CN117421829A - 360-degree panorama calibration design method based on automobile - Google Patents
360-degree panorama calibration design method based on automobile Download PDFInfo
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- CN117421829A CN117421829A CN202311556537.1A CN202311556537A CN117421829A CN 117421829 A CN117421829 A CN 117421829A CN 202311556537 A CN202311556537 A CN 202311556537A CN 117421829 A CN117421829 A CN 117421829A
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- 238000007781 pre-processing Methods 0.000 claims abstract description 16
- 238000007670 refining Methods 0.000 claims abstract description 8
- 238000005457 optimization Methods 0.000 claims description 11
- 238000009499 grossing Methods 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention relates to the technical field of automobiles, in particular to a 360-degree panorama calibration design method based on automobiles; the method comprises the steps of utilizing a plurality of panoramic cameras to acquire image data, acquiring the current speed and position of an automobile, preprocessing the acquired image data to improve the image quality, calibrating the image by a calibration plate through a reference object around the automobile, acquiring the internal and external parameters and distortion coefficients of the camera, establishing a 3D model according to a calibration result and the image data to generate a preliminary panoramic image, optimizing the preliminary panoramic image, further refining and optimizing the preliminary panoramic image to obtain a final panoramic image, and finally displaying the panoramic image on a display terminal in the automobile for a driver to observe and reference.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a 360-degree panorama calibration design method based on automobiles.
Background
Along with the improvement of living standard, the popularization rate of the automobile is higher, and the driving experience, comfort and safety and intelligent driving auxiliary functions of the automobile are more and more emphasized. The 360-degree panoramic system is used as an automobile driving auxiliary technology and gradually becomes a standard function of an automobile. The technique can enable a driver to easily grasp the situation around the automobile, effectively reduce accidents such as scratch, collision and collapse, and the like, and panoramic calibration is one of the most critical techniques of a 360-degree panoramic system, and the conventional panoramic calibration is generally carried out manually.
However, in manual calibration, the selection and matching of feature points are manually participated, the operation is complex and easy to make mistakes, and the requirements of modern automobiles on safety and reliability cannot be met.
Disclosure of Invention
The invention aims to provide a 360-degree panoramic calibration design method based on an automobile, which aims to solve the technical problems that in the existing manual calibration, the selection and matching of characteristic points are manually participated, the operation is complex and easy to make mistakes, and the requirements of modern automobiles on safety and reliability cannot be met.
In order to achieve the purpose, the 360-degree panorama calibration design method based on the automobile comprises the following steps:
a display terminal and four panoramic cameras are installed on an automobile;
starting an automobile, and electrifying a display terminal and a plurality of panoramic cameras to work;
detecting whether the gear of the automobile is a reverse gear or whether a driver clicks a brand new image on the display terminal manually, and displaying the panoramic image on the display terminal;
setting the left and right steering sizes of the automobile to reach a steering specified value, and displaying the panoramic image on a display terminal;
setting an automobile speed value, and after the speed reaches a specified value, exiting the panoramic image on the display terminal;
acquiring image data by utilizing a plurality of panoramic cameras to acquire the current speed and position of the automobile;
preprocessing the collected image data to improve the image quality;
calibrating the image by using a calibration plate through reference objects around the automobile to obtain internal and external parameters and distortion coefficients of the camera;
establishing a 3D model according to the calibration result and the image data, and generating a preliminary panoramic image;
optimizing the preliminary panoramic image, and further refining and optimizing the preliminary panoramic image to obtain a final panoramic image;
and displaying the panoramic image on a display terminal in the vehicle for observation and reference by a driver.
Wherein, in the step of installing display terminal and four panoramic cameras on the car:
four panoramic cameras are installed around the automobile according to requirements so as to accurately capture 360-degree images around the automobile.
Wherein, set up the car and turn to the size about, reach and turn to the stipulation, the panoramic image can be in the step of displaying on the display terminal:
the angle of rotation is 30-90 degrees.
Wherein, in the step of setting the speed value of the automobile, when the speed reaches the specified value, the panoramic image on the display terminal exits:
the vehicle speed value is 10-30 km/h.
Wherein, in the step of utilizing a plurality of panoramic cameras to gather image data, obtain the current speed and the position of car:
the image data includes images of different angles, different distances, and different times.
Wherein, in the step of preprocessing the acquired image data to improve the image quality:
preprocessing includes denoising, image stitching, and color correction.
Wherein, in the step of refining and optimizing the preliminary panoramic image to obtain the final panoramic image:
the optimization process includes color correction, brightness adjustment, and edge smoothing.
According to the design method for 360-degree panorama calibration based on the automobile, the display terminal and the four panorama cameras are installed on the automobile, the automobile is started, the display terminal and the panorama cameras are electrified to work, whether the gear of the automobile is reverse gear or not is detected, a driver manually clicks a brand new image on the display terminal, the left and right steering of the automobile is set to reach a steering specified value, the panoramic image can be displayed on the display terminal, the speed value of the automobile is set, when the speed reaches the specified value, the panoramic image on the display terminal is withdrawn, the plurality of panorama cameras are used for collecting image data to obtain the current speed and the position of the automobile, firstly, the collected image data are preprocessed to improve the image quality, then the internal and external parameters and distortion coefficients of the camera are obtained through a calibration plate, a 3D model is built according to the calibration result and the image data, the initial panoramic image is generated, the initial panoramic image is optimized, the initial panoramic image is further refined and optimized to obtain the final panoramic image, the initial panoramic image is displayed on the display terminal in the automobile, and the automobile is convenient to observe and automatically reference, the safety and reliability can not be met, and the safety and the reliability can not be easily achieved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of the steps of a first embodiment of the present invention.
Fig. 2 is a flow chart of the steps of a second embodiment of the present invention.
Fig. 3 is a flow chart of steps of a third embodiment of the present invention.
Detailed Description
Referring to fig. 1, the invention provides a 360-degree panorama calibration design method based on an automobile, comprising the following steps:
s1: the method comprises the steps that a display terminal and four panoramic cameras are installed on an automobile, and the four panoramic cameras are installed around the automobile according to requirements so as to accurately capture 360-degree images around the automobile;
s2: starting an automobile, and electrifying a display terminal and a plurality of panoramic cameras to work;
s3: detecting whether the gear of the automobile is a reverse gear or whether a driver clicks a brand new image on the display terminal manually, and displaying the panoramic image on the display terminal;
s4: setting the left and right steering sizes of the automobile to reach a steering specified value, displaying the panoramic image on a display terminal, wherein the steering angle value is 30 degrees;
s5: setting an automobile speed value, and after the speed reaches a specified value, displaying the panoramic image on the terminal to exit, wherein the automobile speed value is 10km/h;
s6: acquiring image data by using a plurality of panoramic cameras to acquire the current speed and position of an automobile, wherein the image data comprise images of different angles, different distances and different times;
s7: preprocessing the acquired image data to improve the image quality, wherein the preprocessing comprises denoising, image stitching and color correction;
s8: calibrating the image by using a calibration plate through reference objects around the automobile to obtain internal and external parameters and distortion coefficients of the camera;
s9: establishing a 3D model according to the calibration result and the image data, and generating a preliminary panoramic image;
s10: performing optimization treatment on the preliminary panoramic image, and further refining and optimizing the preliminary panoramic image to obtain a final panoramic image, wherein the optimization treatment comprises color correction, brightness adjustment and edge smoothing;
s11: and displaying the panoramic image on a display terminal in the vehicle for observation and reference by a driver.
In the embodiment, a display terminal and four panoramic cameras are arranged on an automobile, the four panoramic cameras are arranged around the automobile according to the requirement so as to accurately capture 360-degree images around the automobile, the automobile is started, the display terminal and the panoramic cameras are electrified to work, whether the gear of the automobile is reverse gear or the driver clicks a brand new image on the display terminal manually is detected, the panoramic image is displayed on the display terminal, the left and right steering size of the automobile is set to reach a steering specified value, the panoramic image is displayed on the display terminal, the rotating angle value is 30 degrees, the speed value of the automobile is set, the panoramic image on the display terminal is withdrawn after the speed reaches the specified value, the speed value of the automobile is 10km/h, the image data is acquired by utilizing the panoramic cameras, the current speed and the current position of the automobile are acquired, the image data comprises images with different angles, different distances and different times, the collected image data is preprocessed to improve the image quality, the preprocessing comprises denoising, image splicing and color correction, the images are calibrated by a calibration plate through a reference object around an automobile to obtain internal and external parameters and distortion coefficients of a camera, a 3D model is built according to a calibration result and the image data to generate a preliminary panoramic image, the preliminary panoramic image is optimized, the preliminary panoramic image is further refined and optimized to obtain a final panoramic image, the optimization comprises color correction, brightness adjustment and edge smoothing, finally the panoramic image is displayed on a display terminal in the automobile for being observed and referenced by a driver, the automatic calibration is realized, the operation is convenient, the error is not easy to occur, the precision is improved, can meet the requirements of modern automobiles on safety and reliability.
Embodiment 2 referring to fig. 2, the invention provides a design method for 360-degree panorama calibration based on an automobile, comprising the following steps:
s1: the method comprises the steps that a display terminal and four panoramic cameras are installed on an automobile, and the four panoramic cameras are installed around the automobile according to requirements so as to accurately capture 360-degree images around the automobile;
s2: starting an automobile, and electrifying a display terminal and a plurality of panoramic cameras to work;
s3: detecting whether the gear of the automobile is a reverse gear or whether a driver clicks a brand new image on the display terminal manually, and displaying the panoramic image on the display terminal;
s4: setting the left and right steering sizes of the automobile to reach a steering specified value, displaying the panoramic image on a display terminal, wherein the turning angle value is 60 degrees;
s5: setting an automobile speed value, and after the speed reaches a specified value, displaying the panoramic image on the terminal to exit, wherein the automobile speed value is 20km/h;
s6: acquiring image data by using a plurality of panoramic cameras to acquire the current speed and position of an automobile, wherein the image data comprise images of different angles, different distances and different times;
s7: preprocessing the acquired image data to improve the image quality, wherein the preprocessing comprises denoising, image stitching and color correction;
s8: calibrating the image by using a calibration plate through reference objects around the automobile to obtain internal and external parameters and distortion coefficients of the camera;
s9: establishing a 3D model according to the calibration result and the image data, and generating a preliminary panoramic image;
s10: performing optimization treatment on the preliminary panoramic image, and further refining and optimizing the preliminary panoramic image to obtain a final panoramic image, wherein the optimization treatment comprises color correction, brightness adjustment and edge smoothing;
s11: and displaying the panoramic image on a display terminal in the vehicle for observation and reference by a driver.
In the embodiment, a display terminal and four panoramic cameras are arranged on an automobile, the four panoramic cameras are arranged around the automobile according to the requirement so as to accurately capture 360-degree images around the automobile, the automobile is started, the display terminal and a plurality of panoramic cameras are electrified to work, whether the gear of the automobile is reverse gear or a completely new image on the display terminal is clicked by a driver manually, the panoramic image is displayed on the display terminal, the left and right steering size of the automobile is set to reach a steering specified value, the panoramic image is displayed on the display terminal, the rotating angle value is 60 degrees, the speed value of the automobile is set, the panoramic image on the display terminal is withdrawn after the speed reaches the specified value, the speed value of the automobile is 20km/h, the image data is acquired by utilizing the plurality of panoramic cameras, the current speed and the current position of the automobile are acquired, the image data comprises images with different angles, different distances and different times, the collected image data is preprocessed to improve the image quality, the preprocessing comprises denoising, image splicing and color correction, the images are calibrated by a calibration plate through a reference object around an automobile to obtain internal and external parameters and distortion coefficients of a camera, a 3D model is built according to a calibration result and the image data to generate a preliminary panoramic image, the preliminary panoramic image is optimized, the preliminary panoramic image is further refined and optimized to obtain a final panoramic image, the optimization comprises color correction, brightness adjustment and edge smoothing, finally the panoramic image is displayed on a display terminal in the automobile for being observed and referenced by a driver, the automatic calibration is realized, the operation is convenient, the error is not easy to occur, the precision is improved, can meet the requirements of modern automobiles on safety and reliability.
Embodiment 3 referring to fig. 3, the present invention provides a design method for 360-degree panorama calibration based on an automobile, comprising the following steps:
s1: the method comprises the steps that a display terminal and four panoramic cameras are installed on an automobile, and the four panoramic cameras are installed around the automobile according to requirements so as to accurately capture 360-degree images around the automobile;
s2: starting an automobile, and electrifying a display terminal and a plurality of panoramic cameras to work;
s3: detecting whether the gear of the automobile is a reverse gear or whether a driver clicks a brand new image on the display terminal manually, and displaying the panoramic image on the display terminal;
s4: setting the left and right steering sizes of the automobile to reach a steering specified value, displaying the panoramic image on a display terminal, wherein the steering angle value is 90 degrees;
s5: setting an automobile speed value, and after the speed reaches a specified value, displaying the panoramic image on the terminal to exit, wherein the automobile speed value is 30km/h;
s6: acquiring image data by using a plurality of panoramic cameras to acquire the current speed and position of an automobile, wherein the image data comprise images of different angles, different distances and different times;
s7: preprocessing the acquired image data to improve the image quality, wherein the preprocessing comprises denoising, image stitching and color correction;
s8: calibrating the image by using a calibration plate through reference objects around the automobile to obtain internal and external parameters and distortion coefficients of the camera;
s9: establishing a 3D model according to the calibration result and the image data, and generating a preliminary panoramic image;
s10: performing optimization treatment on the preliminary panoramic image, and further refining and optimizing the preliminary panoramic image to obtain a final panoramic image, wherein the optimization treatment comprises color correction, brightness adjustment and edge smoothing;
s11: and displaying the panoramic image on a display terminal in the vehicle for observation and reference by a driver.
In the embodiment, a display terminal and four panoramic cameras are arranged on an automobile, the four panoramic cameras are arranged around the automobile according to the requirement so as to accurately capture 360-degree images around the automobile, the automobile is started, the display terminal and a plurality of panoramic cameras are electrified to work, whether the gear of the automobile is reverse gear or a completely new image on the display terminal is clicked by a driver manually, the panoramic image is displayed on the display terminal, the left and right steering size of the automobile is set to reach a steering specified value, the panoramic image is displayed on the display terminal, the rotating angle value is 90 degrees, the speed value of the automobile is set, the panoramic image on the display terminal is withdrawn after the speed reaches the specified value, the speed value of the automobile is 30km/h, the image data is acquired by utilizing the plurality of panoramic cameras, the current speed and the current position of the automobile are acquired, the image data comprises images with different angles, different distances and different times, the collected image data is preprocessed to improve the image quality, the preprocessing comprises denoising, image splicing and color correction, the images are calibrated by a calibration plate through a reference object around an automobile to obtain internal and external parameters and distortion coefficients of a camera, a 3D model is built according to a calibration result and the image data to generate a preliminary panoramic image, the preliminary panoramic image is optimized, the preliminary panoramic image is further refined and optimized to obtain a final panoramic image, the optimization comprises color correction, brightness adjustment and edge smoothing, finally the panoramic image is displayed on a display terminal in the automobile for being observed and referenced by a driver, the automatic calibration is realized, the operation is convenient, the error is not easy to occur, the precision is improved, can meet the requirements of modern automobiles on safety and reliability.
The above disclosure is illustrative of the various embodiments of the present invention and, of course, should not be taken as limiting the scope of the invention, which is defined by the appended claims.
Claims (7)
1. A360-degree panorama calibration design method based on an automobile is characterized by comprising the following steps:
a display terminal and four panoramic cameras are installed on an automobile;
starting an automobile, and electrifying a display terminal and a plurality of panoramic cameras to work;
detecting whether the gear of the automobile is a reverse gear or whether a driver clicks a brand new image on the display terminal manually, and displaying the panoramic image on the display terminal;
setting the left and right steering sizes of the automobile to reach a steering specified value, and displaying the panoramic image on a display terminal;
setting an automobile speed value, and after the speed reaches a specified value, exiting the panoramic image on the display terminal;
acquiring image data by utilizing a plurality of panoramic cameras to acquire the current speed and position of the automobile;
preprocessing the collected image data to improve the image quality;
calibrating the image by using a calibration plate through reference objects around the automobile to obtain internal and external parameters and distortion coefficients of the camera;
establishing a 3D model according to the calibration result and the image data, and generating a preliminary panoramic image;
optimizing the preliminary panoramic image, and further refining and optimizing the preliminary panoramic image to obtain a final panoramic image;
and displaying the panoramic image on a display terminal in the vehicle for observation and reference by a driver.
2. The method for designing 360-degree panorama calibration based on an automobile according to claim 1, wherein in the step of installing a display terminal and four panorama cameras on the automobile:
four panoramic cameras are installed around the automobile according to requirements so as to accurately capture 360-degree images around the automobile.
3. The method for designing 360-degree panorama based on an automobile according to claim 1, wherein, in the step of setting the left and right turning sizes of the automobile to reach the turning specification value, the panorama image is displayed on the display terminal:
the angle of rotation is 30-90 degrees.
4. The method for designing a 360-degree panorama based on an automobile according to claim 1, wherein, in the step of exiting the panorama image on the display terminal after the speed reaches a predetermined value by setting the speed value of the automobile:
the vehicle speed value is 10-30 km/h.
5. The method for designing 360-degree panorama calibration based on an automobile according to claim 1, wherein in the step of acquiring the current speed and position of the automobile by acquiring the image data using a plurality of panorama cameras:
the image data includes images of different angles, different distances, and different times.
6. The method for designing a 360-degree panorama based on an automobile according to claim 1, wherein, in the step of preprocessing the collected image data to improve the image quality:
preprocessing includes denoising, image stitching, and color correction.
7. The method for designing the 360-degree panoramic calibration based on the automobile according to claim 1, wherein in the step of refining and optimizing the preliminary panoramic image to obtain the final panoramic image:
the optimization process includes color correction, brightness adjustment, and edge smoothing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311556537.1A CN117421829A (en) | 2023-11-21 | 2023-11-21 | 360-degree panorama calibration design method based on automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311556537.1A CN117421829A (en) | 2023-11-21 | 2023-11-21 | 360-degree panorama calibration design method based on automobile |
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