CN1254956C - Calibrating method of pick-up device under condition of traffic monitering - Google Patents
Calibrating method of pick-up device under condition of traffic monitering Download PDFInfo
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- CN1254956C CN1254956C CN 200410017703 CN200410017703A CN1254956C CN 1254956 C CN1254956 C CN 1254956C CN 200410017703 CN200410017703 CN 200410017703 CN 200410017703 A CN200410017703 A CN 200410017703A CN 1254956 C CN1254956 C CN 1254956C
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Abstract
The present invention relates to a method for calibrating a camera under the environment of traffic monitoring. A group of three parallel edges with known intervals and a straight line with known slope to be crossed with a parallel line are selected from a traffic scene as desired calibration targets; the corresponding projection straight lines of the three parallel edges and the straight line on an image are found out, and then all the intersection coordinates of the projection straight lines are calculated out; finally the focal length, the direction and the position parameters of the camera are calculated out according to the data. The present invention can use typical characteristics which are easily collected, such as similar zebra crossings in an urban traffic scene, lane lines which comprise side edges on both sides of a rod, etc., and determine relative parameters of the camera according to the distributed information of a plurality of special straight lines on the rod surface. The present invention has the advantages of simple performance, favorable relativity and versatility, and complex linear computation. The present invention can be applied to many traffic monitoring occasions which a traditional calibration method can not be applied to finish the operation of camera calibration.
Description
Technical field
The present invention relates to the camera marking method under a kind of traffic monitoring surroundings, be mainly used in asking for of camera orientation parameter and focal length under the traffic monitoring surroundings, for accurately the detecting in real time of various transport information based on video provides basic assurance.Belong to the intelligent transport technology field.
Background technology
The automatic collection and the processing that realize transport information by the traffic intelligent supervisory control system are various countries and even global intelligent transportation system (ITS, Intelligent Transportation System) one of fundamental in, along with development of high-tech such as sensor technology, communication and network technology and pattern recognition, image processing and computer visions, intelligent transportation information monitoring technology also obtains considerable progress.In general, traffic behavior and traffic flow data can obtain by various types of transducers, as bury in the road surface under inductance sensor be arranged at radar on the road surface, infrared ray, ultrasonic wave, microwave remote sensor or the like.But because these " point " signals that transducer obtained are not directly perceived, not high and monitoring range of accuracy of detection and detected parameters are all very limited, and comprehensively and directly transport information can not be provided.In recent years, vehicle identification and traffic circulation state inspection based on vision sensor such as video camera and theory on computer vision are ripe gradually, begin to be applied in the automatic collection and processing procedure of transport information, in the intervention that does not need the people or under the situation that only needs seldom to intervene, realize sound attitude vehicle detection, cut apart, discern and follow the tracks of by video sequence analysis the video camera recording, judge the behavior of vehicle, extract traffic state information and suitably control and induce, realize effective management traffic system.Camera calibration is necessity and basic processing step, it can determine the mapping relations between two dimensional image coordinate and the three-dimensional world coordinate, is prerequisite and basic assurance that the transport information relevant with bulk such as the speed of a motor vehicle, vehicle, accident prospecting effectively extracted.
In fields such as computer vision, commercial measurement, intelligent robot navigation and quality controls, at various concrete application scenarios, the camera marking method that people use always has following several: the method that (1) utilizes the corresponding points of the calibrating block of three-dimensional structure and picture point to demarcate; (2) method of utilizing end point to demarcate, this method utilize the end point that parallel lines form in image and the character of vanishing line to find the solution camera parameters; (3) method of utilizing the corresponding matrix in plane to demarcate; (4) based on the self-calibrating method of corresponding points, this method utilizes the corresponding relation between the sequence image that video camera takes in two groups of translations or rotation to ask for intrinsic parameter of video camera or the like.There is certain shortcoming owing to do not consider the particularity of traffic scene and the concrete characteristics of traffic scenery in these methods when being used in video traffic monitoring occasion, lack concrete specific aim and versatility.For the camera calibration process in the traffic scene, the extraction quickly and easily of spotting and identification are a necessary procedure and requirement.Geometrical property based on adjacent lane line segment on the road surface, Nelson, Grantham, once introduced a kind of novel traffic video monitoring system camera marking method (" Anovel camera calibration technique for visual traffic surveillance, " Proc.7 with people such as George
ThWorld Congress on Intelligence Transportation Systems, paperno.3024,2000).Because under many circumstances, parallel and the clockwise successive of each end points of the adjacent two track line segments institute's quadrangularly that links to each other often is a rectangle, this method makes full use of the spatial relation on these type of four summits of rectangular target and the image coordinate of their corresponding points that projection becomes in the plane of delineation, under the known prerequisite of track spacing, can directly derive the analytical expression of asking for focal length of camera and direction parameter.It realizes simple, has the linear session computation complexity, can finish camera calibration simply, apace and have suitable specific aim, a kind of scaling method efficiently of can yet be regarded as.Yet, in a lot of traffic occasions, the rectangle spotting be not be easy to found, such as under the video monitoring scene of urban traffic intersection, just being difficult to directly find similar target, this is a limitation that can not be ignored, so this method must lack versatility under traffic monitoring surroundings.
Summary of the invention
The objective of the invention is to deficiency at existing camera calibration technology, camera marking method under a kind of new traffic monitoring surroundings is provided, realize easily, can fully guarantee specific aim or versatility under the traffic monitoring surroundings, satisfy the actual needs that intelligent transportation information video frequency monitoring system traffic parameter accurately extracts.
For realizing such purpose, the present invention has utilized some characteristic features that are easy to extract in the urban transportation scene, according to the distributed intelligence of many special straight lines on the road surface, carries out determining of video camera relevant parameter.The present invention is as a kind of general traffic scene camera calibration new method, need not the demarcation rectangle of a rule, only need on the road surface three known parallel edges of one group of each interval and slope known straight line and their projections on the plane of delineation of intersecting with parallel lines to ask for focal length of camera length and direction parameter.This group parallel edges distance each other need pre-determine, and selected intersecting straight lines and slope thereof also need to be selected in advance and calculate.In practical application, similar zebra stripes and to comprise the road both sides of the edge may be the good selection of required parallel edges set at interior lane line also are very representational characteristic features in the urban transportation scene.Slope is known and be easy to found in traffic scene equally with straight line that three parallel edges intersect or preset, and this has fully guaranteed the specific aim and the versatility of camera marking method proposed by the invention under the traffic monitoring surroundings.Finish camera calibration, the present invention at first selects needed spotting from traffic scene, measure three parallel lines on the road surface to each other apart from and calculate space slope with they intersecting straight lines, find their pairing each projection straight line and obtain all intersecting point coordinates of each projection straight line in image simultaneously, these data as original input, finally can be tried to achieve focus of camera, direction and location parameter.
The concrete steps of the inventive method are as follows:
(1) spotting choose foundation with relative coordinate system: in traffic scene, select on the road surface three known parallel lines of one group of each interval, slope is known and the straight line that intersects with three parallel lines as spotting, and each projection line correspondence and the corresponding intersection point of definite spotting in image.Set up world coordinate system, set the intersection point that the world coordinate system initial point is positioned at middle parallel lines and intersecting straight lines, the Y-axis forward is along middle parallel lines directed forward, and positive Z axle makes progress perpendicular to the ground direction, and X-axis forward level is pointed to right-hand.Foundation is the coordinate system at center with the video camera, and this coordinate system is initial point with the lens centre, and the optical axis of video camera is as the V axle, and the plane parallel that makes the U-W reference axis is in the plane of delineation, and with the lens centre spacing be focal length of camera.
(2) demarcate the input data initialization: with respect to being the coordinate system at center with the video camera, calculate the coordinate of spotting all intersection points of each projection line correspondence in image, obtain their slopes on the plane of delineation simultaneously with least square method.
(3) about ground corresponding vanishing line and intersecting straight lines the calculating of corresponding end point: according to adjacent two rectilineal intervals in three parallel lines, intersecting straight lines and three parallel lines space intersecting point coordinates, and three parallel lines that obtain with respect to the coordinate system that with the video camera is the center and each intersecting point coordinate parameter of intersecting straight lines homolographic projection straight line on the plane of delineation, obtain ground corresponding vanishing line slope of institute and general expression equation, obtain the projection straight line of intersecting straight lines on the plane of delineation and the intersecting point coordinate of vanishing line, promptly try to achieve intersecting straight lines pairing end point coordinate on the plane of delineation.
(4) camera parameters is demarcated: the anglec of rotation, drift angle, the angle of pitch and the focal length of camera of being tried to achieve video camera by the intersecting point coordinate of the projection straight line of each intersecting point coordinate, vanishing line slope and the intersecting straight lines of adjacent two rectilineal intervals, intersecting straight lines and three parallel lines space intersecting point coordinates, three parallel lines and intersecting straight lines projection straight line in image in three parallel lines and vanishing line, the last correlating transforms relation that defines two coordinate systems according to the present invention obtains the three-dimensional location coordinates at camera lens center, finishes camera calibration.
Method of the present invention realizes simple, and specific aim and versatility are good, and have linear computation complexity, can be applicable to traditional scaling method and can not finish camera calibration under applicable many traffic monitoring occasions.
Description of drawings
Figure l is the schematic diagram that concerns of world coordinate system and spotting among the present invention.
Fig. 2 is the schematic diagram of spotting projected image among the present invention and ground vanishing line.
Fig. 3 is a camera coordinate system of the present invention.
Fig. 4 is the traffic scene original image that the embodiment of the invention adopted.
The spotting schematic diagram that Fig. 5 selects from original image for the embodiment of the invention.
Embodiment
In order to understand technical scheme of the present invention better, describe in further detail below in conjunction with drawings and Examples.
1) spotting choose foundation with relative coordinate system:
In traffic scene, select the i.e. straight line of the crossing known slopes of one group of three parallel lines knowing apart from oneself to each other and and these group parallel lines of spotting.They are represented as a respectively on actual road surface, b, and c, d, straight line a, b, c represent three parallel lines, and intersect straight line d and they, and the intersection point of three parallel lines and straight line d is represented as A respectively, O, B, as shown in Figure 1.Here, the slope of straight line d is measured in advance, is expressed as m, straight line a, and b, the spacing of two adjacent parallel lines is expressed as d in turn among the c
1, d
2The present invention is expressed as a ＇ respectively with spotting pairing projection straight line in image, b ＇, and c ＇, d ＇, and with straight line d ＇ and straight line a ＇, b ＇, the intersection point respective table of c ＇ is shown A ＇, O ＇, B ＇, as shown in Figure 2.Need to prove Fig. 2 cathetus
The pairing vanishing line in plane, road surface in the presentation video.Wherein, some V
DExpression sets of parallel projection a ＇, b ＇, the pairing end point of c ＇, and V
OThe corresponding end point of expression straight line d ＇.
For the direction and the focal length parameter of calibrating camera, need two right-handed coordinate systems of definition: world coordinate system and be the coordinate system at center with the video camera.Suppose that the initial point of world coordinate system is positioned at the intersection point O of straight line b and d, the Y-axis forward is along straight line b directed forward, positive Z axle perpendicular to the ground direction upwards, the X-axis forward then level point to right-hand, intersection point A then, O, the B coordinate can be represented as (x
A=-d
1, y
A, z
A=0), (x
o=0, y
o=0, z
o=0), (x
B=+d
2, y
B, z
B=0), calculates road surface straight line d slope m=(y
B-y
A)/(d
2+ d
1).
Camera coordinate system with the lens centre be initial point as shown in Figure 3.The V axle is the optical axis of video camera, and the U-W plane parallel that is positioned at the V=f place is in the plane of delineation, wherein-and f represents focal length of camera.The coordinate of supposing any point on the plane of delineation is for camera coordinate system, with (u, w) expression.
2) demarcate the input data initialization:
With projection straight line a ' in the least square method computed image, b ', the common intersection V of c '
DCoordinate be (u
D, w
D), obtain they and straight line d ' intersection point A ' simultaneously, O ', B ' coordinate is respectively (u
A ', w
A '), (u
O ', w
O '), (u
B ', w
B '), suppose straight line a ', b ', c ', d ' slope is respectively k
-1, k
0And k
1And k
2, then have
3) about the calculating of vanishing line and intersecting straight lines end point:
Calculate intermediate variable X
45, X
56, X
46, X
456DValue is respectively
X
46＝X
45·X
56
X
456D＝u
D·X
56-w
D·X
46
Then the pairing vanishing line equation of road surface straight line projection in image is
Ku-w+ (w
D-ku
D)=0, wherein k=-X
45, be the vanishing line slope.
Straight line d ' is by O ' (u
O ', w
O ') point, and to have tried to achieve slope be k
2, its equation can be expressed as
k
2·u-w+(w
o′-k
2·u
o′)＝0
Then by vanishing line and straight line d ' equation can calculate vanishing line intersecting point coordinate (u, w);
4) camera parameters is demarcated:
Suppose that camera lens is centered close to spatial point (x
c, y
c, z
c), and the drift angle of video camera (Pan), the angle of pitch (Tilt) and the anglec of rotation (Swing) are represented as θ respectively, , and Ψ, then
Calculate the anglec of rotation (Swing) Ψ.Formula is
Ψ＝arctg(X
45)
Drift angle (Pan) θ that calculates video camera is
k
1，k
2＝…-1，0，1，2…，-π/2≤θ≤π/2}
Wherein
Calculating the angle of pitch (Tilt) φ is: φ=arcsin (tg θ/X
456D)
The calculating focal length of camera is:
Consider that (x, y z), suppose that its subpoint on the plane of delineation is that P ＇=(u w), and defines to ground 1 P in the world coordinate system
A＝cosθcosψ+sinθsinφsinΨ，B＝sinθcosΨ-cosθsinφsinψ，C＝cosφsinΨ，
D＝-sinθcosφ，E＝cosθcosφ，F＝sinφ，
G=sin θ sin φ cos Ψ-cos θ sin Ψ, H=-cos θ sin φ cos ψ-sin θ sin Ψ, I=cos φ cos Ψ, then the actual coordinate at camera lens center can provide (L.L.Wang by following equation, and W.H.Tsai, " Camera Calibration by Vanishing Lines for 3-D Computer Vision; " IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.13, no.4, pp.370-376, April 1991.):
Wherein, h is the setting height(from bottom) of video camera.
According in the formula (1) about x
cExpression formula, calculate the video camera setting height(from bottom) and be
H=(d
1+ d
2)/(a-b), wherein
a＝(u
A′A+fD+w
A′G)/(u
A′C+fF+w
A′I)，
B=(u
B 'A+fD ten w
B 'G)/(u
B 'C+fF+w
B 'I)
Because the O point coordinates is (x
o=0, y
o=0, z
o=0), calculating camera lens center three-dimensional location coordinates according to formula (1) is:
Calculate A according to A to the I definition, B, C, D, E, F, G, H, the value of I is also got verification expression
Organize θ with the check gained more, φ, Ψ, the value of f is finally selected the accurate system of solutions of camera orientation parameter.
In order to verify the validity of method proposed by the invention, one embodiment of the present of invention have adopted with actual traffic scene image shown in Figure 4, and have selected spotting in this actual traffic scene image, as shown in Figure 5.Concurrent is in V in the selection image
DThree adjacent vehicle diatoms as demarcating needed one group of parallel lines, be designated a ' respectively, b ', c ', with stop line as intersecting straight lines d ', their actual line correspondences in world coordinate system are expressed as a respectively, b, c, d, its cathetus d slope m=0, the distance between straight line a and b and straight line b and the c is also known in advance.
Experimental result shows, the precision of selecting with four straight lines of asking for of calibrating parameters has substantial connection, but select through careful, the error that can obtain on average floating is about 5% stabilization result, (the camera direction data are because of measuring as the calibration value of focal distance f that table 1 is classified as and video camera setting height(from bottom) h and the comparison of actual value, be difficult to provide actual value and give comparison, so be omitted), this explanation this method can satisfy the required precision of traffic surveillance and control system fully, and this experiment has proved the validity of method proposed by the invention to a certain extent.
The experimental calibration result of table 1 focal length of camera and setting height(from bottom)
| Parameter | Calculated value | Actual value | Skew (%) |
| F (pixel) | -665.43 | -700.00 | 4.94 |
| H (rice) | 4.87 | 5.10 | 4.51 |
Claims (1)
1, the camera marking method under a kind of traffic monitoring surroundings is characterized in that comprising the steps:
1) spotting choose foundation with relative coordinate system: in traffic scene, select one group of three parallel lines that each interval is known on the road surface, article one, slope straight line known and that intersect with three parallel lines is as spotting, and each projection line correspondence and the corresponding intersection point of definite spotting in image, set up world coordinate system, set the intersection point that the world coordinate system initial point is positioned at middle parallel lines and intersecting straight lines, the Y-axis forward is along middle parallel lines directed forward, positive Z axle perpendicular to the ground direction upwards, X-axis forward level is pointed to right-hand, foundation is the coordinate system at center with the video camera, this coordinate system is initial point with the lens centre, the optical axis of video camera is as the V axle, and the plane parallel that makes the U-W reference axis is in the plane of delineation, and with the lens centre spacing be focal length of camera;
2) demarcate the input data initialization: with respect to being the coordinate system at center with the video camera, calculate the coordinate of spotting all intersection points of each projection line correspondence in image, obtain their slopes on the plane of delineation simultaneously with least square method;
3) about ground corresponding vanishing line and intersecting straight lines the calculating of corresponding end point: three parallel lines that obtain according to adjacent two rectilineal intervals, intersecting straight lines and three parallel lines space intersecting point coordinates in three parallel lines and with respect to the coordinate system that with the video camera is the center and each intersecting point coordinate parameter of intersecting straight lines homolographic projection straight line on the plane of delineation, obtain ground corresponding vanishing line slope of institute and general expression equation, obtain the projection straight line of intersecting straight lines on the plane of delineation and the intersecting point coordinate of vanishing line, promptly try to achieve intersecting straight lines pairing end point coordinate on the plane of delineation;
4) camera parameters is demarcated: the anglec of rotation, drift angle, the angle of pitch and the focal length of camera of being tried to achieve video camera by the intersecting point coordinate of the projection straight line of each intersecting point coordinate, vanishing line slope and the intersecting straight lines of adjacent two rectilineal intervals, intersecting straight lines and three parallel lines space intersecting point coordinates, three parallel lines and intersecting straight lines projection straight line in image in three parallel lines and vanishing line, obtain the three-dimensional location coordinates at camera lens center at last according to the transformation relation of two coordinate systems, finish camera calibration.
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Families Citing this family (20)
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| CN1294533C (en) * | 2005-05-19 | 2007-01-10 | 上海交通大学 | Calibration method of pick up camera or photographic camera geographic distortion |
| US7853038B2 (en) * | 2007-01-04 | 2010-12-14 | Industrial Technology Research Institute | Systems and methods for object dimension estimation |
| JP4861850B2 (en) * | 2007-02-13 | 2012-01-25 | アイシン・エィ・ダブリュ株式会社 | Lane determination device and lane determination method |
| CN101408423B (en) * | 2007-10-09 | 2011-05-18 | 财团法人工业技术研究院 | Method for detecting angle of image viewfinding device and vehicle collision alarming system thereof |
| CN101488222B (en) * | 2008-01-16 | 2011-02-09 | 中国科学院自动化研究所 | Camera self-calibration method based on movement target image and movement information |
| CN101414380B (en) * | 2008-11-07 | 2011-05-04 | 浙江大学 | Method for calibrating simple graph of panorama camera |
| CN101763632B (en) * | 2008-12-26 | 2012-08-08 | 华为技术有限公司 | Method for demarcating camera and device thereof |
| CN102222332A (en) * | 2011-05-19 | 2011-10-19 | 长安大学 | Geometric calibration method of camera under linear model |
| CN102223483B (en) * | 2011-06-25 | 2013-06-26 | 北京汉王智通科技有限公司 | Method and device for adjusting position of road traffic monitoring equipment |
| JP5898475B2 (en) * | 2011-11-28 | 2016-04-06 | クラリオン株式会社 | In-vehicle camera system, calibration method thereof, and calibration program thereof |
| CN103927748B (en) * | 2014-04-09 | 2016-08-17 | 东南大学 | A kind of coordinate scaling method based on many rectangular images distance transformation model |
| CN108805934B (en) * | 2017-04-28 | 2021-12-28 | 华为技术有限公司 | External parameter calibration method and device for vehicle-mounted camera |
| CN107481291B (en) * | 2017-08-16 | 2020-04-03 | 长安大学 | Traffic monitoring model calibration method and system based on physical coordinates of marked dotted lines |
| CN110349219A (en) * | 2018-04-04 | 2019-10-18 | 杭州海康威视数字技术股份有限公司 | A kind of Camera extrinsic scaling method and device |
| CN109685855B (en) * | 2018-12-05 | 2022-10-14 | 长安大学 | Camera calibration optimization method under road cloud monitoring platform |
| CN111508027B (en) * | 2019-01-31 | 2023-10-20 | 杭州海康威视数字技术股份有限公司 | Method and device for calibrating external parameters of camera |
| CN110490936B (en) * | 2019-07-15 | 2021-09-07 | 杭州飞步科技有限公司 | Calibration method, device and equipment of vehicle camera and readable storage medium |
| CN110926405B (en) * | 2019-12-04 | 2022-02-22 | 中科新松有限公司 | ARV attitude measurement method based on monocular vision vanishing point detection |
| CN112950725A (en) * | 2021-03-22 | 2021-06-11 | 深圳市城市交通规划设计研究中心股份有限公司 | Monitoring camera parameter calibration method and device |
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