SG11202007195TA - Vehicle-mounted camera self-calibration method and apparatus, and vehicle driving method and apparatus - Google Patents

Vehicle-mounted camera self-calibration method and apparatus, and vehicle driving method and apparatus

Info

Publication number
SG11202007195TA
SG11202007195TA SG11202007195TA SG11202007195TA SG11202007195TA SG 11202007195T A SG11202007195T A SG 11202007195TA SG 11202007195T A SG11202007195T A SG 11202007195TA SG 11202007195T A SG11202007195T A SG 11202007195TA SG 11202007195T A SG11202007195T A SG 11202007195TA
Authority
SG
Singapore
Prior art keywords
vehicle
mounted camera
camera self
driving method
vehicle driving
Prior art date
Application number
SG11202007195TA
Inventor
Jie Xiang
Ningyuan Mao
Haibo Zhu
Original Assignee
Shanghai Sensetime Intelligent Tech Co Ltd
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 Shanghai Sensetime Intelligent Tech Co Ltd filed Critical Shanghai Sensetime Intelligent Tech Co Ltd
Publication of SG11202007195TA publication Critical patent/SG11202007195TA/en

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • 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
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/101—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using cameras with adjustable capturing direction
    • 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
    • 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
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/602—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint
    • B60R2300/605—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint the adjustment being automatic
    • 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
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
    • 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
    • G06T2207/30208—Marker matrix
    • 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
    • G06T2207/30256—Lane; Road marking

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
SG11202007195TA 2018-06-05 2019-05-29 Vehicle-mounted camera self-calibration method and apparatus, and vehicle driving method and apparatus SG11202007195TA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810578736.5A CN110570475A (en) 2018-06-05 2018-06-05 vehicle-mounted camera self-calibration method and device and vehicle driving method and device
PCT/CN2019/089033 WO2019233330A1 (en) 2018-06-05 2019-05-29 Vehicle-mounted camera self-calibration method and apparatus, and vehicle driving method and apparatus

Publications (1)

Publication Number Publication Date
SG11202007195TA true SG11202007195TA (en) 2020-08-28

Family

ID=68769241

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202007195TA SG11202007195TA (en) 2018-06-05 2019-05-29 Vehicle-mounted camera self-calibration method and apparatus, and vehicle driving method and apparatus

Country Status (6)

Country Link
US (1) US20200357138A1 (en)
JP (1) JP7082671B2 (en)
KR (1) KR20200125667A (en)
CN (1) CN110570475A (en)
SG (1) SG11202007195TA (en)
WO (1) WO2019233330A1 (en)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102628012B1 (en) * 2018-10-23 2024-01-22 삼성전자주식회사 Method and apparatus of auto calibration
CN111141311B (en) * 2019-12-31 2022-04-08 武汉中海庭数据技术有限公司 Evaluation method and system of high-precision map positioning module
DE102020202964A1 (en) * 2020-03-09 2021-09-09 Continental Automotive Gmbh The invention relates to a method for increasing the safety of driving functions.
US11080544B1 (en) * 2020-04-24 2021-08-03 StradVision, Inc. Method and device for calibrating pitch of camera on vehicle and method and device for continual learning of vanishing point estimation model to be used for calibrating the pitch
CN112115968B (en) * 2020-08-10 2024-04-19 北京智行者科技股份有限公司 Intelligent sweeper garbage identification method and system
US11341683B2 (en) * 2020-09-22 2022-05-24 AiFi Corp Smart self calibrating camera system
CN112419423A (en) * 2020-10-30 2021-02-26 上海商汤临港智能科技有限公司 Calibration method, calibration device, electronic equipment and storage medium
CN112541952A (en) * 2020-12-08 2021-03-23 北京精英路通科技有限公司 Parking scene camera calibration method and device, computer equipment and storage medium
CN112529968A (en) * 2020-12-22 2021-03-19 上海商汤临港智能科技有限公司 Camera equipment calibration method and device, electronic equipment and storage medium
CN112614192B (en) * 2020-12-24 2022-05-17 亿咖通(湖北)技术有限公司 On-line calibration method of vehicle-mounted camera and vehicle-mounted information entertainment system
CN112785653B (en) * 2020-12-30 2024-06-21 中山联合汽车技术有限公司 Vehicle-mounted camera attitude angle calibration method
CN113284186B (en) * 2021-04-13 2022-04-15 武汉光庭信息技术股份有限公司 Inertial navigation attitude and vanishing point-based camera calibration method and system
CN112991433B (en) * 2021-04-26 2022-08-02 吉林大学 Truck overall dimension measuring method based on binocular depth perception and vehicle position
CN113766211B (en) * 2021-08-24 2023-07-25 武汉极目智能技术有限公司 Camera installation angle detection system and method of ADAS (advanced automatic attachment system) equipment
CN113824880B (en) * 2021-08-26 2023-05-19 国网浙江省电力有限公司双创中心 Vehicle tracking method based on target detection and UWB positioning
CN115214694B (en) * 2021-09-13 2023-09-08 广州汽车集团股份有限公司 Camera calibration triggering control method, vehicle-mounted controller and intelligent driving system
CN113822944B (en) * 2021-09-26 2023-10-31 中汽创智科技有限公司 External parameter calibration method and device, electronic equipment and storage medium
US11875580B2 (en) * 2021-10-04 2024-01-16 Motive Technologies, Inc. Camera initialization for lane detection and distance estimation using single-view geometry
CN113838149B (en) * 2021-10-09 2023-08-18 智道网联科技(北京)有限公司 Camera internal parameter calibration method, server and system for automatic driving vehicle
US11750791B2 (en) * 2021-10-19 2023-09-05 Mineral Earth Sciences Llc Automatically determining extrinsic parameters of modular edge computing devices
FR3129511A1 (en) * 2021-11-23 2023-05-26 Multitec Innovation Parking assistance system for a vehicle equipped with a mobile platform, such as a rear or side lift gate, and corresponding method
CN114170324A (en) * 2021-12-09 2022-03-11 深圳市商汤科技有限公司 Calibration method and device, electronic equipment and storage medium
CN114347917B (en) * 2021-12-28 2023-11-10 华人运通(江苏)技术有限公司 Calibration method and device for vehicle and vehicle-mounted camera system
CN114622469A (en) * 2022-01-28 2022-06-14 南通威而多专用汽车制造有限公司 Automatic old wire laying control system and control method thereof
CN114663524B (en) * 2022-03-09 2023-04-07 禾多科技（北京）有限公司 Multi-camera online calibration method and device, electronic equipment and computer readable medium
US11842623B1 (en) 2022-05-17 2023-12-12 Ford Global Technologies, Llc Contextual calibration of connected security device
CN114882115B (en) * 2022-06-10 2023-08-25 国汽智控(北京)科技有限公司 Vehicle pose prediction method and device, electronic equipment and storage medium
JP7394934B1 (en) 2022-08-16 2023-12-08 株式会社デンソーテン Information processing device, information processing method, and program
CN115550555B (en) * 2022-11-28 2023-04-07 杭州华橙软件技术有限公司 Holder calibration method and related device, camera device and storage medium
CN116704046B (en) * 2023-08-01 2023-11-10 北京积加科技有限公司 Cross-mirror image matching method and device
CN117036505B (en) * 2023-08-23 2024-03-29 长和有盈电子科技(深圳)有限公司 On-line calibration method and system for vehicle-mounted camera

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002135765A (en) * 1998-07-31 2002-05-10 Matsushita Electric Ind Co Ltd Camera calibration instruction device and camera calibration device
JP2008187566A (en) * 2007-01-31 2008-08-14 Sanyo Electric Co Ltd Camera calibration apparatus and method and vehicle
JP5124147B2 (en) * 2007-02-01 2013-01-23 三洋電機株式会社 Camera calibration apparatus and method, and vehicle
JP4863922B2 (en) * 2007-04-18 2012-01-25 三洋電機株式会社 Driving support system and vehicle
WO2012143036A1 (en) * 2011-04-18 2012-10-26 Connaught Electronics Limited Online vehicle camera calibration based on continuity of features
JP5971939B2 (en) * 2011-12-21 2016-08-17 アルパイン株式会社 Image display device, imaging camera calibration method in image display device, and calibration program
JP6141601B2 (en) * 2012-05-15 2017-06-07 東芝アルパイン・オートモティブテクノロジー株式会社 In-vehicle camera automatic calibration device
CN103927754B (en) * 2014-04-21 2016-08-31 大连理工大学 A kind of scaling method of vehicle-mounted vidicon
JP6371185B2 (en) * 2014-09-30 2018-08-08 クラリオン株式会社 Camera calibration device and camera calibration system
JP6682767B2 (en) * 2015-03-23 2020-04-15 株式会社リコー Information processing apparatus, information processing method, program and system
JP6694281B2 (en) * 2016-01-26 2020-05-13 株式会社日立製作所 Stereo camera and imaging system
US10453217B2 (en) * 2016-03-24 2019-10-22 Magna Electronics Inc. Targetless vehicle camera calibration system
CN105976377B (en) * 2016-05-09 2018-11-20 西安电子科技大学 The method of vehicle-mounted fish-eye camera self-calibration
CN106651963B (en) * 2016-12-29 2019-04-26 清华大学苏州汽车研究院（吴江） A kind of installation parameter scaling method of the vehicle-mounted camera for driving assistance system
CN106981082B (en) * 2017-03-08 2020-04-17 驭势科技（北京）有限公司 Vehicle-mounted camera calibration method and device and vehicle-mounted equipment
CN107145825A (en) * 2017-03-31 2017-09-08 纵目科技（上海）股份有限公司 Ground level fitting, camera calibration method and system, car-mounted terminal
CN107133985B (en) * 2017-04-20 2020-05-12 常州智行科技有限公司 Automatic calibration method for vehicle-mounted camera based on lane line vanishing point
CN108052908A (en) * 2017-12-15 2018-05-18 郑州日产汽车有限公司 Track keeping method

Also Published As

Publication number Publication date
JP7082671B2 (en) 2022-06-08
WO2019233330A1 (en) 2019-12-12
JP2021513247A (en) 2021-05-20
CN110570475A (en) 2019-12-13
US20200357138A1 (en) 2020-11-12
KR20200125667A (en) 2020-11-04

Similar Documents

Publication Publication Date Title
SG11202007195TA (en) Vehicle-mounted camera self-calibration method and apparatus, and vehicle driving method and apparatus
EP3734389A4 (en) Vehicle positioning method and apparatus
EP3783388A4 (en) Vehicle, and unlocking method and unlocking apparatus therefor
SG11202009420RA (en) Driving state analysis method and apparatus, driver monitoring system and vehicle
EP3604064A4 (en) Method and apparatus for carrying out driving control on vehicle
EP3686861A4 (en) Vehicle merging method and apparatus
EP3739545A4 (en) Image processing method and apparatus, vehicle-mounted head up display system, and vehicle
EP3683644A4 (en) Unmanned vehicle traveling method and apparatus
EP3778325A4 (en) Vehicle parking control method and apparatus
EP3816967A4 (en) Automatic parking method, apparatus and system, and vehicle
EP3869470A4 (en) Vehicle early warning method and related apparatus
EP3505404A4 (en) Determination apparatus, imaging apparatus, driver confirmation system, movable body, and determination method
EP3431344A4 (en) Parking assistance device, onboard cameras, vehicle, and parking assistance method
EP3726866A4 (en) Method and apparatus for selecting communication mode, and vehicle
EP3739821A4 (en) Vehicle diagnostic method, device, apparatus, and system, and connection diagnostic apparatus
EP3761605A4 (en) Vehicle diagnosis method, related device and system
EP4043978A4 (en) Automobile diagnosis device, system and method
EP3896491A4 (en) Trailer angle measurement method and device, and vehicle
EP3913328A4 (en) Vehicle positioning apparatus, system and method, and vehicle
GB201904232D0 (en) Apparatus, vehicle and method
EP3972400A4 (en) Vehicle-mounted apparatus and vehicle
EP3832161A4 (en) Vehicular driving apparatus
EP3865360A4 (en) Parking control method and apparatus, and vehicle
EP3531396A4 (en) Vehicle-mounted terminal, parking space sharing system, and parking space determination method and apparatus
EP3480800A4 (en) Traveling assistance device, imaging device, imaging system, traveling assistance system, vehicle, and traveling assistance method