CN116258772A

CN116258772A - Calibration method, calibration device, electronic equipment and storage medium

Info

Publication number: CN116258772A
Application number: CN202211555545.XA
Authority: CN
Inventors: 马里; 金良伟; 邓敏杰; 徐海清
Original assignee: Hozon New Energy Automobile Co Ltd
Current assignee: Hozon New Energy Automobile Co Ltd
Priority date: 2022-12-06
Filing date: 2022-12-06
Publication date: 2023-06-13

Abstract

The embodiment of the invention provides a calibration method and a calibration device, wherein the method comprises the following steps: the method comprises the steps of respectively carrying out projection display on a first calibration image at multiple heights, shooting at least one preset viewpoint according to each height to obtain a first virtual image corresponding to the first calibration image, determining distortion calibration parameters according to the first calibration image and the corresponding first virtual image according to each preset viewpoint, and sending the distortion calibration parameters to a projection display, so that distortion of the image to be projected and displayed is calibrated at multiple viewpoints at multiple heights, the problem that distortion such as distortion deformation occurs in the virtual image to be projected and displayed due to eye position difference of drivers with different heights is solved, and the visual effect of projection display is improved.

Description

Calibration method, calibration device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to a calibration method, a calibration device, an electronic device, and a storage medium.

Background

The AR-HUD (Augmented Reality-Head Up Display) technology reasonably superimposes and displays information such as vehicle speed, navigation, state of a driving assistance system, environmental conditions and the like in a visual field area of a driver by using an augmented reality technology, provides more visual and vivid information for the driver, enhances the environmental perception capability of the driver and improves driving safety. The accuracy of the AR-HUD calibration becomes critical to the application effect.

The current calibration system of the whole car delivery to the AR-HUD is calibrated based on a single viewpoint. The driver can automatically restore the image by seeing the virtual image projected by the AR-HUD from different positions so as to obtain a real imaging effect. However, due to the design and manufacturing errors of the optical system of the AR-HUD and the unbalanced curvature of the curved surface of the windshield, the image projected onto the windshield of the automobile by the AR-HUD is distorted, and the virtual image is distorted differently along with the change of the eye position of the driver.

Disclosure of Invention

The embodiment of the invention aims to provide a calibration method, a calibration device, electronic equipment and a storage medium, so that the problem that a virtual image displayed by projection generates different distortions and the like along with the change of eye positions is solved.

In order to solve the above-mentioned problems, in a first aspect of the present invention, there is provided a calibration method, including:

respectively carrying out projection display on the first calibration image at multiple heights;

shooting at least one preset viewpoint for each height to obtain a first virtual image corresponding to the first calibration image;

determining distortion calibration parameters according to the first calibration image and the corresponding first virtual image aiming at each preset viewpoint;

And sending the distortion calibration parameters to a projection display.

Optionally, before the projecting and displaying the first calibration image at the plurality of heights, the method further includes:

detecting height information of a plurality of wheel rims of the vehicle on the calibration rack;

determining attitude information of the vehicle according to the height information of the wheel rims;

and adjusting the gesture of the vehicle, the position of the calibration target and the position of the test camera for shooting according to the gesture information.

projecting and displaying the second calibration image with a preset standard height;

shooting at a preset standard viewpoint to obtain a second virtual image corresponding to the second calibration image;

determining a standard position error according to the height difference between the center of the second calibration image and the center of the second virtual image and the linear distance between the preset standard viewpoint and the center of the second virtual image;

and correcting the projection display according to the standard bit error if the standard bit error is not smaller than a preset error threshold.

and determining a left visual angle error according to the left-right difference between the center of the second calibration image and the center of the second virtual image and the straight line distance between the preset standard viewpoint and the center of the second virtual image.

Optionally, the second calibration image includes a plurality of points, and before the second calibration image is projected to display the first calibration image at the plurality of heights, the method further includes:

respectively carrying out projection display on the second calibration image according to a preset first height and a preset second height; the preset first height corresponds to a preset first viewpoint, and the preset second height corresponds to a preset second viewpoint;

shooting at the preset first viewpoint and the preset second viewpoint respectively to obtain a first viewpoint virtual image and a second viewpoint virtual image corresponding to the second calibration image; wherein the preset first viewpoint is higher than the preset standard viewpoint, and the preset standard viewpoint is higher than the preset second viewpoint;

calculating a first ghost amount between each point in the second calibration image and a corresponding point in the second virtual image, a second ghost amount between each point in the second calibration image and a corresponding point in the first viewpoint virtual image, and a third ghost amount between each point in the second calibration image and a corresponding point in the second viewpoint virtual image;

And calculating the average value of the first ghost amount, the second ghost amount and the third ghost amount as a ghost error.

In a second aspect of the present invention, there is provided a calibration device comprising:

the first projection display module is used for respectively carrying out projection display on the first calibration image at various heights;

the first shooting module is used for shooting at least one preset viewpoint for each height to obtain a first virtual image corresponding to the first calibration image;

the parameter determining module is used for determining distortion calibration parameters according to the first calibration image and the corresponding first virtual image aiming at each preset viewpoint;

and the parameter sending module is used for sending the distortion calibration parameters to a projection display.

Optionally, the apparatus further comprises:

the height detection module is used for detecting the height information of a plurality of wheel rims of the vehicle on the calibration rack before the first calibration image is respectively projected and displayed at a plurality of heights;

the gesture determining module is used for determining gesture information of the vehicle according to the height information of the wheel arch;

and the adjusting module is used for adjusting the gesture of the vehicle, the position of the calibration target and the position of the test camera used for shooting according to the gesture information.

Optionally, the apparatus further comprises:

the second projection display module is used for carrying out projection display on the second calibration image with a preset standard height before the first calibration image is respectively subjected to projection display with multiple heights;

the second shooting module is used for shooting at a preset standard viewpoint to obtain a second virtual image corresponding to the second calibration image;

the standard bit error determining module is used for determining a standard bit error according to the height difference between the center of the second calibration image and the center of the second virtual image and the linear distance between the preset standard viewpoint and the center of the second virtual image;

and the correction module is used for correcting the projection display according to the standard bit error if the standard bit error is not smaller than a preset error threshold value.

Optionally, the apparatus further comprises:

the left visual angle error determining module is used for determining left visual angle errors according to left-right difference between the center of the second calibration image and the center of the second virtual image and the straight line distance between the preset standard viewpoint and the center of the second virtual image before the first calibration image is projected and displayed at various heights.

Optionally, the second calibration image comprises a plurality of points, and the apparatus further comprises:

the third projection display module is used for respectively carrying out projection display on the second calibration image at a preset first height and a preset second height before the second calibration image is respectively subjected to projection display on the first calibration image at a plurality of heights; the preset first height corresponds to a preset first viewpoint, and the preset second height corresponds to a preset second viewpoint;

the third shooting module is used for shooting at the preset first viewpoint and the preset second viewpoint respectively to obtain a first viewpoint virtual image and a second viewpoint virtual image corresponding to the second calibration image; wherein the preset first viewpoint is higher than the preset standard viewpoint, and the preset standard viewpoint is higher than the preset second viewpoint;

the ghost calculation module is used for calculating a first ghost amount between each point in the second calibration image and a corresponding point in the second virtual image, a second ghost amount between each point in the second calibration image and a corresponding point in the first viewpoint virtual image, and a third ghost amount between each point in the second calibration image and a corresponding point in the second viewpoint virtual image;

And the ghost error determining module is used for calculating the average value of the first ghost amount, the second ghost amount and the third ghost amount as a ghost error.

In yet another aspect of the present invention, there is also provided an electronic device including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory perform communication with each other through the communication bus;

a memory for storing a computer program;

and a processor for implementing any of the above-described method steps when executing a program stored on the memory.

In yet another aspect of the present invention, there is also provided a computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform any of the methods described above.

In yet another aspect of the invention there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the methods described above.

The embodiment of the invention provides a calibration method, a device, electronic equipment and a storage medium, which are characterized in that a first calibration image is respectively projected and displayed at multiple heights, shooting is respectively carried out at least one preset view point aiming at each height to obtain a first virtual image corresponding to the first calibration image, distortion calibration parameters are determined according to the first calibration image and the corresponding first virtual image aiming at each preset view point, and the distortion calibration parameters are sent to a projection display, so that distortion of the image displayed by projection is respectively calibrated at multiple view points at multiple heights, the distortion problem that the virtual image displayed by projection is distorted and deformed due to eye position differences of drivers with different heights is solved, and the visual effect of projection display is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

FIG. 1 shows a flow chart of steps of an embodiment of a calibration method of the present invention;

FIG. 2 shows a schematic diagram of a projected display of a first calibration image;

FIG. 3 shows a schematic diagram of a calibration procedure;

FIG. 4 shows a schematic diagram of a lattice diagram for distortion correction initiation detection;

FIG. 5 shows a schematic diagram of a projected display of a second calibration image;

FIG. 6 shows a schematic diagram of a standard bit error;

fig. 7 shows a view point position schematic diagram;

FIG. 8 shows a flow chart of steps of an embodiment of a calibration method;

FIG. 9 shows a schematic top view of a calibration rig;

FIG. 10 shows a schematic top view of a test vehicle centering bench;

FIG. 11 shows a side view schematic of an in-vehicle wheel arch inspection instrument;

FIG. 12 shows a schematic of a calibration target;

FIG. 13 shows a schematic view of an eye camera and a helper robot;

FIG. 14 shows a block diagram of an embodiment of a calibration device of the present invention;

fig. 15 shows a schematic diagram of an electronic device according to an embodiment of the invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

Referring to fig. 1, a flowchart illustrating steps of an embodiment of a calibration method according to the present invention may specifically include the following steps:

and step 101, respectively carrying out projection display on the first calibration image at multiple heights.

In an embodiment of the invention, the projection display is a display technology, for example, an in-vehicle AR-HUD technology. The first calibration image refers to an image used to calibrate the projection display. Projection displays may be projected at a variety of heights to accommodate viewers of different heights.

In the embodiment of the present invention, the first calibration image may be a dot matrix image, in which there may be a plurality of dots. For example, the first calibration image is an 11×33 dot matrix, and as shown in fig. 2, the first calibration image is projected and displayed at 8 high gear positions (0, 4, 7, 10, 12, 15, 17, and 20), respectively.

And 102, shooting at least one preset viewpoint for each height to obtain a first virtual image corresponding to the first calibration image.

In the embodiment of the present invention, the preset viewpoint is a viewpoint preset for each height, and is determined, for example, from a plurality of possible positions of eyes of a driver of the vehicle. A height may correspond to one or more preset viewpoints. Shooting the position of the projection display at a preset viewpoint, and recording the shot image as a first virtual image. And obtaining a first virtual image from each preset viewpoint.

For example, coordinates of 3 preset viewpoints are set for each height gear, and the robot controls the detection camera to move to each preset viewpoint for shooting, so that 24 first virtual image images are obtained. The detection camera firstly collects the position of an image projected and displayed by the AR-HUD, and then the detection camera adopts a lower visual angle of 2.5 degrees to shoot. The manipulator assisted at this time needs to be able to perform the above-mentioned coordinate displacement movements (6 degrees of freedom, a manipulator with an arm spread of 90cm is recommended).

And step 103, determining distortion calibration parameters according to the first calibration image and the corresponding first virtual image aiming at each preset viewpoint.

In an embodiment of the invention, the first calibration image is image data used for projection display, and for each height, the position at which the image content in the first calibration image should be projected for display is known to be determined. The corresponding image content in the corresponding captured first virtual image may have been distorted, such as distorted. And aiming at each preset viewpoint, carrying out corresponding calculation according to the first calibration image and the corresponding first virtual image, thereby outputting distortion calibration parameters corresponding to each preset viewpoint.

In an embodiment of the present invention, the distortion calibration parameter is a parameter describing the offset of the plurality of positions on the first calibration image. For example, the 24 first virtual images are transferred into a predetermined distortion algorithm library according to a preset sequence. The calibration parameters of the calibration link of the AR-HUD are calculated by using an original image (namely a first calibration image) displayed by projection and a first virtual image captured by a test camera under a calibration viewpoint (namely a preset viewpoint), so that the two images are required to be consistent, namely the first virtual image input into an algorithm library is consistent with the first calibration image. And calculating the offset and the offset direction between each point in the first calibration image and the corresponding point in the first virtual image aiming at each preset viewpoint, wherein the distortion calibration parameters of each preset viewpoint comprise the offset and the offset direction of each point in the first calibration image.

And 104, transmitting the distortion calibration parameters to a projection display.

In an embodiment of the invention, a projection display refers to a device that projects a display, such as an AR-HUD controller on a vehicle. And transmitting the distortion calibration parameters to the projection display, so that the projection display can utilize the distortion calibration parameters to carry out projection display when the projection display is in subsequent projection display, thereby correcting the image displayed by the projection display and avoiding the distortion of the image displayed by the projection display.

For example, a schematic of the calibration procedure is shown in fig. 3. And sending detection for starting software distortion correction to a domain controller of the calibration system, and detecting the distortion of the HUD software after distortion correction by the equipment. Specifically, the geometric center position of the bitmap according to the standard height gear projection display is 0 point, as shown in fig. 4, the position of the theoretical point in the original image of the projection display is Pn, because the position of the distorted point is Vn after the distortion causes the offset, the ratio of the length of the line segment of VnPn to the length of the line segment of 0Pn is calculated, the maximum value of the 4 ratios is taken as the distortion rate, and the standard reasonable interval can be set according to the vehicle type, for example, set to 3%. If the distortion rate is less than 3%, ending the calibration, and if the distortion rate is not less than 3%, entering a distortion calibration flow. And sending an instruction to a domain controller, starting a HUD calibration mode, starting a calibration mode APP (application program) by the domain controller, sending a brightness adjustment instruction to the AR-HUD of the vehicle, and adjusting the brightness of the AR-HUD to a specified gear (a gear). And adjusting the height gear of the AR-HUD to a gear to be calibrated, moving the camera to a calibration viewpoint corresponding to the current height gear, and capturing AR-HUD projection images under 3 preset viewpoints under the height gear by using the camera to obtain a first virtual image. And (3) calling a production line calibration library, calculating distortion calibration parameters under each viewpoint, and if all the height gear positions to be calibrated and the calibration viewpoints are calibrated, finishing the distortion calibration parameters, and transmitting the distortion calibration parameters to an AR-HUD controller of the vehicle in an upgrading mode.

According to the embodiment of the invention, the first calibration images are respectively projected and displayed at multiple heights, shooting is respectively carried out at least one preset viewpoint aiming at each height to obtain the first virtual image corresponding to the first calibration image, the distortion calibration parameters are determined according to the first calibration image and the corresponding first virtual image aiming at each preset viewpoint, and the distortion calibration parameters are sent to the projection display, so that the distortion of the projected and displayed images is respectively calibrated at multiple viewpoints at multiple heights, the problem that distortion such as distortion deformation of the virtual image displayed by projection is caused by eye level differences of drivers with different heights is solved, and the visual effect of the projection display is improved.

In an optional embodiment of the present invention, before the projecting display of the first calibration image at the plurality of heights, the method may further include: projecting and displaying the second calibration image with a preset standard height; shooting at a preset standard viewpoint to obtain a second virtual image corresponding to the second calibration image; determining a standard position error according to the height difference between the center of the second calibration image and the center of the second virtual image and the linear distance between the preset standard viewpoint and the center of the second virtual image; and correcting the projection display according to the standard bit error if the standard bit error is not smaller than a preset error threshold.

Before distortion correction, error detection should be performed on the standard height and the standard viewpoint, and if the error is large, correction should be performed first. The preset standard height is a standard height gear preset for projection display. The preset standard viewpoint and the preset standard height are corresponding, i.e. the preset standard viewpoint.

The second calibration image refers to an image used to calibrate the projection display. The second calibration image may be a dot matrix image in which there may be a plurality of dots. Shooting is carried out at a preset standard viewpoint, and the obtained image is recorded as a second virtual image. And calculating a height difference between the center of the second calibration image and the center of the second virtual image, namely, a vertical axis fall. And calculating a straight line distance between the preset standard viewpoint and the center of the second virtual image. And then calculating the high-low angle error according to the high-low difference and the linear distance to serve as a standard bit error. If the standard bit error is smaller than the preset error threshold, continuing the subsequent detection. And if the standard bit error is not smaller than the preset error threshold, correcting the projection display according to the standard bit error.

For example, the second calibration image is a 5×5 lattice with a resolution of: 713 x 263, a schematic view of a projection display of a second calibration image as shown in fig. 5. The height gear of the AR-HUD is adjusted to 10 (typically an intermediate height gear, i.e. a preset standard height, also called zero position) and the second calibration image is projected for display. The test camera is located in the Center (CE) of the middle eye position, i.e., the preset standard viewpoint, while the test camera is tilted downward by 2.5 °, assuming that the upward angle is negative and the downward angle is positive. As shown in the standard bit error diagram of fig. 6, the vertical axis deviation between the Center (CV) of the second virtual image and the center (CC) of the second calibration image is denoted as "ver_length", that is, the height difference, and the straight line Distance from the Center (CE) of the middle eye to the Center (CV) of the second virtual image is denoted as "Distance", so that the standard bit error Δδ=arcsin (ver_length/Distance). The reasonable interval recommended standard is adjusted to be 2.3-2.7 degrees. Since the height of the AR-HUD is easily adjustable, standard bit errors can be corrected by modifying the value of the height gear of the projection display.

In an optional embodiment of the present invention, before the projecting display of the first calibration image at the plurality of heights, the method may further include: and determining a left visual angle error according to the left-right difference between the center of the second calibration image and the center of the second virtual image and the straight line distance between the preset standard viewpoint and the center of the second virtual image.

And calculating a left-right difference between the center of the second calibration image and the center of the second virtual image, namely a transverse axis deviation. And calculating a straight line distance between the preset standard viewpoint and the center of the second virtual image. And then calculating left and right angle errors as left viewing angle errors according to the left and right differences and the straight line distance. If the left viewing angle error is smaller, continuing the subsequent other detection. If the left viewing angle error is larger, correction is difficult, calibration is finished in advance, and the left viewing angle error is fed back to technicians.

For example, the test camera is located in the center of the middle eye (CE), i.e., the preset standard viewpoint, while the test camera needs to be tilted downward by 2.5 ° (assuming that the upward angle is negative and the downward angle is positive). The horizontal axis difference between the Center (CV) of the second virtual image and the center (CC) of the second calibration image is horiz_length, the straight line Distance from the Center (CE) of the middle eye position to the Center (CV) of the second virtual image is Distance, and the left viewing angle error θ=arcsin (horiz_length/Distance), and the standard reasonable section can be set according to the vehicle type.

In an optional embodiment of the invention, the second calibration image includes a plurality of points, and before the projecting and displaying the first calibration image at the plurality of heights, the method may further include: respectively carrying out projection display on the second calibration image according to a preset first height and a preset second height; the preset first height corresponds to a preset first viewpoint, and the preset second height corresponds to a preset second viewpoint; shooting at the preset first viewpoint and the preset second viewpoint respectively to obtain a first viewpoint virtual image and a second viewpoint virtual image corresponding to the second calibration image; wherein the preset first viewpoint is higher than the preset standard viewpoint, and the preset standard viewpoint is higher than the preset second viewpoint; calculating a first ghost amount between each point in the second calibration image and a corresponding point in the second virtual image, a second ghost amount between each point in the second calibration image and a corresponding point in the first viewpoint virtual image, and a third ghost amount between each point in the second calibration image and a corresponding point in the second viewpoint virtual image; and calculating the average value of the first ghost amount, the second ghost amount and the third ghost amount as a ghost error.

The preset first viewpoint is a viewpoint higher than the preset standard viewpoint, the preset second viewpoint is a viewpoint lower than the preset standard viewpoint, for example, as shown in the viewpoint position diagram of fig. 7, the middle eye position (CE) is the preset standard viewpoint, the upper eye position (UE) is the preset first viewpoint, and the lower eye position (LE) is the preset second viewpoint.

The preset first view point corresponds to a preset first height, and the preset second view point corresponds to a preset second height. And respectively carrying out projection display on the second calibration image according to the preset first height and the preset second height. Shooting a virtual image displayed by projection of a preset first height at a preset first viewpoint to obtain a first viewpoint virtual image, and shooting a virtual image displayed by projection of a preset second height at a preset second viewpoint to obtain a second viewpoint virtual image. The ghost amount is an amount for describing the degree of coincidence of two points.

For example, the amount of ghost_ce for each point in the second calibration image is equal to the amount of ghost_ce for each point in the second calibration image when the eye (CE) is in the middle position, the amount of ghost_ue for each point in the second calibration image is equal to the amount of ghost_ue for each point in the second calibration image when the eye (LE) is in the lower position. The overall ghost error is: dghost=avg (dghos_ce, dghos_ue, dghos_le), and the standard reasonable section may be set according to the vehicle type.

Referring to fig. 8, a flowchart illustrating steps of an embodiment of a calibration method according to the present invention may specifically include the following steps:

step 201, detecting height information of a plurality of wheel rims of a vehicle on a calibration stand.

In the AR-HUD calibration system provided by the embodiment of the invention, the whole vehicle gesture is simulated by measuring and calibrating the imaging position of the single-viewpoint AR-HUD image, namely, the camera is calibrated by calculating the internal parameters of the individual camera calibration cameras, and the calibrated cameras are used for acquiring images in real time in the projection geometry correction system. If the vehicle types with different configurations are calibrated in the same calibration system, the visual angle can be influenced due to different weights of the whole vehicle, if the AR-HUD cannot be monitored and assembled in the real vehicle posture, the calibration result value can be influenced necessarily, the positioning is required to be measured again or the position is required to be roughly determined, the time consumption is long, the use is inflexible, and the precision is not high.

In the embodiment of the invention, the calibration stand refers to equipment for calibrating a projection display of a vehicle. The vehicle needs to be first provided with a calibration rack, and a plurality of columns of preparation work are carried out before the calibration can be started.

For example, as shown in the schematic top view of the calibration stand shown in fig. 9, the calibration stand mainly includes a centering stand for detecting a vehicle, a calibration target, an on-board wheel arch detecting instrument, an eye camera, a cooperative manipulator, and the like. As shown in fig. 10, the upper limit of the vehicle is controlled by a schematic plan view of the centering stage of the detection vehicle, and then the vehicle is adjusted to a predetermined position by the centering mechanism for adjusting the front-rear direction adjustment and the left-right direction adjustment. The front wheel aligning mechanism 3 is shown for initial guiding of the centering bed on the vehicle. The wheel assemblies 1 and 2 are used for guiding in the left-right direction when the vehicle is being erected with the cylinder. The accuracy of the detection vehicle on the centering bench is horizontal + -3 mm, vertical + -1 mm and front-back error + -3 mm.

In the embodiment of the invention, the wheel arch refers to a semicircular part of the wheel tyre of the vehicle, on which the fender protrudes. In order to detect the height information of the wheel arch, corresponding detection equipment is required to be newly added on the calibration bench.

For example, as shown in a side view of the in-vehicle wheel arch detecting device shown in fig. 11, a mechanism for detecting the height (i.e., Z direction) of the wheel arch of the vehicle. The vehicle-mounted wheel arch detection instrument adopts a visual imaging analysis technology to extract the intersection point of the wheel arch and laser, thereby measuring the height of the wheel arch. The wheel arch height measuring unit of the front wheel is fixed, the front wheel measuring assembly 1, the rear wheel measuring assembly 2, the axle protecting covers 4 and 5, and the wheel arch height measuring unit of the rear wheel can automatically move back and forth (namely, X direction) along with the change of the axle base, so that the wheel arch height measuring unit can be compatible with multiple vehicle types with different axle bases and different heights, and the axle base moving precision is +/-1 mm. Also shown in fig. 12 is a schematic view of the calibration target, with the eye camera capturing an image of the AR-HUD projected on the calibration target. The installation error requirement of the calibration target: the calibration target is installed with an angle error yaw angle of +/-0.15 degrees, a pitch angle of +/-0.15 degrees, a roll angle of +/-0.1 degrees, and axial movement errors of +/-10 mm in X direction, Y direction and Z direction. The calibration targets are hung in a portal frame mode, so that the high-low compatibility required by different vehicle types can be increased by moving the calibration targets in the Z direction. The schematic diagram of the human eye camera and the assisting robot shown in fig. 13 is used for simulating the position of human eyes to read the front image information, a binocular camera can be adopted, the eye distance of human eyes is met, the focal length of the camera is ensured to meet the requirement, and the image shooting is clear. The manipulator assisting the robot is used for realizing the movement and rotation of the camera, and the positioning precision is +/-0.5 mm.

And 202, determining the attitude information of the vehicle according to the height information of the wheel rims.

In the embodiment of the invention, the attitude information of the vehicle can be accurately determined according to the height information of the wheel arch. For example, according to the height information of four wheel rims of the vehicle, the position relationship between the vehicle and the ground can be determined, including the height, elevation angle and other information.

And step 203, adjusting the posture of the vehicle, the position of the calibration target and the position of the test camera for shooting according to the posture information.

In the embodiment of the invention, the calibration rack is controlled to further adjust the gesture of the vehicle according to the gesture information so as to improve the accuracy of the position of the vehicle, and the gesture of the vehicle is determined by adopting the wheel arch, so that the method is applicable to various vehicles with different models and has high accuracy. After the vehicle is in a satisfactory position, there may still be a small margin of error due to mechanical reasons. Because the position of the calibration target and the position of the test camera for shooting can be influenced by the actual position of the vehicle, the position of the calibration target and the position of the test camera can be adjusted according to the attitude information, so that the vehicles of different vehicle types can all project virtual images on the calibration target.

And 204, respectively performing projection display on the first calibration image at multiple heights.

In the embodiments of the present invention, the specific implementation manner of this step may be referred to the description in the foregoing embodiments, which is not repeated herein.

Step 205, shooting at least one preset viewpoint for each height to obtain a first virtual image corresponding to the first calibration image.

And 206, determining distortion calibration parameters according to the first calibration image and the corresponding first virtual image for each preset viewpoint.

Step 207, transmitting the distortion calibration parameters to a projection display.

According to the embodiment of the invention, the height information of the wheel rims of the vehicle on the calibration rack is detected, the gesture information of the vehicle is determined according to the height information of the wheel rims, and the gesture of the vehicle, the position of the calibration target and the position of the test camera for shooting are adjusted according to the gesture information, so that the vehicles of different vehicle types can project virtual images on the calibration target, compatibility of various vehicle types is improved, the calibration efficiency is improved, and the operation is simple and convenient.

Further, the first calibration images are respectively projected and displayed at multiple heights, shooting is respectively carried out at least one preset viewpoint aiming at each height, a first virtual image corresponding to the first calibration images is obtained, distortion calibration parameters are determined according to the first calibration images and the corresponding first virtual images aiming at each preset viewpoint, the distortion calibration parameters are sent to the projection display, so that the distortion of the projected and displayed images is respectively calibrated at multiple viewpoints at multiple heights, the problem that distortion and the like occur in the projected and displayed virtual images due to eye position differences of drivers with different heights is solved, and the visual effect of the projection display is improved.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.

Referring to FIG. 14, a block diagram of an embodiment of a calibration device of the present invention is shown, which may specifically include the following modules:

the first projection display module 301 is configured to respectively perform projection display on the first calibration image at multiple heights;

the first shooting module 302 is configured to, for each height, respectively shoot at least one preset viewpoint, and obtain a first virtual image corresponding to the first calibration image;

a parameter determining module 303, configured to determine, for each preset viewpoint, a distortion calibration parameter according to the first calibration image and the corresponding first virtual image;

and the parameter sending module 304 is configured to send the distortion calibration parameter to a projection display.

Optionally, the apparatus further comprises:

The embodiment of the present invention also provides an electronic device, as shown in fig. 15, including a processor 901, a communication interface 902, a memory 903, and a communication bus 904, where the processor 901, the communication interface 902, and the memory 903 perform communication with each other through the communication bus 904,

A memory 903 for storing a computer program;

processor 901, when executing the programs stored on memory 903, performs the following steps:

and sending the distortion calibration parameters to a projection display.

The communication bus mentioned by the above terminal may be a peripheral component interconnect standard (Peripheral Component Interconnect, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the terminal and other devices.

The memory may include random access memory (Random Access Memory, RAM) or non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, there is also provided a computer-readable storage medium having instructions stored therein that, when executed on a computer, cause the computer to perform the steps of:

and sending the distortion calibration parameters to a projection display.

In yet another embodiment of the present invention, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps of:

and sending the distortion calibration parameters to a projection display.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A calibration method, comprising:

and sending the distortion calibration parameters to a projection display.

2. The method of claim 1, wherein prior to said projecting the first calibration image at the plurality of heights, respectively, the method further comprises:

3. The method of claim 1, wherein prior to said projecting the first calibration image at the plurality of heights, respectively, the method further comprises:

4. A method according to claim 3, wherein prior to said projection displaying the first calibration image at the plurality of heights, respectively, the method further comprises:

5. A method according to claim 3, wherein the second calibration image comprises a plurality of points, the method further comprising, prior to the second calibration image being projected for display at the plurality of heights, respectively, on the first calibration image:

6. A calibration device, comprising:

7. The apparatus of claim 6, wherein the apparatus further comprises:

8. The apparatus of claim 6, wherein the apparatus further comprises:

9. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

a memory for storing a computer program;

A processor for carrying out the method steps of any one of claims 1-5 when executing a program stored on a memory.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-5.