DE102019000438A1 - Method for calibrating an in-vehicle camera - Google Patents
Method for calibrating an in-vehicle camera Download PDFInfo
- Publication number
- DE102019000438A1 DE102019000438A1 DE102019000438.8A DE102019000438A DE102019000438A1 DE 102019000438 A1 DE102019000438 A1 DE 102019000438A1 DE 102019000438 A DE102019000438 A DE 102019000438A DE 102019000438 A1 DE102019000438 A1 DE 102019000438A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- camera
- optical pattern
- projected
- calibrating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
Die Erfindung betrifft ein Verfahren zu einer Kalibrierung einer fahrzeugeigenen Kamera (2) mittels eines optischen Musters. Erfindungsgemäß wird das optische Muster mittels zumindest einer fahrzeugeigenen Lichtquelle (3) in eine Fahrzeugumgebung oder in zumindest einen Erfassungsbereich der fahrzeugeigenen Kamera (2) projiziert, wobei eine Projektionsfläche (F) des optischen Musters mittels fahrzeugeigener Sensorik (4) vermessen wird, mittels einer vermessenen Projektionsfläche (F) Fehldarstellungen eines projizierten optischen Musters ermittelt werden und anhand der Fehldarstellungen die Kamera (2) kalibriert wird. The invention relates to a method for calibrating an on-board camera (2) by means of an optical pattern. According to the invention, the optical pattern is projected by means of at least one on-vehicle light source (3) into a vehicle environment or into at least one detection area of the vehicle's own camera (2), wherein a projection surface (F) of the optical pattern is measured by means of an in-vehicle sensor system (4) Projection surface (F) Misrepresentations of a projected optical pattern are determined and based on the misrepresentations the camera (2) is calibrated.
Description
Die Erfindung betrifft ein Verfahren zu einer Kalibrierung einer fahrzeugeigenen Kamera mittels eines optischen Musters.The invention relates to a method for calibrating an in-vehicle camera by means of an optical pattern.
Aus der
Der Erfindung liegt die Aufgabe zu Grunde, ein verbessertes Verfahren zu einer Kalibrierung einer fahrzeugeigenen Kamera mittels eines optischen Musters anzugeben.The invention is based on the object of specifying an improved method for calibrating an in-vehicle camera by means of an optical pattern.
Die Aufgabe wird erfindungsgemäß durch ein Verfahren gelöst, welches die im Anspruch 1 angegebenen Merkmale aufweist.The object is achieved by a method having the features specified in claim 1.
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
Bei dem Verfahren zu einer Kalibrierung einer fahrzeugeigenen Kamera mittels eines optischen Musters wird erfindungsgemäß das optische Muster mittels zumindest einer fahrzeugeigenen Lichtquelle in eine Fahrzeugumgebung oder in zumindest einen Erfassungsbereich der fahrzeugeigenen Kamera projiziert, wobei eine Projektionsfläche des optischen Musters mittels fahrzeugeigener Sensorik vermessen wird, mittels einer vermessenen Projektionsfläche Fehldarstellungen eines projizierten optischen Musters ermittelt werden und anhand der Fehldarstellungen die Kamera kalibriert wird.In the method for calibrating an in-vehicle camera by means of an optical pattern, the optical pattern is projected by means of at least one vehicle's own light source into a vehicle environment or into at least one detection area of the vehicle's own camera, whereby a projection area of the optical pattern is measured by means of vehicle-own sensor technology measured projection surface misrepresentations of a projected optical pattern are determined and based on the misrepresentations the camera is calibrated.
Das Verfahren führt zu dem Vorteil, dass ein Prozess einer Kalibrierung einer Kamera beschleunigt werden kann. Durch einen beschleunigten Kalibrierungsprozess der Kamera können Produktionskosten verringert werden.The method leads to the advantage that a process of calibration of a camera can be accelerated. An accelerated calibration process of the camera can reduce production costs.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Embodiments of the invention will be explained in more detail below with reference to a drawing.
Dabei zeigt:
-
1 ein schematisches Blockschaltbild eines Kalibrierungssystems eines Fahrzeugs.
-
1 a schematic block diagram of a calibration system of a vehicle.
Die einzige
Das Kalibrierungssystem
Mittels der fahrzeugeigenen Lichtquelle
Beispielsweise wird das optische Muster mittels des Pixel-Scheinwerfers auf eine Fahrbahnoberfläche und/oder auf eine Gebäudewand vor dem Fahrzeug projiziert. Beispielsweise wird das optische Muster mittels des Head-Up-Displays in einen Erfassungsbereich der Kamera
Mittels der fahrzeugeigenen Sensorik
Mittels der Auswerteeinheit
Diese Vorgehensweise der Ermittlung der Verzerrungen ist im besonderen Maße sinnvoll bei der Projektion des optischen Musters mittels eines fahrzeugeigenen Scheinwerfers, da hierbei das projizierte optische Muster auf eine Fläche projiziert wird. Dahingegen wird bei der Projektion des optischen Musters mittels des fahrzeugeigenen Head-Up-Displays das optische Muster virtuell in einen Raum projiziert, so dass keine Verzerrungen entstehen.This procedure of determining the distortions is particularly useful in the projection of the optical pattern by means of an on-board headlamp, since in this case the projected optical pattern is projected onto a surface. On the other hand, in the projection of the optical pattern by means of the vehicle's own head-up Displays the optical pattern virtually projected into a room, so that no distortions.
Nach einer Übermittlung der Daten zu einer Kalibrierung der Kamera
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Kalibrierungssystemcalibration system
- 22
- Kameracamera
- 33
- Lichtquellelight source
- 44
- Sensoriksensors
- 55
- Auswerteeinheit evaluation
- FF
- Projektionsflächeprojection
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102015008551 A1 [0002]DE 102015008551 A1 [0002]
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019000438.8A DE102019000438A1 (en) | 2019-01-22 | 2019-01-22 | Method for calibrating an in-vehicle camera |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019000438.8A DE102019000438A1 (en) | 2019-01-22 | 2019-01-22 | Method for calibrating an in-vehicle camera |
Publications (1)
Publication Number | Publication Date |
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DE102019000438A1 true DE102019000438A1 (en) | 2019-06-06 |
Family
ID=66547943
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102019000438.8A Withdrawn DE102019000438A1 (en) | 2019-01-22 | 2019-01-22 | Method for calibrating an in-vehicle camera |
Country Status (1)
Country | Link |
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DE (1) | DE102019000438A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021002437A1 (en) | 2021-05-07 | 2021-07-08 | Daimler Ag | Calibration and adjustment of a camera |
DE102021002794A1 (en) | 2021-05-26 | 2021-07-15 | Daimler Ag | Method and device for calibrating an optical environment sensor arranged on a vehicle |
WO2021151572A1 (en) * | 2020-01-31 | 2021-08-05 | Daimler Ag | Method for calibrating a camera and/or a lidar sensor of a vehicle or of a robot |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015008551A1 (en) | 2015-07-07 | 2016-01-14 | Daimler Ag | Calibration of a camera unit of a motor vehicle |
-
2019
- 2019-01-22 DE DE102019000438.8A patent/DE102019000438A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015008551A1 (en) | 2015-07-07 | 2016-01-14 | Daimler Ag | Calibration of a camera unit of a motor vehicle |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021151572A1 (en) * | 2020-01-31 | 2021-08-05 | Daimler Ag | Method for calibrating a camera and/or a lidar sensor of a vehicle or of a robot |
DE102021002437A1 (en) | 2021-05-07 | 2021-07-08 | Daimler Ag | Calibration and adjustment of a camera |
DE102021002794A1 (en) | 2021-05-26 | 2021-07-15 | Daimler Ag | Method and device for calibrating an optical environment sensor arranged on a vehicle |
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R230 | Request for early publication | ||
R081 | Change of applicant/patentee |
Owner name: DAIMLER AG, DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE |
|
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |