CN113822943A - External parameter calibration method, device and system of camera and storage medium - Google Patents
External parameter calibration method, device and system of camera and storage medium Download PDFInfo
- Publication number
- CN113822943A CN113822943A CN202111092360.5A CN202111092360A CN113822943A CN 113822943 A CN113822943 A CN 113822943A CN 202111092360 A CN202111092360 A CN 202111092360A CN 113822943 A CN113822943 A CN 113822943A
- Authority
- CN
- China
- Prior art keywords
- camera
- coordinates
- determining
- coordinate system
- error value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000006243 chemical reaction Methods 0.000 claims description 106
- 238000005096 rolling process Methods 0.000 claims description 9
- 230000009466 transformation Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 18
- 238000013519 translation Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 9
- 239000011159 matrix material Substances 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G06T7/85—Stereo camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Studio Devices (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of camera calibration, and discloses a method, a device and a system for calibrating external parameters of a camera and a storage medium. The external reference calibration method specifically comprises the following steps of obtaining initial external reference, a first position coordinate set and a second position coordinate set of a polygonal road object at the same moment; the first set of location coordinates comprises coordinates of a plurality of reference points in a world coordinate system; the second set of position coordinates comprises coordinates in the camera pixel coordinate system of the plurality of reference points; a plurality of reference points correspond to a plurality of vertexes of the polygonal road object; the polygonal road object is a road object determined during vehicle running; determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set; and determining the external parameters of the camera according to the initial external parameters and the angle error value. The external reference calibration method has the characteristics of dynamic calibration, high calibration efficiency and high flexibility.
Description
Technical Field
The present invention relates to the field of camera calibration technologies, and in particular, to a method, an apparatus, a system, and a storage medium for calibrating external parameters of a camera.
Background
Due to the installation deviation of the internal devices of the camera, the camera needs to be calibrated before being used, so that the accuracy of the shot content is ensured; the camera calibration parameters determine the correspondence between the spatial points and the image points on the image plane. Generally, camera parameters are divided into internal parameters and external parameters, the internal parameters are parameters of the camera, and the external parameters are pose states of the camera relative to a reference coordinate system, such as a roll angle, a pitch angle, a yaw angle and the like.
In the prior art, when the camera is calibrated, a specially-made calibration board needs to be utilized, and a special site needs to be arranged, so that the camera calibration system has the defects of large occupied calibration site and poor flexibility.
Disclosure of Invention
The invention aims to solve the technical problems of large occupation of an external reference calibration field and poor flexibility.
In order to solve the above technical problem, the present application discloses, in one aspect, a method for calibrating external parameters of a camera, including the steps of:
acquiring a first position coordinate set and a second position coordinate set of a polygonal road object under the initial external reference and the same moment; the first set of location coordinates includes coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates is acquired based on the camera, the second set of position coordinates including coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to a vertex; the polygonal road object is a road object determined during vehicle running;
determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set;
and determining the external parameters of the camera according to the initial external parameters and the angle error value.
Optionally, the external reference comprises a rotary external reference;
the initial external reference comprises an initial rotating external reference;
the determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set includes:
acquiring a first conversion rule; the first transformation rule is determined based on the initial external parameters and the camera internal parameters;
based on the first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain a first image coordinate set;
acquiring a second conversion rule;
based on the second conversion rule, converting the coordinates of each reference point in the camera pixel coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain a second image coordinate set;
and determining the angle error value of the rotating external parameter according to the first image coordinate set and the second image coordinate set.
Optionally, the rotating external parameters comprise a rolling external parameter, a pitching external parameter and a yawing external parameter;
the determining an angle error value of the rotating external reference according to the first image coordinate set and the second image coordinate set includes:
determining a rolling angle error value of the rolling external parameter based on the first image coordinate set and the second image coordinate set;
determining first image coordinates of the central points corresponding to the multiple reference points in a camera image coordinate system according to the first image coordinate set;
determining second image coordinates of the central points corresponding to the multiple reference points in a camera image coordinate system according to the second image coordinate set;
determining a pitching angle error value of the pitching external reference and a yawing angle error value of the yawing external reference according to the first image coordinate and the second image coordinate;
an angle error value for the rotational external reference is determined based on the roll angle error value, the pitch angle error value, and the yaw angle error value.
Optionally, the obtaining the first conversion rule includes:
acquiring a third conversion rule for converting the world coordinate system into a camera three-dimensional coordinate system;
acquiring a fourth conversion rule for converting the camera three-dimensional coordinate system into the camera image coordinate system;
determining the first conversion rule based on the third conversion rule and the fourth conversion rule;
the determining, according to the first image coordinate set, first image coordinates of the center point corresponding to the plurality of reference points in a camera image coordinate system includes:
determining an updated third conversion rule based on the roll angle error value, the initial external parameters and the third conversion rule;
determining an updated first conversion rule based on the updated third conversion rule and the fourth conversion rule;
based on the updated first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain an updated first image coordinate set;
and determining the updated first image coordinates of the central points corresponding to the multiple reference points in the camera image coordinate system according to the updated first image coordinate set.
Optionally, the determining a pitch angle error value of the pitch external parameter and a yaw angle error value of the yaw external parameter according to the first image coordinate and the second image coordinate includes:
based on the fourth conversion rule, converting the updated first image coordinate of the central point in the camera image coordinate system into a first three-dimensional coordinate of the central point in the camera three-dimensional coordinate system;
converting the second image coordinate of the central point in the camera image coordinate system into a second three-dimensional coordinate of the central point in the camera three-dimensional coordinate system based on the fourth conversion rule;
determining the yaw angle error value according to the first three-dimensional coordinate and the second three-dimensional coordinate;
determining and updating a third conversion rule based on the rolling angle error value, the yawing angle error value, the initial external parameter and the third conversion rule;
determining a re-updated first conversion rule based on the re-updated third conversion rule and the fourth conversion rule;
based on the re-updating first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain a re-updating first image coordinate set;
determining a re-updated first image coordinate of the central point corresponding to the plurality of reference points in the camera image coordinate system according to the re-updated first image coordinate set;
based on the fourth conversion rule, converting the re-updated first image coordinate of the central point in the camera image coordinate system into an updated first three-dimensional coordinate of the central point in the camera three-dimensional coordinate system;
and determining the pitch angle error value according to the updated first three-dimensional coordinate and the second three-dimensional coordinate.
Optionally, the initial external parameter further comprises a translational external parameter;
the method for acquiring the first position coordinate set and the second position coordinate set of the polygonal road object with the initial external reference and at the same moment comprises the following steps:
acquiring high-precision map information within a preset range of the vehicle;
acquiring the first position coordinate set and the coordinates of the inertial sensor in a world coordinate system from the high-precision map information;
acquiring relative position information between the inertial sensor and the camera;
determining the coordinates of the camera in a world coordinate system based on the coordinates of the inertial sensor in the world coordinate system and the relative position information;
determining the translational external reference based on the coordinates of the camera in the world coordinate system and the first position coordinate set;
acquiring initial rotating external parameters;
determining the initial external parameters based on the initial rotation external parameters and the translation external parameters;
acquiring the second position coordinate set; the time of acquiring the high-precision map information is the same as the time of acquiring the second position coordinate set.
Optionally, the determining an angle error value of the rotating external reference according to the first image coordinate set and the second image coordinate set includes:
determining an error value set according to the first image coordinate set and the second image coordinate set; the set of error values includes an error value between the first image coordinate and the second image coordinate of each reference point;
and if the error value of each reference point in the error value set is greater than a preset threshold value, determining the angle error value of the rotating external reference according to the first image coordinate set and the second image coordinate set.
The present application also discloses in another aspect an external reference calibration apparatus for a camera, comprising:
the parameter acquisition module is used for acquiring a first position coordinate set and a second position coordinate set of the polygonal road object under the initial external parameters and the same moment; the first set of location coordinates includes coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates is acquired based on the camera, the second set of position coordinates including coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to a vertex; the polygonal road object is a road object determined during vehicle running;
an error value determining module, configured to determine an angle error value of the rotating external reference according to the initial external reference, the first position coordinate set, and the second position coordinate set;
and the external parameter determining module is used for determining the external parameters of the camera according to the initial external parameters and the angle error value.
The application also discloses an external reference calibration system of the camera in another aspect, which comprises the connected camera and a processor;
the camera is used for acquiring a second position coordinate set of the polygonal road object and sending the second position coordinate set to the processor;
the processor is used for acquiring a first position coordinate set and a second position coordinate set of the polygonal road object under the initial external reference and the same moment; the first set of location coordinates includes coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates includes coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to a vertex; the polygonal road object is a road object determined during vehicle running; determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set; and determining the external parameters of the camera according to the initial external parameters and the angle error value.
The present application discloses in another aspect a computer storage medium having at least one instruction or at least one program stored therein, the at least one instruction or at least one program being loaded and executed by a processor to implement the external reference calibration method described above.
By adopting the technical scheme, the external reference calibration method provided by the application has the following beneficial effects:
the external reference calibration method specifically comprises the following steps of obtaining initial external reference, a first position coordinate set and a second position coordinate set of a polygonal road object at the same moment; the first set of location coordinates includes coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates is acquired based on the camera, the second set of position coordinates including coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to a vertex; the polygonal road object is a road object determined during vehicle running; determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set; and determining the external parameters of the camera according to the initial external parameters and the angle error value. Therefore, the subsequent external reference calibration can be realized by taking the peak of the signal lamp as a reference point, the signal lamp is a common object in the driving process of the automobile, the dynamic calibration can be carried out on the vehicle in real time when the camera parameter of the vehicle deviates in the driving process, and the method has the advantages of small occupied calibration field, high calibration efficiency and high flexibility.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is an application scenario diagram provided in the present application;
FIG. 2 is a schematic flow chart of a first alternative external reference calibration method provided herein;
FIG. 3 is a schematic flow chart of a second alternative external reference calibration method provided herein;
FIG. 4 is a schematic diagram of the relationship between various coordinates;
FIG. 5 is a schematic diagram of a position relationship between a first alternative set of image coordinates and a reference point in the second set of image coordinates according to the present application;
FIG. 6 is a schematic flow chart of a third alternative external reference calibration method provided herein;
FIG. 7 is a schematic diagram of a second alternative set of image coordinates of the present application illustrating a positional relationship between reference points in the second set of image coordinates;
FIG. 8 is a schematic diagram of an alternative world coordinate system and three-dimensional camera coordinate system of the present application;
FIG. 9 is a schematic flow chart diagram illustrating a fourth alternative external reference calibration method provided herein;
FIG. 10 is a schematic diagram illustrating an alternative embodiment of the present application for updating the positional relationship between the reference points in the first image coordinate set and the second image coordinate set;
FIG. 11 is a schematic view of the position of the camera between the three dimensional coordinate system, the inertial sensor coordinate system, and the terrestrial coordinate system;
FIG. 12 is a schematic structural diagram of an alternative external reference calibration apparatus of the present application;
fig. 13 is a block diagram of a hardware structure of a server of a camera external reference calibration method according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, fig. 1 is an application scenario diagram provided by the present application. The scene comprises a vehicle 10 and an external reference calibration system 20; the external reference calibration system 20 is arranged in the vehicle 10, and the external reference calibration system 20 comprises a camera 201 and a processor 202; the camera 201 is connected to the processor 202; the camera 201 is configured to acquire a second set of position coordinates of the polygonal road object and send the second set of position coordinates to the processor 202; the processor 202 is configured to obtain a first position coordinate set and a second position coordinate set of the polygonal road object at the same time with initial external reference; the first set of location coordinates includes coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates includes coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to a vertex; the polygonal road object is a road object determined during vehicle running; determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set; and determining the external parameters of the camera according to the initial external parameters and the angle error value. Therefore, the convenience and efficiency of camera calibration on the vehicle can be effectively improved, external reference calibration on the camera can be completed only by a hardware system of the vehicle and a common signal lamp, the requirement on the field is low, and the cost of external reference calibration on the camera 201 is reduced.
The following describes a specific embodiment of an external reference calibration method for a camera according to the present application, and fig. 2 is a schematic flow chart of a first alternative external reference calibration method provided by the present application, and the present specification provides the method operation steps as in the embodiment or the flow chart, but more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 2, the method may include:
s201: acquiring a first position coordinate set and a second position coordinate set of a polygonal road object under the initial external reference and the same moment; the first set of location coordinates includes coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates is acquired based on the camera, the second set of position coordinates including coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to a vertex; the polygonal road object is a road object determined during vehicle driving.
Optionally, the polygonal road object may be a polygonal object such as a signal lamp, a guideboard, or a sign, so that the vertex of the polygonal object is used as a reference for subsequent calibration.
Optionally, the embodiment of the application is described by taking a signal lamp as an example, optionally, the signal lamp is rectangular and includes four vertexes, and then the number of corresponding reference points is 4; the 4 reference points are respectively a first reference point a1, a second reference point a2, a third reference point A3 and a fourth reference point a4, and they may be connected in sequence to form a rectangle; for ease of understanding, the four reference points corresponding to the first position coordinate set may be respectively denoted as a1, a2, A3, a 4; the four reference points corresponding to the second position coordinate set are respectively marked as a1 ', a 2', A3 'and a 4'.
It should be noted that the signal lamp can also be a square, trapezoid, rhombus, or other quadrangle; of course, the shape is not limited to a quadrangle, and may be a hexagon, an octagon, or the like, and all of the corresponding vertices may be set as reference points, or some of the vertices may be set as reference points, which is not limited herein.
Optionally, the external parameter comprises a rotational external parameter R and a translational external parameter T; the initial external reference comprises an initial rotating external reference R0And translating the external reference T.
Optionally, the external parameter for translation may be an initially set external parameter, or an external parameter for translation determined at the same time; optionally, the translation external parameter may be determined based on the following method: acquiring high-precision map information within a preset range of the vehicle; acquiring the first position coordinate set and the coordinates of the inertial sensor in a world coordinate system from the high-precision map information; acquiring relative position information between the inertial sensor and the camera; determining the coordinates of the camera in a world coordinate system based on the coordinates of the inertial sensor in the world coordinate system and the relative position information; the translational external reference is determined based on the coordinates of the camera in the world coordinate system and the first set of position coordinates. Alternatively, since the inertial sensor is generally mounted in the middle of the connecting shaft between the rear wheels, the position of the inertial sensor and the camera can be determined based on the vehicle coordinate system, so that the relative position information of the inertial sensor and the camera can be determined.
In order to avoid the change of the translational external parameter caused by the continuous change of the distance between the camera and the reference point in the running process of the vehicle, the calibration result is inaccurate; optionally, the time of obtaining the high-precision map information is the same as the time of obtaining the second position coordinate set, so that the calibration time can be effectively ensured.
S202: and determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set.
It should be noted that, if the translation external parameter in the initial external parameters is the initial translation external parameter, it is further necessary to determine the current translation external parameter based on the above method for determining the translation external parameter, and replace the initial translation external parameter with the current translation external parameter, so as to obtain the initial external parameter with the current translation external parameter.
Optionally, as shown in fig. 3, fig. 3 is a schematic flow chart of a second optional external reference calibration method provided in the present application. Step S202 may be specifically stated as:
s2021: acquiring a first conversion rule; the first transformation rule is determined based on the initial external parameters and the camera internal parameters.
In this embodiment, in order to better describe the coordinate transformation relationship under different coordinate systems referred to in this application, the transformation relationship between four coordinates will be briefly described below, and fig. 4 may be referred to, where fig. 4 is a schematic diagram of the relationship between various coordinates; the above or the following will be referred to the following four coordinate systems, namely the world coordinate system: xw, Yw, Zw; camera three-dimensional coordinate system: xc, Yc, Zc; camera image coordinate system: x, y; camera pixel coordinate system: u, v (reflecting the arrangement of pixels in a camera CCD chip); the distance between the camera three-dimensional coordinate system and the camera image coordinate system is a focal length f, namely the distance from a point O to a point Oc in the image; oc is the optical center of the lens, and the Z axis is the optical axis of the lens; o is1Being the origin of the camera pixel coordinates.
As can be seen from fig. 4, the relationship between the camera pixel coordinate system and the camera image coordinate system is as follows:
The relationship between the camera three-dimensional coordinate system and the camera image coordinate system is as follows:
The relationship between the camera pixel coordinate system and the camera three-dimensional coordinate system can be obtained by combining the formula (1) and the formula (2) as follows:
The conversion of the camera three-dimensional coordinate system to the world coordinate system can be realized by a rotation matrix R, namely the rotation external parameter; and a translation vector T, i.e. a homogeneous coordinate matrix composed of the above translation extrinsic parameters, which is expressed as follows:
then the relationship between the three-dimensional coordinate system of the camera and the world coordinate system is as follows according to formula (4):
then
I.e. the external reference of the camera, denoted as M.
As is clear from the above description, the third conversion rule referred to below may be formula (5); the fourth conversion rule referred to below may be formula (2); the above-described first conversion rule may be a calculation formula obtained by combining formula (5) and formula (2).
S2022: and converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system based on the first conversion rule to obtain a first image coordinate set.
Optionally, referring to fig. 5, fig. 5 is a schematic diagram of a position relationship between reference points in a first optional first image coordinate set and the second image coordinate set of the present application; the first image coordinate set comprises reference points a1, a2, A3, a 4.
S2023: and acquiring a second conversion rule.
Alternatively, the second conversion rule may be formula (1).
Optionally, the second conversion rule may be preset and stored in the processor; or data acquired from a server; and may also be calibrated.
S2024: and converting the coordinates of each reference point in the camera pixel coordinate system into the coordinates of each reference point in the camera image coordinate system based on the second conversion rule to obtain a second image coordinate set.
Alternatively, referring to fig. 5, the second image coordinate set includes reference points a1 ', a 2', A3 ', a 4'.
S2025: and determining the angle error value of the rotating external parameter according to the first image coordinate set and the second image coordinate set.
The calibration method aims to improve calibration efficiency and avoid repeated calibration on the basis of ensuring calibration accuracy. In an alternative embodiment, step S2025 can be specifically described as: determining an error value set according to the first image coordinate set and the second image coordinate set; the set of error values includes an error value between the first image coordinate and the second image coordinate of each reference point; and if the error value of each reference point in the error value set is greater than a preset threshold value, determining the angle error value of the rotating external reference according to the first image coordinate set and the second image coordinate set.
In an alternative embodiment, the rotating external parameters include a roll external parameter R1, a pitch external parameter R2, and a yaw external parameter R3, each corresponding to Z, X, Y.
In order to improve the flexibility of the calibration method, referring to fig. 6, fig. 6 is a schematic flow chart of a third alternative external reference calibration method provided by the present application. In an alternative embodiment, step S2025 may be specifically described as:
s601: and determining a roll angle error value of the roll external parameter based on the first image coordinate set and the second image coordinate set.
Alternatively, referring to fig. 5, in the above embodiment, the first image coordinate set includes a1(x1, y1), a2(x2, y2), A3(x3, y3), a4(x4, y 4); the second image coordinate set includes a1 '(x 1', y1 '), a 2' (x2 ', y 2'), A3 '(x 3', y3 '), a 4' (x4 ', y 4'); the A1 'A2' A3 'A4' are connected in sequence to form a rectangle, and a straight line formed by connecting A1 'A2' is parallel to the y axis; the straight line formed by the connection of A2 'A3' is parallel to the x axis; the angle error value Δ θ of the selected external reference may be a value calculated by any one of the following equations (6) to (8):
of course, if there are a plurality of sets of reference point data, the processing may be performed in the same manner as described above, and when the processing is performed based on the formula (8), the sum of the plurality of sets of reference point data may be averaged.
S602: and determining first image coordinates of the central points corresponding to the multiple reference points in a camera image coordinate system according to the first image coordinate set.
Optionally, referring to fig. 7, fig. 7 is a schematic diagram of a position relationship between a second optional first image coordinate set and a reference point in the second image coordinate set. The center point corresponding to the plurality of reference points determined by the first image coordinate set may be denoted as a 5.
In order to improve the accuracy of the calibrated rotating external parameter; in an alternative embodiment, step S602 may be specifically described as:
determining an updated third conversion rule based on the roll angle error value, the initial external parameters and the third conversion rule; determining an updated first conversion rule based on the updated third conversion rule and the fourth conversion rule; based on the updated first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain an updated first image coordinate set; and determining the updated first image coordinates of the central points corresponding to the multiple reference points in the camera image coordinate system according to the updated first image coordinate set. Subsequently, iterative determination of the pitch and yaw external parameters may continue based on the updated first image coordinates.
Optionally, the roll external parameter R1, the pitch external parameter R2 and the yaw external parameter R3 respectively satisfy the following formulas:
R＝(R2*R3*R1)T… … formula (12)
Wherein, theta-roll angle; an alpha-pitch angle; beta-yaw angle; and θ, α, β satisfy the following formulas, respectively:
θ＝θ0+ Δ θ … … publicationFormula (13) wherein θ0-an initial roll angle of the initial roll angle profile in the initial rotational profile; delta theta-roll angle error value.
α＝α0+ Δ α … … formula (14), where α0-an initial pitch angle of the initial pitch outer reference in the initial rotational outer reference; delta alpha-pitch angle error value.
β＝β0+ Δ β … … equation (15), where β0-an initial yaw angle of the initial yaw angle profile of the initial rotational profile; delta beta-yaw angle error value.
Optionally, referring to fig. 8, fig. 8 is a schematic diagram of a position relationship between an optional world coordinate system and a camera three-dimensional coordinate system according to the present application; as can be seen from the figure, the rotation parameters are (-90 degrees, 90 degrees and 0 degrees) when the rotation is carried out between the world coordinate system and the three-dimensional coordinate system of the camera according to the ZYX sequence, and the rotation parameters are corresponding to the Z axis outside the rolling, the Y axis outside the yawing and the X axis outside the pitching; i.e. the above-mentioned theta0＝-90°；β0＝90°；α0＝0°。
Based on the above description, the above-mentioned manner of determining to update the third conversion rule may be specifically set forth as: the roll angle θ can be obtained by substituting the calculated Δ θ into equation (13), and then the updated R1 is calculated by substituting θ into equation (9); the updated R1 is substituted into equation (12) to obtain the updated R, and the updated R is substituted into equation (5) to obtain the updated third conversion rule.
S603: and determining second image coordinates of the central points corresponding to the multiple reference points in the camera image coordinate system according to the second image coordinate set.
Optionally, referring to fig. 7, the central point corresponding to the plurality of reference points determined by the second image coordinate set may be denoted as a 5'.
S604: and determining a pitching angle error value of the pitching external reference and a yawing angle error value of the yawing external reference according to the first image coordinate and the second image coordinate.
In an alternative embodiment, referring to fig. 9, fig. 9 is a schematic flow chart of a fourth alternative external reference calibration method provided in the present application. Step S604 may be specifically stated as:
s901: and based on the fourth conversion rule, converting the updated first image coordinate of the central point in the camera image coordinate system into the first three-dimensional coordinate of the central point in the camera three-dimensional coordinate system.
Alternatively, the updated first image coordinates are substituted into equation (2), and the first three-dimensional coordinates can be obtained as (Xc5, Yc5, Zc 5).
S902: and converting the second image coordinate of the central point in the camera image coordinate system into a second three-dimensional coordinate of the central point in the camera three-dimensional coordinate system based on the fourth conversion rule.
Alternatively, the second image coordinates are substituted into formula (2), and a second three-dimensional coordinate, denoted as (Xc5 ', Yc5 ', Zc5 '), can be obtained.
S903: and determining the yaw angle error value according to the first three-dimensional coordinate and the second three-dimensional coordinate.
Optionally, if Zc is 1, Zc5 is Zc 5' is 1;
referring to fig. 4 and 7, it can be determined that:
the yaw angle error value Δ α is tan-1(Xc5’)-tan-1(Xc5) … … formula (16)
S904: and determining and updating a third conversion rule based on the rolling angle error value, the yawing angle error value, the initial external parameter and the third conversion rule.
Optionally, based on the above example, the re-updated third conversion rule may be calculated in the same manner as the calculation of the updated third conversion rule.
S905: determining to update the first conversion rule based on the updated third conversion rule and the fourth conversion rule.
Alternatively, the re-update first conversion rule may be determined using the above equation (2) and re-update equation (5).
S906: and based on the re-updated first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain a re-updated first image coordinate set.
S907: and determining the re-updated first image coordinates of the central points corresponding to the multiple reference points in the camera image coordinate system according to the re-updated first image coordinate set.
Optionally, referring to fig. 10, fig. 10 is a schematic diagram illustrating a position relationship between the reference points in the first image coordinate set and the second image coordinate set, which is optionally updated according to the present application. The center point corresponding to the plurality of reference points determined by updating the first image coordinate set may be designated as a5 ".
S908: and based on the fourth conversion rule, converting the re-updated first image coordinate of the central point in the camera image coordinate system into an updated first three-dimensional coordinate of the central point in the camera three-dimensional coordinate system.
Optionally, the updated first image coordinates are substituted into equation (2) to obtain first three-dimensional coordinates, which are (Xc5 ″, Yc5 ″, Zc5 ″).
S909: and determining the pitch angle error value according to the updated first three-dimensional coordinate and the second three-dimensional coordinate.
Optionally, if Zc is 1, Zc5 ″ ═ Zc5 ═ 1;
referring to fig. 4 and 10, it can be determined that:
error value of pitch angle Δ β ═ tan-1(Yc5’)-tan-1(Yc 5') … … formula (17)
S605: an angle error value for the rotational external reference is determined based on the roll angle error value, the pitch angle error value, and the yaw angle error value.
S203: and determining the external parameters of the camera according to the initial external parameters and the angle error value.
Optionally, when the world coordinate system in the first position coordinate set determined based on the high-precision map information is the world coordinate system in which the coordinates of the inertial sensor are located, the external parameters of the camera may be determined based on the steps S201 to S203, and the external parameters of the camera may actually be represented as a transformation matrix from the coordinate system of the inertial sensor to a three-dimensional coordinate system of the camera; optionally, when the two world coordinate systems are different, that is, rotation and translation transformation are required to transform the two coordinate systems into the same coordinate system, the step S203 may be specifically described as: determining a first external parameter of the camera according to the initial external parameter and the angle error value; acquiring a second external parameter; determining the external parameters of the camera according to the first external parameters and the second external parameters; the first external parameter is a conversion matrix from a coordinate system of the inertial sensor to a three-dimensional coordinate system of the camera; the second external reference is a conversion matrix from the terrestrial coordinate system to the coordinate system of the inertial sensor, referring to fig. 11, fig. 11 is a schematic position diagram between the camera three-dimensional coordinate system, the coordinate system of the inertial sensor, and the terrestrial coordinate system; wherein, the coordinate system of inertial sensor is: xw ', Yw ', Zw '; the earth coordinate system is as follows: xw, Yw, Zw. Alternatively, the second parameter may be determined directly based on the inertial sensor output, which may be a fixed value.
Alternatively, R may be obtained by substituting Δ θ, Δ α, and Δ β into equations (13), (14), and (15), respectively, then substituting the obtained θ, α, and β into equations (9), (10), and (11), respectively, to obtain R1, R2, and R3, and then substituting R1, R2, and R3 into equation (12); the external parameters can be determined based on formula (4).
In summary, in the process of determining the external parameters of the camera, Δ θ, Δ α, and Δ β need to be determined first; in an alternative embodiment, for example, the calibration result is solved in the manner of steps S801 to S809, that is, determined in an iterative updating manner, so that the accuracy of the calibration result can be further improved; of course, in order to improve the calibration efficiency, the two processes of steps S601 and S602-S604 may be operated synchronously, that is, Δ α and Δ β may be solved by directly substituting a5 and a 5' determined in steps S602 and S603 into equation (16) and equation (17), respectively; to further improve calibration efficiency, the process of determining Δ α and Δ β may optionally be performed synchronously.
Referring to fig. 12, fig. 12 is a schematic structural diagram of an alternative external reference calibration apparatus according to the present application. The present application also discloses in another aspect an external reference calibration apparatus for a camera, comprising:
a parameter obtaining module 1201, configured to obtain an initial external parameter and a first position coordinate set and a second position coordinate set of a polygonal road object at the same time; the first set of location coordinates includes coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates is acquired based on the camera, the second set of position coordinates including coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to a vertex; the polygonal road object is a road object determined during vehicle running;
an error value determining module 1202, configured to determine an angle error value of the rotating external reference according to the initial external reference, the first position coordinate set, and the second position coordinate set;
and an external reference determining module 1203, configured to determine an external reference of the camera according to the initial external reference and the angle error value.
In an alternative embodiment, the external reference comprises a rotary external reference; the initial external reference comprises an initial rotating external reference;
an error value determining module for obtaining a first conversion rule; the first transformation rule is determined based on the initial external parameters and the camera internal parameters; based on the first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain a first image coordinate set; acquiring a second conversion rule; based on the second conversion rule, converting the coordinates of each reference point in the camera pixel coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain a second image coordinate set; and determining the angle error value of the rotating external parameter according to the first image coordinate set and the second image coordinate set.
In an alternative embodiment, the rotating external parameters include a roll external parameter, a pitch external parameter, and a yaw external parameter; an error value determination module, configured to determine a roll angle error value of the roll external parameter based on the first image coordinate set and the second image coordinate set; determining first image coordinates of the central points corresponding to the multiple reference points in a camera image coordinate system according to the first image coordinate set; determining second image coordinates of the central points corresponding to the multiple reference points in a camera image coordinate system according to the second image coordinate set; determining a pitching angle error value of the pitching external reference and a yawing angle error value of the yawing external reference according to the first image coordinate and the second image coordinate; an angle error value for the rotational external reference is determined based on the roll angle error value, the pitch angle error value, and the yaw angle error value.
In an alternative embodiment, the error value determining module includes a rule obtaining submodule and a first image coordinate determining submodule, and the rule obtaining submodule is configured to obtain a third conversion rule for converting the world coordinate system into a camera three-dimensional coordinate system; acquiring a fourth conversion rule for converting the camera three-dimensional coordinate system into the camera image coordinate system; determining the first conversion rule based on the third conversion rule and the fourth conversion rule;
the first image coordinate determination submodule is used for determining and updating a third conversion rule based on the rolling angle error value, the initial external parameter and the third conversion rule; determining an updated first conversion rule based on the updated third conversion rule and the fourth conversion rule; based on the updated first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain an updated first image coordinate set; and determining the updated first image coordinates of the central points corresponding to the multiple reference points in the camera image coordinate system according to the updated first image coordinate set.
In an optional embodiment, the error value determining module is configured to convert the updated first image coordinate of the center point in the camera image coordinate system into the first three-dimensional coordinate of the center point in the camera three-dimensional coordinate system based on the fourth conversion rule; converting the second image coordinate of the central point in the camera image coordinate system into a second three-dimensional coordinate of the central point in the camera three-dimensional coordinate system based on the fourth conversion rule; determining the yaw angle error value according to the first three-dimensional coordinate and the second three-dimensional coordinate; determining and updating a third conversion rule based on the rolling angle error value, the yawing angle error value, the initial external parameter and the third conversion rule; determining a re-updated first conversion rule based on the re-updated third conversion rule and the fourth conversion rule; based on the re-updating first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain a re-updating first image coordinate set; determining a re-updated first image coordinate of the central point corresponding to the plurality of reference points in the camera image coordinate system according to the re-updated first image coordinate set; based on the fourth conversion rule, converting the re-updated first image coordinate of the central point in the camera image coordinate system into an updated first three-dimensional coordinate of the central point in the camera three-dimensional coordinate system; and determining the pitch angle error value according to the updated first three-dimensional coordinate and the second three-dimensional coordinate.
In an alternative embodiment, the initial external reference further comprises a translational external reference; the parameter acquisition module is used for acquiring high-precision map information within a preset range of the vehicle; acquiring the first position coordinate set and the coordinates of the inertial sensor in a world coordinate system from the high-precision map information; acquiring relative position information between the inertial sensor and the camera; determining the coordinates of the camera in a world coordinate system based on the coordinates of the inertial sensor in the world coordinate system and the relative position information; determining the translational external reference based on the coordinates of the camera in the world coordinate system and the first position coordinate set; acquiring initial rotating external parameters; determining the initial external parameters based on the initial rotation external parameters and the translation external parameters; acquiring the second position coordinate set; the time of acquiring the high-precision map information is the same as the time of acquiring the second position coordinate set.
The method provided by the embodiment of the application can be executed in a computer terminal, a server or a similar operation device. Taking the operation on the server as an example, fig. 13 is a hardware structure block diagram of the server of the camera external reference calibration method provided in the embodiment of the present application. As shown in fig. 13, the server 1300 may have a relatively large difference due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 1310 (the CPU 1310 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1330 for storing data, one or more storage media 1320 (e.g., one or more mass storage devices) for storing applications 1323 or data 1322. The memory 1330 and the storage medium 1320 may be, among other things, transient storage or persistent storage. The program stored in the storage medium 1320 may include one or more modules, each of which may include a series of instruction operations for the server. Further, the central processor 1310 may be configured to communicate with the storage medium 1320, and execute a series of instruction operations in the storage medium 1320 on the server 1300. The server 1300 may also include one or more power supplies 1360, one or more wired or wireless network interfaces 1350, one or more input-output interfaces 1340, and/or one or more operating systems 1321 such as Wi ndows Server, Mac OS XTM, Un i xTM, Li nuxTM, FreeBSDTM, etc.
Input/output interface 1340 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 1300. In one example, I/O interface 1340 includes a Network adapter (NIC) that may be coupled to other Network devices via a base station to communicate with the Internet. In one example, the input/output interface 1340 may be a radio Frequency (Rad i o Frequency, RF) module for communicating with the Internet via wireless.
It will be understood by those skilled in the art that the structure shown in fig. 13 is only an illustration and is not intended to limit the structure of the electronic device. For example, server 1300 may also include more or fewer components than shown in FIG. 13, or have a different configuration than shown in FIG. 13.
Embodiments of the present application further provide an electronic device, which includes a processor and a memory, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the external reference calibration method of the camera as described above.
Embodiments of the present application further provide a storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing an external reference calibration method of a camera in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the external reference calibration method of the camera.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. The external reference calibration method of the camera is characterized by comprising the following steps:
acquiring a first position coordinate set and a second position coordinate set of a polygonal road object under the initial external reference and the same moment; the first set of location coordinates comprises coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates is acquired based on the camera, the second set of position coordinates including coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to one vertex; the polygonal road object is a road object determined during vehicle running;
determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set;
and determining the external parameters of the camera according to the initial external parameters and the angle error value.
2. The external reference calibration method according to claim 1, wherein the external reference comprises a rotating external reference;
the initial external reference comprises an initial rotating external reference;
determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set, including:
acquiring a first conversion rule; the first transformation rule is determined based on the initial external parameters and camera internal parameters;
based on the first conversion rule, converting the coordinates of each reference point in a world coordinate system into the coordinates of each reference point in a camera image coordinate system to obtain a first image coordinate set;
acquiring a second conversion rule;
based on the second conversion rule, converting the coordinates of each reference point in the camera pixel coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain a second image coordinate set;
and determining an angle error value of the rotating external parameter according to the first image coordinate set and the second image coordinate set.
3. The external reference calibration method according to claim 2, wherein the rotating external reference comprises a roll external reference, a pitch external reference and a yaw external reference;
the determining an angle error value of the rotating external reference according to the first image coordinate set and the second image coordinate set includes:
determining a roll angle error value of the roll external parameter based on the first image coordinate set and the second image coordinate set;
determining first image coordinates of the central points corresponding to the multiple reference points in a camera image coordinate system according to the first image coordinate set;
determining second image coordinates of the central points corresponding to the multiple reference points in a camera image coordinate system according to the second image coordinate set;
determining a pitching angle error value of the pitching external reference and a yawing angle error value of the yawing external reference according to the first image coordinate and the second image coordinate;
determining an angle error value for the rotational external reference based on the roll angle error value, the pitch angle error value, and the yaw angle error value.
4. The external reference calibration method according to claim 3, wherein the obtaining a first conversion rule comprises:
acquiring a third conversion rule for converting the world coordinate system into a camera three-dimensional coordinate system;
acquiring a fourth conversion rule for converting the camera three-dimensional coordinate system into the camera image coordinate system;
determining the first conversion rule based on the third conversion rule and the fourth conversion rule;
the determining, according to the first image coordinate set, first image coordinates of center points corresponding to the multiple reference points in a camera image coordinate system includes:
determining an updated third conversion rule based on the roll angle error value, the initial external parameters, and the third conversion rule;
determining an updated first conversion rule based on the updated third conversion rule and the fourth conversion rule;
based on the updated first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain an updated first image coordinate set;
and determining the updated first image coordinates of the central points corresponding to the multiple reference points in the camera image coordinate system according to the updated first image coordinate set.
5. The method of claim 4, wherein determining a pitch angle error value of the pitch external reference and a yaw angle error value of the yaw external reference from the first image coordinate and the second image coordinate comprises:
based on the fourth conversion rule, converting the updated first image coordinate of the central point in the camera image coordinate system into a first three-dimensional coordinate of the central point in the camera three-dimensional coordinate system;
converting the second image coordinate of the central point under the camera image coordinate system into a second three-dimensional coordinate of the central point under the camera three-dimensional coordinate system based on the fourth conversion rule;
determining the yaw angle error value according to the first three-dimensional coordinate and the second three-dimensional coordinate;
determining and updating a third conversion rule based on the rolling angle error value, the yaw angle error value, the initial external parameters and the third conversion rule;
determining a re-updated first conversion rule based on the re-updated third conversion rule and the fourth conversion rule;
based on the re-updating first conversion rule, converting the coordinates of each reference point in the world coordinate system into the coordinates of each reference point in the camera image coordinate system to obtain a re-updating first image coordinate set;
determining a re-updated first image coordinate of the central point corresponding to the multiple reference points in a camera image coordinate system according to the re-updated first image coordinate set;
based on the fourth conversion rule, converting the re-updated first image coordinate of the central point in the camera image coordinate system into an updated first three-dimensional coordinate of the central point in the camera three-dimensional coordinate system;
and determining the pitch angle error value according to the updated first three-dimensional coordinate and the second three-dimensional coordinate.
6. The external reference calibration method according to claim 2, wherein the initial external reference further comprises a translational external reference;
the acquiring of the first position coordinate set and the second position coordinate set of the initial external reference and the polygonal road object at the same moment includes:
acquiring high-precision map information within the preset range of the vehicle;
acquiring the first position coordinate set and coordinates of the inertial sensor in a world coordinate system from the high-precision map information;
acquiring relative position information between the inertial sensor and the camera;
determining coordinates of the camera in a world coordinate system based on the coordinates of the inertial sensor in the world coordinate system and the relative position information;
determining the translational external reference based on the coordinates of the camera in the world coordinate system and the first position coordinate set;
acquiring initial rotating external parameters;
determining the initial external parameters based on the initial rotational external parameters and the translational external parameters;
acquiring the second position coordinate set; the time of acquiring the high-precision map information is the same as the time of acquiring the second position coordinate set.
7. The method of claim 2, wherein determining an angular error value of the rotating external reference from the first set of image coordinates and the second set of image coordinates comprises:
determining an error value set according to the first image coordinate set and the second image coordinate set; the set of error values comprises an error value between the first image coordinate and the second image coordinate of each reference point;
and if the error value of each reference point in the error value set is greater than a preset threshold value, determining the angle error value of the rotating external reference according to the first image coordinate set and the second image coordinate set.
8. An external reference calibration device of a camera is characterized by comprising:
the parameter acquisition module is used for acquiring a first position coordinate set and a second position coordinate set of the polygonal road object under the initial external parameters and the same moment; the first set of location coordinates comprises coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates is acquired based on the camera, the second set of position coordinates including coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to one vertex; the polygonal road object is a road object determined during vehicle running;
an error value determining module, configured to determine an angle error value of the rotating external reference according to the initial external reference, the first position coordinate set, and the second position coordinate set;
and the external parameter determining module is used for determining the external parameters of the camera according to the initial external parameters and the angle error value.
9. The external reference calibration system of the camera is characterized by comprising the connected camera and a processor;
the camera is used for acquiring a second position coordinate set of the polygonal road object and sending the second position coordinate set to the processor;
the processor is used for acquiring initial external parameters and a first position coordinate set and a second position coordinate set of the polygonal road object at the same moment; the first set of location coordinates comprises coordinates of each of a plurality of reference points in a world coordinate system; the second set of position coordinates comprises coordinates of each of the plurality of reference points in a camera pixel coordinate system; the polygonal road object comprises a plurality of vertices; each reference point corresponds to one vertex; the polygonal road object is a road object determined during vehicle running; determining an angle error value of the rotating external parameter according to the initial external parameter, the first position coordinate set and the second position coordinate set; and determining the external parameters of the camera according to the initial external parameters and the angle error value.
10. A computer storage medium, wherein at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the extrinsic calibration method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111092360.5A CN113822943B (en) | 2021-09-17 | External parameter calibration method, device and system of camera and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111092360.5A CN113822943B (en) | 2021-09-17 | External parameter calibration method, device and system of camera and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113822943A true CN113822943A (en) | 2021-12-21 |
| CN113822943B CN113822943B (en) | 2024-06-11 |
Family
ID=
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114419165A (en) * | 2022-01-17 | 2022-04-29 | 北京百度网讯科技有限公司 | Camera external parameter correcting method, device, electronic equipment and storage medium |
| CN114963025A (en) * | 2022-04-19 | 2022-08-30 | 深圳市城市公共安全技术研究院有限公司 | Leakage point positioning method and device, electronic equipment and readable storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108629811A (en) * | 2018-04-04 | 2018-10-09 | 广州市安晓科技有限责任公司 | A kind of automobile looks around the automatic calibration method and system of panorama |
| CN110146869A (en) * | 2019-05-21 | 2019-08-20 | 北京百度网讯科技有限公司 | Determine method, apparatus, electronic equipment and the storage medium of coordinate system conversion parameter |
| CN110378965A (en) * | 2019-05-21 | 2019-10-25 | 北京百度网讯科技有限公司 | Determine the method, apparatus, equipment and storage medium of coordinate system conversion parameter |
| CN110766761A (en) * | 2019-10-21 | 2020-02-07 | 北京百度网讯科技有限公司 | Method, device, equipment and storage medium for camera calibration |
| US20200226789A1 (en) * | 2019-01-14 | 2020-07-16 | Beijing Boe Optoelectronics Technology Co., Ltd. | Camera calibration plate, camera calibration method and device, and image acquisition system |
| CN112308930A (en) * | 2020-10-30 | 2021-02-02 | 杭州海康威视数字技术股份有限公司 | Camera external parameter calibration method, system and device |
| CN112562014A (en) * | 2020-12-29 | 2021-03-26 | 纵目科技（上海）股份有限公司 | Camera calibration method, system, medium and device |
| WO2021073656A1 (en) * | 2019-10-16 | 2021-04-22 | 上海商汤临港智能科技有限公司 | Method for automatically labeling image data and device |
| CN112785655A (en) * | 2021-01-28 | 2021-05-11 | 中汽创智科技有限公司 | Method, device and equipment for automatically calibrating external parameters of all-round camera based on lane line detection and computer storage medium |
| CN113052915A (en) * | 2021-03-04 | 2021-06-29 | 深圳市瑞立视多媒体科技有限公司 | Camera external parameter calibration method and device, augmented reality system, terminal device and storage medium |
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108629811A (en) * | 2018-04-04 | 2018-10-09 | 广州市安晓科技有限责任公司 | A kind of automobile looks around the automatic calibration method and system of panorama |
| US20200226789A1 (en) * | 2019-01-14 | 2020-07-16 | Beijing Boe Optoelectronics Technology Co., Ltd. | Camera calibration plate, camera calibration method and device, and image acquisition system |
| CN110146869A (en) * | 2019-05-21 | 2019-08-20 | 北京百度网讯科技有限公司 | Determine method, apparatus, electronic equipment and the storage medium of coordinate system conversion parameter |
| CN110378965A (en) * | 2019-05-21 | 2019-10-25 | 北京百度网讯科技有限公司 | Determine the method, apparatus, equipment and storage medium of coordinate system conversion parameter |
| WO2021073656A1 (en) * | 2019-10-16 | 2021-04-22 | 上海商汤临港智能科技有限公司 | Method for automatically labeling image data and device |
| CN110766761A (en) * | 2019-10-21 | 2020-02-07 | 北京百度网讯科技有限公司 | Method, device, equipment and storage medium for camera calibration |
| CN112308930A (en) * | 2020-10-30 | 2021-02-02 | 杭州海康威视数字技术股份有限公司 | Camera external parameter calibration method, system and device |
| CN112562014A (en) * | 2020-12-29 | 2021-03-26 | 纵目科技（上海）股份有限公司 | Camera calibration method, system, medium and device |
| CN112785655A (en) * | 2021-01-28 | 2021-05-11 | 中汽创智科技有限公司 | Method, device and equipment for automatically calibrating external parameters of all-round camera based on lane line detection and computer storage medium |
| CN113052915A (en) * | 2021-03-04 | 2021-06-29 | 深圳市瑞立视多媒体科技有限公司 | Camera external parameter calibration method and device, augmented reality system, terminal device and storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 王卓君 等: "一种相机标定方法的探讨", 《机电工程技术》, vol. 44, no. 12, pages 108 - 110 * |
| 王卫文 等: "一种新的相机外参数标定方法", 《半导体光电》, vol. 35, no. 06, pages 186 - 189 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114419165A (en) * | 2022-01-17 | 2022-04-29 | 北京百度网讯科技有限公司 | Camera external parameter correcting method, device, electronic equipment and storage medium |
| CN114419165B (en) * | 2022-01-17 | 2024-01-12 | 北京百度网讯科技有限公司 | Camera external parameter correction method, camera external parameter correction device, electronic equipment and storage medium |
| CN114963025A (en) * | 2022-04-19 | 2022-08-30 | 深圳市城市公共安全技术研究院有限公司 | Leakage point positioning method and device, electronic equipment and readable storage medium |
| CN114963025B (en) * | 2022-04-19 | 2024-03-26 | 深圳市城市公共安全技术研究院有限公司 | Leakage point positioning method and device, electronic equipment and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109493407B (en) | Method and device for realizing laser point cloud densification and computer equipment | |
| CN108629831B (en) | Three-dimensional human body reconstruction method and system based on parameterized human body template and inertial measurement | |
| CN109559349B (en) | Method and device for calibration | |
| CN109946680B (en) | External parameter calibration method and device of detection system, storage medium and calibration system | |
| CN111383279B (en) | External parameter calibration method and device and electronic equipment | |
| KR102498439B1 (en) | Method, apparatus, system, and storage medium for calibrating exterior parameter of on-board camera | |
| JP6505939B1 (en) | Method of identifying charging stand, device, robot, and computer readable storage medium | |
| CN111680685B (en) | Positioning method and device based on image, electronic equipment and storage medium | |
| CN111754579A (en) | Method and device for determining external parameters of multi-view camera | |
| CN109366472B (en) | Method and device for placing articles by robot, computer equipment and storage medium | |
| CN110426057B (en) | Magnetometer data calibration method and magnetometer data calibration device | |
| CN105118086A (en) | 3D point cloud data registering method and system in 3D-AOI device | |
| CN113012226A (en) | Camera pose estimation method and device, electronic equipment and computer storage medium | |
| CN113029128A (en) | Visual navigation method and related device, mobile terminal and storage medium | |
| CN115546313A (en) | Vehicle-mounted camera self-calibration method and device, electronic equipment and storage medium | |
| CN113658262A (en) | Camera external parameter calibration method, device, system and storage medium | |
| CN113313772B (en) | Calibration method, calibration device, electronic equipment and storage medium | |
| CN112233241B (en) | Method and device for generating height map of virtual scene terrain and storage medium | |
| CN110310243A (en) | A kind of method for correcting image that unmanned plane is photogrammetric, system and storage medium | |
| CN113822943A (en) | External parameter calibration method, device and system of camera and storage medium | |
| CN113822943B (en) | External parameter calibration method, device and system of camera and storage medium | |
| CN115294277B (en) | Three-dimensional reconstruction method and device of object, electronic equipment and storage medium | |
| CN117522963A (en) | Corner positioning method and device of checkerboard, storage medium and electronic equipment | |
| CN115471551B (en) | Coordinate acquisition method and device for dispensing point positions, computer equipment and readable storage medium | |
| CN102509324A (en) | Rotational stereovision rotary axis determining method based on quadratic curve fitting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |