal image photographed when the filter is turned off; and a difference image correction unit configured to obtain a final image by correcting a region corresponding to the reflection image in the difference image based on the blurred image of the difference image.
Disclosure of Invention
The invention aims to realize modeling and calibration of a combined optical system combining a vehicle-mounted camera lens and a windshield.
Furthermore, the present invention is also directed to solve or alleviate other technical problems of the prior art.
The present invention solves the above problems by providing a method, a system and a vehicle for joint calibration of a vehicle windshield and a camera lens, and in particular, according to an aspect of the present invention, there are provided:
a method for joint calibration of a windscreen and a camera lens of a vehicle, said camera lens being arranged behind said windscreen, wherein said method comprises the steps of:
s1: jointly modeling an optical system consisting of the windshield and the camera lens, wherein the joint modeling comprises
S11: establishing a three-dimensional rectangular coordinate system OXYZ, wherein an origin O is an optical center of the camera lens, a Z axis is an optical axis of the camera lens and points towards the direction of the vehicle head, an X axis and a Y axis are orthogonal to each other and a formed XOY plane is perpendicular to the Z axis,
s12: the windshield is assumed to be a flat plate having a uniform thickness H, a refractive index of constant n, smooth and parallel surfaces, and having an inclination angle with respect to an imaging plane of the camera lens,
s13: assuming that an object to be imaged has a distance L in the real physical world in the direction of the Z-axis with respect to the optical center of the camera lens,
s2: calculating displacement deviation of imaging pixel points of the object on the camera lens in any direction of the real physical world under the conditions of existence and absence of the windshield, wherein any direction is defined to be perpendicular to an optical axis of the camera lens and comprises
S21: the displacement deviation is calculated taking into account the refraction of the light by the windscreen,
s3: and realizing the joint correction of the optical system by using the original internal reference distortion correction of the camera lens and the obtained displacement deviation.
Optionally, according to an embodiment of the present invention, the displacement deviation includes a projection component displacement deviation Δ X in a direction of an X axis of an object plane described by a coordinate system X, Y, Z ═ L and/or a projection component displacement deviation Δ Y in a direction of a Y axis of the object plane, where X and Y are projection component coordinate values of the object on the X axis and the Y axis of the object plane in the real physical world without the windshield, respectively, and the calculation formulas are:
Figure BDA0003158482920000031
Figure BDA0003158482920000032
in the XOZ plane, under the condition that the windshield is not arranged, the object forms a conjugate image relative to the optical center of the camera lens, and the object inclination angle of the connecting line of the conjugate image and the object relative to the Z axis is enabled to be thetaxzThe inclined angle between the glass plane of the windshield and the X axis is alphaxzWherein the glass plane is defined as a plane formed by the length and width of the windscreen (G),
in the YOZ plane, under the condition that the windshield is not arranged, the object forms a conjugate image relative to the optical center of the camera lens, and the object inclination angle of the connecting line of the conjugate image and the object relative to the Z axis is enabled to be thetayzThe inclined angle between the glass plane of the windshield and the Y axis is alphayzWherein the glass plane is defined as a plane formed by the length and width of the windshield.
Optionally, in accordance with an embodiment of the invention, the camera lens has a focal length f,
the displacement deviation comprises a projection component displacement deviation Δ X in the direction of the X-axis of the image plane and/or a projection component displacement deviation Δ Y in the direction of the Y-axis of the image plane, which are described by a coordinate system X, Y, Z ═ f, wherein X and Y are projection component coordinate values of the object on the X-axis and Y-axis of the image plane without the windshield, respectively, and the calculation formulas are:
Figure BDA0003158482920000041
Figure BDA0003158482920000042
in the XOZ plane, under the condition that the windshield is not arranged, the object forms a conjugate image relative to the optical center of the camera lens, and the object inclination angle of the connecting line of the conjugate image and the object relative to the Z axis is enabled to be thetaxzThe inclined angle between the glass plane of the windshield and the X axis is alphaxzWherein the glass plane is defined as a plane formed by the length and width of the windshield,
in the YOZ plane, under the condition that the windshield is not arranged, the object forms a conjugate image relative to the optical center of the camera lens, and the object inclination angle of the connecting line of the conjugate image and the object relative to the Z axis is enabled to be thetayzThe inclined angle between the glass plane of the windshield and the Y axis is alphayzWherein the glass plane is defined as a plane formed by the length and width of the windscreen (G).
Alternatively, according to an embodiment of the present invention, the distance r 'of the object on the object plane with respect to the optical axis of the camera lens in consideration of the displacement deviation Δ X and the displacement deviation Δ Y is obtained by the following formula'o：
Figure BDA0003158482920000043
Wherein r isoIs the distance of the object in the real physical world in the object plane relative to the optical axis of the camera lens without the windscreen.
Alternatively, according to an embodiment of the present invention, the distance r 'of the object on the image plane with respect to the optical axis of the camera lens in consideration of the displacement deviation Δ x and the displacement deviation Δ y is obtained by the following formula'i：
Figure BDA0003158482920000051
Wherein r isiIs the distance of the image of the object in the image plane relative to the optical axis of the camera lens without the windscreen.
Optionally, in step S3, the result of the joint correction is obtained by multiplying the coordinate value of the imaging pixel after the original internal reference distortion correction of the camera lens by the ratio of the distance L to the focal length f of the camera lens, and adding the displacement deviation in step S2.
Optionally, according to an embodiment of the present invention, the method further includes step S4: performing iterative calibration on the joint modeling, wherein the iterative calibration comprises the following steps:
s41: taking a calibration reference image, the refractive index, the thickness and the inclination angle of the calibration glass and the distance L of the calibration reference image relative to the optical center of the camera lens C in the Z-axis direction as input;
s42: performing joint correction of the optical system through steps S2 and S3;
s43: calculating the internal reference of the camera by an internal reference calibration algorithm;
s44: calculating a reprojection error after internal reference calibration;
s45: determining whether the reprojection error is less than a threshold,
if so, S46: outputting the internal parameters of the camera and the refractive index, thickness and inclination angle of the calibration glass;
if not, S47: and adjusting the refractive index, the thickness and the inclination angle of the calibration glass, and re-executing the step S42.
According to another aspect of the present invention, the present invention provides a combined calibration system for a windshield and a camera lens of a vehicle, wherein the combined calibration system is configured to perform any one of the above methods, wherein the combined calibration system has an acquisition module, a calculation module and an execution module, which are in communication connection with each other, the acquisition module acquires the thickness H, the refractive index n, the inclination angle, the distance L, the internal parameters of the camera lens and outputs these parameters to the calculation module, the calculation module receives the output of the acquisition module and performs the combined correction of the optical system according to the method and outputs the result of the combined correction to the execution module, and the execution module acquires the result of the combined correction of the calculation module and outputs the result.
Optionally, according to an embodiment of the invention, the joint calibration system is configured in an ECU of the vehicle.
According to yet another aspect of the present invention, a vehicle is provided, wherein the vehicle has any of the above-described joint calibration systems.
The provided method, system and vehicle for jointly calibrating the windshield and the camera lens of the vehicle have the advantages that: through modeling analysis of a combined optical system of an in-vehicle camera and a windshield which are widely used in ADAS and automatic driving, a method for distortion correction according to camera internal parameters is optimized, accuracy of restoring a real world to 2D plane projection from an image coordinate system under a small-hole imaging model is improved, and a better foundation is laid for subsequent related processing such as computer stereo vision and multi-view geometry based on a projection geometry principle.
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The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which,
FIG. 1 shows a schematic flow diagram of a method according to the invention;
FIG. 2 shows a modeling diagram of a method according to the invention;
FIG. 3 shows a schematic diagram of X-axis displacement deflection according to one method of the present invention;
FIG. 4 shows a schematic diagram of Y-axis displacement bias according to one method of the present invention;
FIG. 5 shows a schematic diagram of X-axis displacement deflection according to another method of the present invention;
FIG. 6 is a schematic diagram illustrating the principle of distance calculation of an object from an origin for X-axis and Y-axis displacement offset according to one method of the present invention;
FIG. 7 shows a flow diagram of iterative calibration according to one method of the present invention; and
FIG. 8 shows a block schematic of a joint calibration system according to the present invention.
Detailed Description
It is easily understood that according to the technical solution of the present invention, a person skilled in the art can propose various alternative structures and implementation ways without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," "third," and the like are used for descriptive and descriptive purposes only and not for purposes of indication or implication as to the relative importance of the respective components.
Reference is made to fig. 1 and 2, which show a flow diagram of a method according to the invention and a modeling diagram of a method according to the invention, respectively.
The method is used for the joint calibration of a windshield G and a camera lens C of a vehicle, wherein the camera lens C is arranged behind the windshield G, and the method comprises the following steps:
s1: jointly modeling an optical system consisting of the windshield G and the camera lens C, wherein the optical system comprises
S11: establishing a three-dimensional rectangular coordinate system OXYZ, wherein an origin O is an optical center of the camera lens C, a Z axis is an optical axis of the camera lens C and points towards the direction of the vehicle head, an X axis and a Y axis are orthogonal to each other and a formed XOY plane is perpendicular to the Z axis,
s12: the windshield G is assumed to be a flat plate having a uniform thickness H, a constant refractive index n, smooth and parallel surfaces, and has an inclination angle with respect to the imaging plane of the camera lens C,
s13: assuming that an object to be imaged has a distance L in the real physical world in the direction of the Z-axis with respect to the optical center of the camera lens C,
s2: calculating the displacement deviation of the imaging pixel points of the object on the camera lens C in any direction of the real physical world under the conditions of the existence of the windshield G and the absence of the windshield G, wherein any direction is defined to be perpendicular to the optical axis of the camera lens C and comprises
S21: the displacement deviation is calculated taking into account the refraction of the light by the windshield G,
s3: and realizing the joint correction of the optical system by utilizing the original internal reference distortion correction of the camera lens C and the obtained displacement deviation.
It should be understood that the camera lens C is arranged behind the windshield G, viewed in the direction of the vehicle head, so that light rays emitted by an object to be observed in the real physical world need to be refracted by the windshield G before being collected by the camera lens C (e.g., its CMOS), and thus distortion correction performed only for the distortion of the camera itself cannot solve the problem of additional distortion caused by refraction of the windshield G. The camera may be an in-vehicle or in-vehicle camera.
The person skilled in the art knows the rules for establishing a rectangular coordinate system in three dimensions, an example of which can be seen in fig. 2. For example, the X-axis and the Y-axis may be the height direction and the width direction of the vehicle, respectively, and the Y-axis is directed outward in fig. 2. Where the point R is a coordinate point of the object in the real physical world, and has coordinate values X, Y, Z (Z ═ L), θxzAnd thetayzAs will be described later. In the present method, since the distance L has been assumed, only the displacement deviation on the plane perpendicular to the L direction needs to be considered. Further, the air refractive index may be set to approximately 1. And the imaging plane of the camera lens C is a plane vertical to the Z axis. In addition, "the coordinate point of the object in the real physical world" does not necessarily mean that the object necessarily needs to be in the objective real physical world to apply the method. But rather, only coordinate data reflecting the position of the object in the real physical world may be obtained. That is, the method can also be used in conjunction with other sensors (e.g., radars) that detect coordinate data of an object from the front-end radar and use it as an input to the method.
In addition, it should be noted that the numbering or naming of the steps herein does not represent the order of the steps, but merely for convenience of description. The order of execution of the steps may be varied, or even performed simultaneously, without significant conflict between steps.
Through the technical scheme, not only the intrinsic lens distortion of the camera due to the intrinsic properties (such as light converging of the convex lens and light diverging of the concave lens) is considered, but also the distortion influence caused by the refraction of the light by the windshield of the vehicle is considered, and the combined distortion correction of the whole optical system is realized. The resulting correction can be output to appropriate software or algorithms for subsequent processing, such as computer stereo vision and multi-view geometry.
The displacement deviation in the plane perpendicular to the L direction is exemplified herein by the displacement deviation in the X-axis and Y-axis directions exemplarily. Reference is made to fig. 3 and 4, which show a schematic representation of X-axis displacement deviation and a schematic representation of Y-axis displacement deviation, respectively, according to one method of the invention. In particular, the displacement deviation comprises a projection component displacement deviation Δ X in the direction of the X-axis of the object plane OP described in the coordinate system X, Y, Z ═ L and/or a projection component displacement deviation Δ Y in the direction of the Y-axis of the object plane OP. X and Y are projection component coordinate values of the object on the X axis and the Y axis of the real physical world on the object plane OP without the windshield G, respectively.
The reflection of the light reflected by the object through the windshield G can be seen. In the XOZ plane, under the condition that the windshield G is not arranged, the object forms a conjugate image x relative to the optical center of the camera lens C, and the object inclination angle of a connecting line Xx of the conjugate image and the object relative to the Z axis is thetaxzThe inclined angle between the glass plane of the windshield G and the X axis is alphaxzWherein the glass plane is defined as a plane formed by the length and width of the windshield G, f is the focal length of the camera lens, βxzIs an angle of incidence of line Xx at the glass plane, from point A into the glass plane, through'xzExits from point B on the opposite side after refraction as an angle of refraction at the glass plane. X' is a virtual image of an imaging pixel point of the object on the camera lens C in the real physical world after displacement deviation, dxzIs the distance between the BX' line and the xX line.
Fig. 4 can also be similarly interpreted. Wherein, in a YOZ plane, the object is relative to the camera lens without the windshield GC forms a conjugate image y with the optical center, and the object inclination angle of the connecting line Yy of the conjugate image and the object relative to the Z axis is thetayzThe inclined angle between the glass plane of the windshield G and the Y axis is alphayzWherein the glass plane is defined as a plane formed by the length and width of the windshield G, f is the focal length of the camera lens, βyzIs an angle of incidence of line Yy at the glass plane, incident into the glass plane from point A, via β'yzExits from point B on the opposite side after refraction as an angle of refraction at the glass plane. Y' is a virtual image of an imaging pixel point of the object on the camera lens C in the real physical world after displacement deviation, dyzIs the distance between the BY' line and the yY line.
The following expressions can be made from fig. 3:
Figure BDA0003158482920000101
wherein d is dxz，
dxz＝AB*Sin(βxz-β′xz) Wherein, in the step (A),ABi.e. the distance of the points a and B,
Sinβxz＝nSinβ′xz，
βxz＝αxz-θxz，
Figure BDA0003158482920000102
Figure BDA0003158482920000103
thus, the displacement deviation Δ X is calculated by the formula:
Figure BDA0003158482920000104
similarly, the following expression can be made from FIG. 4:
Figure BDA0003158482920000105
dyz＝AB*Sin(βyz-β′yz)，
Sinβyz＝nSinβ′yz，
βyz＝αyz-θyz，
Figure BDA0003158482920000106
Figure BDA0003158482920000111
thus, the displacement deviation Δ Y is calculated by the formula:
Figure BDA0003158482920000112
after knowing the displacement deviation, the distortion compensation caused by the refraction of light by the windshield G can be realized by mapping the corresponding point position on the object plane by the point position on the image plane for application to the real physical world.
It is noted that the displacement deviation on the object plane OP is taken as an example in the present description, however, similarly, the present invention may also be implemented by displacement deviation on the image plane IP, for which reference is made to fig. 5, which shows a schematic diagram of the X-axis displacement deviation according to another method of the present invention.
In the method described above, the derivation is performed by taking an image plane point corresponding to two object plane points as an example, and in the method, the derivation is performed by taking an object plane point corresponding to two image plane points as an example. The principle is similar and therefore will not be described in detail.
In this method, the displacement deviation comprises a projection component displacement deviation Δ X in the direction of the X-axis of the image plane IP and/or a projection component displacement deviation Δ Y in the direction of the Y-axis of the image plane IP, which are described in a coordinate system X, Y, Z ═ -f, where X and Y are projection component coordinate values of the object on the X-axis and Y-axis of the image plane IP without the windshield G, respectively,
the formula is also used here:
Figure BDA0003158482920000113
this gives:
Δx＝-(f/L)*ΔX，
therefore, the calculation formula is:
Figure BDA0003158482920000121
wherein, in the XOZ plane, under the condition of not having the windshield G, the object forms a conjugate image relative to the optical center of the camera lens C, and the object inclination angle of the connecting line of the conjugate image and the object relative to the Z axis is thetaxzThe inclined angle between the glass plane of the windshield G and the X axis is alphaxzWherein the glass plane is defined as a plane formed by the length and width of the windshield G,
and/or
Similarly, the calculation formula of the projection component displacement deviation Δ y is as follows:
Figure BDA0003158482920000122
wherein, in the YOZ plane, under the condition of not having the windshield G, the object forms a conjugate image relative to the optical center of the camera lens C, and the object inclination angle of the connecting line of the conjugate image and the object relative to the Z axis is thetayzThe inclined angle between the glass plane of the windshield G and the Y axis is alphayzWherein the glass plane is defined by the barrierThe length and width of the windshield G.
Referring to FIG. 6, a schematic diagram illustrating the principle of distance calculation from the origin for imaging an object under X-axis and Y-axis displacement bias according to one method of the present invention is shown. Wherein r isoIs the distance R' of the object from the origin X-0, Y-0, Z-L to the point R (i.e. where the object is located) of the object plane OP without the windshield G.oWhen the displacement deviation Δ X and the displacement deviation Δ Y are considered, the virtual image of the object is R ', X and Y are coordinate values of the object in the real physical world on the X axis and the Y axis, respectively, R is a distance between the object in the real physical world and the original point X of the camera lens object plane, Y is 0, Z is L, phi is an angle between a connecting line of the point R and the original point and the X axis, and phi ' is an angle between a connecting line of the point R ' and the original point and the X axis. This gives:
Figure BDA0003158482920000131
Figure BDA0003158482920000132
the following formula is finally obtained:
Figure BDA0003158482920000133
similarly, the distance r 'of the object from the optical axis of the camera lens C on the image plane IP in consideration of the displacement deviation Δ x and the displacement deviation Δ y'i：
Figure BDA0003158482920000134
Wherein r'iThe object is under the condition of considering the displacement deviation delta x and the displacement deviation delta yA distance, r, on the image plane IP relative to an optical axis of the camera lens CiIs the distance of the image of the object in the image plane relative to the optical axis of the camera lens C without the windscreen G.
The specific implementation manner of step S3 may be: the coordinate value of the imaging pixel point after the original internal reference distortion correction of the camera lens C is multiplied by the ratio of the distance L to the focal length f of the camera lens C, and the displacement deviation in the step S2 is added to obtain the result of the joint correction. In this example, the respective coordinate values after the distortion correction of the camera lens are x 'and y'. This makes it possible to obtain:
Figure BDA0003158482920000135
Figure BDA0003158482920000136
wherein x' ═ x; y ═ y. Thereby completing the distortion correction of the optical system combining the camera lens and the windshield.
In order to further improve the modeling accuracy of the method and the accuracy of the result of the distortion correction, the method may further include step S4: and carrying out iterative calibration on the combined modeling. Referring specifically to fig. 7, a flow diagram of iterative calibration according to one method of the present invention is shown.
S41: taking a calibration reference image, the refractive index, the thickness and the inclination angle of the calibration glass, and the distance L of the calibration reference image relative to the optical center of the camera lens C in the Z-axis direction as input;
s42: performing joint correction of the optical system through steps S2 and S3;
s43: calculating the internal reference of the camera by an internal reference calibration algorithm;
s44: calculating a reprojection error after internal reference calibration;
s45: determining whether the reprojection error is less than a threshold,
if so, S46: outputting the internal parameters of the camera and the refractive index, thickness and inclination angle of the calibration glass;
if not, S47: and adjusting the refractive index, the thickness and the inclination angle of the calibration glass, and re-executing the step S42.
It should be understood that a calibration reference image, i.e. a standardized reference image dedicated to camera lens calibration, having known coordinate values, may typically be used with a calibration plate. For example, a calibration board having a plurality of constituent matrices is used to represent respective positions of objects on the real physical world, and the calibration room formed by the calibration board is three-dimensional, and particularly, a sufficient number of and dense calibration boards are arranged on the front side, the left side, and the right side of the camera lens for comprehensively calibrating the camera lens. The calibration glass is the reference glass used for checking the physical parameters of the glass in the method.
Step S42 is used to convert the calibration reference image into an image without the influence of the windshield G. And calibrating the internal reference of the camera according to the existing calibration algorithm. The algorithm may be, for example, a gnomon scaling method. The reprojection error in S44 is the difference between two projections, where the first projection is the projection of a three-dimensional space point onto an image plane when the camera takes a picture or records a video. Then, the images are used for carrying out triangulation positioning on the characteristic points, a triangle is constructed by using geometric information to determine the position of the three-dimensional space point, and finally, the calculated three-dimensional point coordinates and the calculated camera pose are used for carrying out secondary projection (namely, re-projection). At this time, the difference between the projection of the real three-dimensional space point on the image plane (i.e., the pixel point on the image) and the re-projection (the virtual pixel point obtained by the previous calculation). The smaller this difference, the better. And when the reprojection error is smaller than a threshold value, outputting the internal parameters of the camera, the refractive index, the thickness and the inclination angle of the calibration glass as the input of the method, and realizing a more excellent comprehensive distortion correction effect.
Referring to FIG. 8, a block schematic diagram of a joint calibration system 100 according to the present invention is shown. Since the specific shape and connection of the various components are not the subject of the present invention, all of the components are schematically shown in the form of structural modules for the sake of clarity and conciseness, and those skilled in the art can select the appropriate module shape and connection mode at will based on the teaching of the structural diagram. In addition, the structural diagram is given as an embodiment of the invention, and those skilled in the art can make various modifications without departing from the spirit of the invention after referring to the diagram, and the modifications are also within the scope of the invention.
The joint calibration system 100 is used for a windshield G and a camera lens C of a vehicle, wherein the joint calibration system 100 is configured to execute any one of the above methods, wherein the joint calibration system 100 has an acquisition module 1, a calculation module 2 and an execution module 3 which are in communication connection with each other, the acquisition module 1 acquires the thickness H, the refractive index n, the inclination angle, the distance L, and the internal parameters of the camera lens C and outputs these parameters to the calculation module 2, the calculation module 2 receives the output of the acquisition module 1 and executes joint correction of the optical system according to the method and outputs the result of the joint correction to the execution module 3, and the execution module 3 acquires the result of the joint correction of the calculation module 2 and outputs the result. For a review of the description of the method above, reference is made to the embodiments and features of the system.
It should additionally be mentioned that the joint calibration system 100 may be built into the ECU (also referred to as electronic control unit, running computer) of the vehicle. This makes it possible to seamlessly integrate the method and system without affecting the existing structure of the vehicle.
In addition, the combined calibration system can be arranged on various vehicles, including gasoline vehicles, diesel vehicles, cars, trucks, passenger cars, hybrid vehicles, pure electric vehicles and the like. Accordingly, the subject matter of the present invention is also intended to protect various vehicles equipped with the joint calibration system 100 of the present invention.
In summary, the present invention provides a model for joint modeling of an optical system composed of an optical lens of a camera and glass, where the model describes, through analysis of refractive characteristics of the glass, a relationship of an object in the real world imaged on the lens (such as a CMOS) with and without a windshield, or conversely, a relationship of any point on the lens corresponding to incident light rays at different angles and positions in the real world with and without a windshield, and based on such a corresponding relationship, internal parameters of the original camera can be corrected after the windshield is added.
It should be understood that all of the above preferred embodiments are exemplary and not restrictive, and that various modifications and changes in the specific embodiments described above, which would occur to persons skilled in the art upon consideration of the above teachings, are intended to be within the scope of the invention.

Claims (10)

1.一种车辆的挡风玻璃(G)和摄像头镜头(C)联合标定的方法，所述摄像头镜头(C)布置于所述挡风玻璃(G)的后方，其特征在于，所述方法包括如下步骤：1. A method for joint calibration of a windshield (G) and a camera lens (C) of a vehicle, wherein the camera lens (C) is arranged behind the windshield (G), wherein the method It includes the following steps: S1：对所述挡风玻璃(G)和所述摄像头镜头(C)组成的光学系统进行联合建模，其中包括S1: Jointly model the optical system composed of the windshield (G) and the camera lens (C), including S11：建立三维直角坐标系OXYZ，其中，原点O为所述摄像头镜头(C)的光学中心，Z轴为所述摄像头镜头(C)的光学轴线并朝车头方向指向，X轴和Y轴彼此正交并且所形成的XOY平面垂直于Z轴，S11: Establish a three-dimensional rectangular coordinate system OXYZ, wherein the origin O is the optical center of the camera lens (C), the Z axis is the optical axis of the camera lens (C) and points toward the front of the vehicle, and the X axis and the Y axis are mutually Orthogonal and the resulting XOY plane is perpendicular to the Z axis, S12：将所述挡风玻璃(G)假定为具有均匀厚度H、折射率为常数n的具有光滑且平行表面的平板，并相对于所述摄像头镜头(C)的成像平面具有倾斜角度，S12: The windshield glass (G) is assumed to be a flat plate with a smooth and parallel surface with a uniform thickness H, a constant refractive index n, and an inclined angle with respect to the imaging plane of the camera lens (C), S13：假定待成像的物体在真实物理世界中相对于所述摄像头镜头(C)的光学中心在Z轴的方向上具有距离L，S13: Assuming that the object to be imaged has a distance L in the direction of the Z-axis relative to the optical center of the camera lens (C) in the real physical world, S2：在存在有所述挡风玻璃(G)和没有所述挡风玻璃(G)的情况下，计算所述物体在所述摄像头镜头(C)上的成像像素点在真实物理世界的任一方向上的位移偏差，其中，所述任一方向被规定成垂直于所述摄像头镜头(C)的光学轴线，其中包括S2: In the presence of the windshield (G) and the absence of the windshield (G), calculate the position of the imaging pixels of the object on the camera lens (C) in the real physical world Displacement deviation in a direction, wherein either direction is defined as being perpendicular to the optical axis of the camera lens (C), including S21：考虑所述挡风玻璃(G)对光线造成的折射来计算所述位移偏差，S21: Calculate the displacement deviation considering the refraction of the light by the windshield (G), S3：利用所述摄像头镜头(C)原本的内参畸变矫正以及所得到的位移偏差来实现所述光学系统的联合矫正。S3: Use the original internal parameter distortion correction of the camera lens (C) and the obtained displacement deviation to realize the joint correction of the optical system. 2.根据权利要求1所述的方法，其特征在于，2. The method according to claim 1, wherein 所述位移偏差包括在以坐标系X,Y,Z＝L描述的物平面(OP)的X轴的方向上的投影分量位移偏差ΔX和/或在所述物平面(OP)的Y轴的方向上的投影分量位移偏差ΔY，其中，X和Y分别为所述物体在没有所述挡风玻璃(G)的情况下在真实物理世界在所述物平面(OP)的X轴和Y轴上的投影分量坐标值，计算公式分别为：Said displacement deviation includes the projected component displacement deviation ΔX in the direction of the X-axis of the object plane (OP) described by the coordinate system X, Y, Z=L and/or the displacement deviation ΔX in the Y-axis of the object plane (OP). The displacement deviation ΔY of the projected component in the direction, where X and Y are the X-axis and Y-axis of the object at the object plane (OP) in the real physical world without the windshield (G), respectively The coordinate values of the projected components on , the calculation formulas are:
Figure FDA0003158482910000021
Figure FDA0003158482910000021
Figure FDA0003158482910000022
Figure FDA0003158482910000022
 其中，在XOZ平面内，在没有所述挡风玻璃(G)的情况下，所述物体相对于所述摄像头镜头(C)的光学中心形成共轭像，令所述共轭像与所述物体的连线相对于Z轴的物体倾斜角度为θxz，所述挡风玻璃(G)的玻璃平面与X轴的倾斜角度为αxz，其中，所述玻璃平面被定义为由所述挡风玻璃(G)的长度和宽度所形成的平面，Wherein, in the XOZ plane, in the absence of the windshield (G), the object forms a conjugate image relative to the optical center of the camera lens (C), so that the conjugate image and the The inclination angle of the object connecting line relative to the Z axis is θ xz , the inclination angle between the glass plane of the windshield (G) and the X axis is α xz , wherein the glass plane is defined as the the plane formed by the length and width of the wind glass (G), 在YOZ平面内，在没有所述挡风玻璃(G)的情况下，所述物体相对于所述摄像头镜头(C)的光学中心形成共轭像，令所述共轭像与所述物体的连线相对于Z轴的物体倾斜角度为θyz，所述挡风玻璃(G)的玻璃平面与Y轴的倾斜角度为αyz，其中，所述玻璃平面被定义为由所述挡风玻璃(G)的长度和宽度所形成的平面。In the YOZ plane, in the absence of the windshield (G), the object forms a conjugate image relative to the optical center of the camera lens (C), so that the conjugate image and the object's The inclination angle of the object connected to the Z axis is θ yz , and the inclination angle of the glass plane of the windshield (G) to the Y axis is α yz , wherein the glass plane is defined as defined by the windshield (G) The length and width of the plane formed. 3.根据权利要求1所述的方法，其特征在于，3. The method according to claim 1, wherein 所述摄像头镜头(C)具有焦距f，The camera lens (C) has a focal length f, 所述位移偏差包括在以坐标系X,Y,Z＝-f描述的像平面(IP)的X轴的方向上的投影分量位移偏差Δx和/或在所述像平面(IP)的Y轴的方向上的投影分量位移偏差Δy，其中，x和y分别为所述物体在没有所述挡风玻璃(G)的情况下在像平面(IP)的X轴和Y轴上的投影分量坐标值，计算公式分别为：Said displacement deviation comprises the projected component displacement deviation Δx in the direction of the X-axis of the image plane (IP) described by the coordinate system X, Y, Z=-f and/or the Y-axis of said image plane (IP) The projected component displacement deviation Δy in the direction of , where x and y are the projected component coordinates of the object on the X-axis and Y-axis of the image plane (IP) without the windshield (G), respectively value, the calculation formulas are:
Figure FDA0003158482910000023
Figure FDA0003158482910000023
Figure FDA0003158482910000031
Figure FDA0003158482910000031
 其中，在XOZ平面内，在没有所述挡风玻璃(G)的情况下，所述物体相对于所述摄像头镜头(C)的光学中心形成共轭像，令所述共轭像与所述物体的连线相对于Z轴的物体倾斜角度为θxz，所述挡风玻璃(G)的玻璃平面与X轴的倾斜角度为αxz，其中，所述玻璃平面被定义为由所述挡风玻璃(G)的长度和宽度所形成的平面，Wherein, in the XOZ plane, in the absence of the windshield (G), the object forms a conjugate image relative to the optical center of the camera lens (C), so that the conjugate image and the The inclination angle of the object connecting line relative to the Z axis is θ xz , the inclination angle between the glass plane of the windshield (G) and the X axis is α xz , wherein the glass plane is defined as the the plane formed by the length and width of the wind glass (G), 在YOZ平面内，在没有所述挡风玻璃(G)的情况下，所述物体相对于所述摄像头镜头(C)的光学中心形成共轭像，令所述共轭像与所述物体的连线相对于Z轴的物体倾斜角度为θyz，所述挡风玻璃(G)的玻璃平面与Y轴的倾斜角度为αyz，其中，所述玻璃平面被定义为由所述挡风玻璃(G)的长度和宽度所形成的平面。In the YOZ plane, in the absence of the windshield (G), the object forms a conjugate image relative to the optical center of the camera lens (C), so that the conjugate image and the object's The inclination angle of the object connected to the Z axis is θ yz , and the inclination angle of the glass plane of the windshield (G) to the Y axis is α yz , wherein the glass plane is defined as defined by the windshield (G) The length and width of the plane formed. 4.根据权利要求2所述的方法，其特征在于，通过如下公式得到在考虑位移偏差ΔX和位移偏差ΔY的情况下的物体在所述物平面(OP)上的相对于所述摄像头镜头(C)的光学轴线的距离r'o：4. The method according to claim 2, characterized in that, taking into account the displacement deviation ΔX and the displacement deviation ΔY, the object on the object plane (OP) relative to the camera lens ( The distance r'o of the optical axis of C):
Figure FDA0003158482910000032
Figure FDA0003158482910000032
 其中，ro为所述物体在没有所述挡风玻璃(G)的情况下真实物理世界中在物平面中相对于所述摄像头镜头(C)的光学轴线的距离。where ro is the distance of the object relative to the optical axis of the camera lens (C) in the object plane in the real physical world without the windshield (G). 5.根据权利要求3所述的方法，其特征在于，通过如下公式得到在考虑位移偏差Δx和位移偏差Δy的情况下的物体在所述像平面(IP)上的相对于所述摄像头镜头(C)的光学轴线的距离r'i：5. The method according to claim 3, characterized in that, taking into account the displacement deviation Δx and the displacement deviation Δy, the object on the image plane (IP) relative to the camera lens (IP) is obtained by the following formula: The distance r' i of the optical axis of C):
Figure FDA0003158482910000033
Figure FDA0003158482910000033
 其中，ri为所述物体的像在没有所述挡风玻璃(G)的情况下在像平面中相对于所述摄像头镜头(C)的光学轴线的距离。Wherein, ri is the distance of the image of the object relative to the optical axis of the camera lens (C) in the image plane without the windshield (G). 6.根据权利要求1所述的方法，其特征在于，在步骤S3中，经所述摄像头镜头(C)原本的内参畸变矫正后的成像像素点坐标值乘以所述距离L与所述摄像头镜头(C)的焦距f的比值，再加上在步骤S2中的位移偏差来得到所述联合矫正的结果。6. The method according to claim 1, characterized in that, in step S3, the coordinate value of the imaging pixel point after the original internal reference distortion correction of the camera lens (C) is multiplied by the distance L and the camera The ratio of the focal length f of the lens (C), plus the displacement deviation in step S2 to obtain the result of the joint correction. 7.根据权利要求1所述的方法，其特征在于，所述方法还包括步骤S4：对所述联合建模进行迭代标定，其中包括：7. The method according to claim 1, wherein the method further comprises step S4: performing iterative calibration on the joint modeling, comprising: S41：采用标定参考图像、标定用玻璃的折射率、厚度、倾斜角度以及所述标定参考图像相对于所述摄像头镜头C的光学中心在Z轴的方向上的距离L作为输入；S41: using the calibration reference image, the refractive index, thickness, inclination angle of the calibration glass, and the distance L of the calibration reference image relative to the optical center of the camera lens C in the direction of the Z axis as input; S42：通过步骤S2和步骤S3进行所述光学系统的联合矫正；S42: performing joint correction of the optical system through steps S2 and S3; S43：通过内参标定算法计算摄像头的内参；S43: Calculate the internal parameters of the camera through the internal parameter calibration algorithm; S44：计算内参标定后的重投影误差；S44: Calculate the reprojection error after internal parameter calibration; S45：判断所述重投影误差是否小于阈值，S45: judging whether the reprojection error is less than a threshold, 如是，则S46：输出所述摄像头的内参、所述标定用玻璃的折射率、厚度和倾斜角度；If yes, then S46: output the internal parameters of the camera, the refractive index, thickness and inclination angle of the calibration glass; 如否，则S47：对所述标定用玻璃的折射率、厚度和倾斜角度进行调整，并重新执行步骤S42。If no, then S47: Adjust the refractive index, thickness and inclination angle of the calibration glass, and perform step S42 again. 8.一种车辆的挡风玻璃(G)和摄像头镜头(C)的联合标定系统(100)，其特征在于，所述联合标定系统(100)构造成用于执行根据权利要求1至7中任一项所述的方法，其中，所述联合标定系统(100)具有彼此通信连接的采集模块(1)、计算模块(2)和执行模块(3)，所述采集模块(1)获取所述厚度H、所述折射率n、所述倾斜角度、所述距离L、所述摄像头镜头(C)的内参，并将这些参数输出至所述计算模块(2)，所述计算模块(2)接收所述采集模块(1)的输出，并且根据所述方法执行所述光学系统的联合矫正，并将所述联合矫正的结果输出至所述执行模块(3)，所述执行模块(3)获取所述计算模块(2)的联合矫正的结果并且将所述结果输出。8. A joint calibration system (100) for a windshield (G) and a camera lens (C) of a vehicle, characterized in that the joint calibration system (100) is configured to perform the method according to claims 1 to 7. The method of any one, wherein the joint calibration system (100) has an acquisition module (1), a calculation module (2) and an execution module (3) that are communicatively connected to each other, and the acquisition module (1) acquires the The thickness H, the refractive index n, the inclination angle, the distance L, the internal parameters of the camera lens (C), and output these parameters to the calculation module (2), the calculation module (2) ) receives the output of the acquisition module (1), and performs joint correction of the optical system according to the method, and outputs the result of the joint correction to the execution module (3), the execution module (3) ) obtains the result of the joint correction of the calculation module (2) and outputs the result. 9.根据权利要求8所述的联合标定系统(100)，其特征在于，所述联合标定系统(100)构造在所述车辆的ECU内。9. The joint calibration system (100) according to claim 8, characterized in that the joint calibration system (100) is constructed in an ECU of the vehicle. 10.一种车辆，其特征在于，所述车辆具有根据权利要求8或9所述的联合标定系统(100)。10. A vehicle, characterized in that the vehicle has a joint calibration system (100) according to claim 8 or 9.
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