FR3106402B1 - Procédé de calibration d’un support rotatif de dispositif d’imagerie de véhicule automobile - Google Patents

Procédé de calibration d’un support rotatif de dispositif d’imagerie de véhicule automobile Download PDF

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Publication number
FR3106402B1
FR3106402B1 FR2000409A FR2000409A FR3106402B1 FR 3106402 B1 FR3106402 B1 FR 3106402B1 FR 2000409 A FR2000409 A FR 2000409A FR 2000409 A FR2000409 A FR 2000409A FR 3106402 B1 FR3106402 B1 FR 3106402B1
Authority
FR
France
Prior art keywords
imaging device
support
images
vehicle
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.)
Active
Application number
FR2000409A
Other languages
English (en)
Other versions
FR3106402A1 (fr
Inventor
Gatien Ferret
Lucien Garcia
Boris Lugez
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Continental Automotive France SAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Automotive France SAS filed Critical Continental Automotive France SAS
Priority to FR2000409A priority Critical patent/FR3106402B1/fr
Publication of FR3106402A1 publication Critical patent/FR3106402A1/fr
Application granted granted Critical
Publication of FR3106402B1 publication Critical patent/FR3106402B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
    • B60R2300/402—Image calibration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé de calibration d’un support à axes motorisés portant un dispositif d’imagerie, tel qu’un lidar ou une caméra, ledit dispositif d’imagerie étant configuré pour acquérir au moins une image selon une direction d’acquisition d’images, ledit support étant monté fixe dans un véhicule automobile, ledit support comprenant au moins un axe motorisé destiné à orienter la direction d’acquisition d’images dans un repère lié au véhicule dit repère véhicule, le procédé de calibration comprenant les étapes suivantes : a. une étape (E1) de sélection d’au moins un point à suivre sur une surface placée dans le repère véhicule ; b. une étape (E2) de pivotement selon une direction verticale dudit dispositif d’imagerie autour d’un axe motorisé dudit support de sorte à générer, au moyen dudit dispositif d’imagerie une séquence d’images comprenant ledit au moins un point à suivre, ladite séquence comprenant au moins une première image prise à l’instant t et une deuxième image prise à l’instant t+1 ; c. Une étape (E3) de traitement de la séquence d’images de manière à déterminer la valeur d’un angle de roulis représentant un désalignement entre ledit support et le véhicule à l’arrêt. Fig. 5
FR2000409A 2020-01-16 2020-01-16 Procédé de calibration d’un support rotatif de dispositif d’imagerie de véhicule automobile Active FR3106402B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2000409A FR3106402B1 (fr) 2020-01-16 2020-01-16 Procédé de calibration d’un support rotatif de dispositif d’imagerie de véhicule automobile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2000409 2020-01-16
FR2000409A FR3106402B1 (fr) 2020-01-16 2020-01-16 Procédé de calibration d’un support rotatif de dispositif d’imagerie de véhicule automobile

Publications (2)

Publication Number Publication Date
FR3106402A1 FR3106402A1 (fr) 2021-07-23
FR3106402B1 true FR3106402B1 (fr) 2023-04-14

Family

ID=70978049

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2000409A Active FR3106402B1 (fr) 2020-01-16 2020-01-16 Procédé de calibration d’un support rotatif de dispositif d’imagerie de véhicule automobile

Country Status (1)

Country Link
FR (1) FR3106402B1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3014553A1 (fr) * 2013-12-11 2015-06-12 Parrot Procede de calibration angulaire de la position d'une camera video embarquee dans un vehicule automobile
FR3053554B1 (fr) * 2016-06-30 2018-08-03 Continental Automotive France Procede de calibration rapide d'une camera de vehicule automobile
WO2019019172A1 (fr) * 2017-07-28 2019-01-31 Qualcomm Incorporated Traitement adaptatif d'image dans un véhicule robotisé

Also Published As

Publication number Publication date
FR3106402A1 (fr) 2021-07-23

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Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE

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