CN209086996U - A device for panoramic calibration of passenger cars - Google Patents

Abstract

The utility model relates to a device for panoramic calibration of passenger cars, comprising a first calibration plate arranged horizontally and a second calibration plate arranged vertically; the first calibration plate and the second calibration plate are respectively arranged on a horizontal guide rail and a vertical guide rail superior. The utility model adopts horizontal and vertical calibration plates for calibration, and can cope with the panoramic calibration of passenger cars of different sizes.

Description

A device for panoramic calibration of passenger cars

technical field

The utility model relates to a device for panoramic calibration of passenger cars.

Background technique

With the development and progress of modern technology, automobiles have gradually become people's daily means of transportation. However, in the process of vehicle driving, especially for large vehicles, there are many blind spots in the driver's field of vision, causing many safety hazards.

In order to make up for the lack of the driver's perspective, some assisted driving systems will install multiple cameras around the vehicle, and perform panoramic stitching of the multi-camera videos through calibration and projection transformation to obtain panoramic information around the vehicle. The existing method is mainly calibrated by setting a calibration plate on the horizontal ground around the vehicle. Using projection transformation, a panoramic display of a bird's-eye view of the ground around the vehicle can be achieved, but the display range of the bird's-eye view is limited. Pedestrians, vehicles, etc.) are also projected onto the ground, which will produce obvious stretching deformation in the bird's-eye view, which is not conducive to the driver's observation of the scene. Patents "CN201310617029.X - Multi-view Panorama Generation Method for Vehicles for Assisted Driving" and "CN201510249569.6 - Panoramic Surround View Device for Vehicles and Vehicles with the Device" propose to project two-dimensional images onto 3D models to reduce obvious For the stretching phenomenon, both of them propose to establish a multi-view observation model such as a bowl-shaped model and a bird's nest-shaped model, and divide the camera image into different areas and project them to different positions of the 3D model. However, the objects on the panorama obtained by this type of method will inevitably produce certain distortion or distortion.

For assisted driving systems, intelligent visual perception has always been one of the development directions. However, the distortion of the objects on the panorama will be detrimental to the subsequent application of assisted driving systems based on visual perception. For example, when using vision for environmental perception (vehicle, pedestrian, etc. recognition), it is difficult to obtain a distorted object training library for deep learning.

In the existing stitching technology, each camera is calibrated corresponding to a checkerboard, and objects far away from the camera have the problem of distortion. The projection method of building a 3D surface model can reduce distortion such as stretching, but the projection process is cumbersome.

Therefore, in view of the application requirements of vehicle visual perception, it is necessary to propose a panoramic calibration device and method that can overcome the distortion of objects on the panoramic image of the bus.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a device for panoramic calibration of passenger cars, which adopts horizontal and vertical calibration plates for calibration, and can cope with the panoramic calibration of passenger cars of different sizes.

The utility model adopts the following scheme to realize: a device for panoramic calibration of passenger cars, comprising a first calibration plate arranged horizontally and a second calibration plate arranged vertically; the first calibration plate and the second calibration plate are respectively arranged on the horizontal rails and vertical rails.

Further, both the first calibration plate and the second calibration plate are provided with checkerboards.

Further, the horizontal guide rail and the vertical guide rail are hinged and perpendicular to each other in normal state; an angle limiter is provided at the hinged joint of the horizontal guide rail and the vertical guide rail to set the angle between the horizontal guide rail and the vertical guide rail.

Further, the length of the horizontal guide rail is 3 meters.

Further, the length of the vertical guide rail is 2.4 meters.

Further, both the horizontal guide rail and the vertical guide rail are provided with a limiting device for setting the first calibration plate and the second calibration plate at preset positions on the horizontal guide rail and the vertical guide rail, respectively.

Further, the lateral sides of the horizontal guide rail and the vertical guide rail are provided with scales in centimeters, so as to precisely adjust the positions of the first calibration plate and the second calibration plate.

Due to the different models of buses during panoramic calibration, the height, width and length of the buses are different, and the positions of the cameras installed have changed. While the current passenger cars on the market are about 9 meters to 12 meters in length, 2.4 meters to 2.6 meters in width, and 3.5 meters to 4 meters in height, the device of the utility model can adjust the two The distance and angle between the calibration plate and the passenger car and the height of the calibration plate can accommodate a checkerboard with a maximum side length of no more than 1.4 meters, and the size and adjustable physical parameters of the utility model can fully meet the calibration requirements of large passenger cars.

Compared with the prior art, the utility model has the following beneficial effects: the utility model adopts horizontal and vertical calibration plates for calibration, and can cope with the panoramic calibration of passenger cars of different sizes.

Description of drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention.

FIG. 2 is a schematic side view of an embodiment of the present invention.

FIG. 3 is a schematic diagram 1 of an application scenario of an embodiment of the present invention.

FIG. 4 is a schematic diagram 2 of an application scenario of an embodiment of the present invention.

In the figure, 1 is the first calibration plate, 2 is the second calibration plate, 3 is a checkerboard, 4 is a horizontal guide rail, 5 is a vertical guide rail, 6 is an angle limiting device, 7 is a limiting device, and 8 is a scale.

Detailed ways

The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in FIG. 1 and FIG. 2 , the present embodiment provides a device for panoramic calibration of passenger cars, including a first calibration plate 1 arranged horizontally and a second calibration plate 2 arranged vertically; the first calibration plate and the The second calibration plates are respectively arranged on the horizontal guide rail 4 and the vertical guide rail 5 .

In this embodiment, a checkerboard 3 is provided on both the first calibration plate and the second calibration plate.

In this embodiment, the horizontal guide rail and the vertical guide rail are hinged, and are perpendicular to each other in a normal state; an angle limiter 6 is provided at the hinge between the horizontal guide rail and the vertical guide rail to set the clamp between the horizontal guide rail and the vertical guide rail. horn.

In this embodiment, the length of the horizontal guide rail is 3 meters.

In this embodiment, the length of the vertical guide rail is 2.4 meters.

In this embodiment, both the horizontal guide rail and the vertical guide rail are provided with a limiting device 7 for setting the first calibration plate and the second calibration plate at preset positions on the horizontal guide rail and the vertical guide rail, respectively.

In this embodiment, scales 8 in centimeters are provided on the sides of the horizontal guide rail and the vertical guide rail (the scale in the figure is only for illustration, and the scale on the horizontal guide rail is not drawn) to accurately adjust the first The position of the calibration plate and the second calibration plate.

Due to the different models of buses during panoramic calibration, the height, width and length of the buses are different, and the positions of the cameras installed have changed. While the current passenger cars on the market are about 9 meters to 12 meters in length, 2.4 meters to 2.6 meters in width, and 3.5 meters to 4 meters in height, the device of the utility model can adjust the two The distance and angle between the calibration plate and the passenger car and the height of the calibration plate can accommodate a checkerboard with a maximum side length of no more than 1.4 meters, and the size and adjustable physical parameters of the utility model can fully meet the calibration requirements of large passenger cars. The first calibration plate and the second calibration plate can be calibrated according to the installation angle X of the vehicle-mounted camera (shown in FIG. 3 and FIG. 4 ) so as to obtain the fisheye image required for splicing. Using the vertical and horizontal checkerboards placed by the device respectively, a fisheye image with the f-axis (Fig. 1) as the dividing line can be obtained, and the fisheye image is divided into top-down projection (near area) and look-around projection (distant area), respectively. Perform a projective transformation. Through the use of the device, the distortion problem of far and near scenes can be greatly improved.

In this embodiment, by using the device, the two regions of the fisheye image of the same camera are respectively projected onto the same two-dimensional plane, thereby avoiding the construction of a 3D model and the tedious projection process. Moreover, the far-near stitching is easier, and finally, a panoramic image containing top-down and look-around images is generated on the same two-dimensional plane. By using the calibration method of the device, the distortion problem of objects farther away from the camera can be effectively improved.

It is worth mentioning that the utility model protects the hardware structure, and does not require protection as to the design algorithm and method. The above is only a preferred implementation of the embodiments of the present invention. However, the present invention is not limited to the above-mentioned embodiments, and any equivalent changes and modifications made according to the scheme of the present utility model, when the resulting functional effects do not exceed the scope of the present scheme, all belong to the protection scope of the present utility model.

Claims (7)

1. a kind of device for the calibration of car panorama, it is characterised in that: set including horizontally disposed first scaling board with vertical The second scaling board set；First scaling board and the second scaling board are separately positioned on horizontal guide rail and vertical guide rail.

2. a kind of device for the calibration of car panorama according to claim 1, it is characterised in that: first scaling board Gridiron pattern is provided with on the second scaling board.

3. it is according to claim 1 it is a kind of for car panorama calibration device, it is characterised in that: the horizontal guide rail with Vertical guide rail is hinged, and is being mutually perpendicular under normal conditions；The hinged place of horizontal guide rail and vertical guide rail is provided with angular stop means, To the angle being arranged between horizontal guide rail and vertical guide rail.

4. a kind of device for the calibration of car panorama according to claim 1, it is characterised in that: the horizontal guide rail Length is 3 meters.

5. a kind of device for the calibration of car panorama according to claim 1, it is characterised in that: the vertical guide rail Length is 2.4 meters.

6. it is according to claim 1 it is a kind of for car panorama calibration device, it is characterised in that: the horizontal guide rail with Limiting device is provided on vertical guide rail, the first scaling board and the second scaling board are separately positioned on horizontal guide rail and hung down Predeterminated position on straight guide.

7. it is according to claim 1 it is a kind of for car panorama calibration device, it is characterised in that: the horizontal guide rail with The side of vertical guide rail be provided with by centimetre as unit of scale, accurately to adjust the first scaling board and the second scaling board Position.