WO2015090529A1 - Véhicule à moteur et procédé pour vérifier l'étalonnage d'une caméra - Google Patents

Véhicule à moteur et procédé pour vérifier l'étalonnage d'une caméra Download PDF

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Publication number
WO2015090529A1
WO2015090529A1 PCT/EP2014/003275 EP2014003275W WO2015090529A1 WO 2015090529 A1 WO2015090529 A1 WO 2015090529A1 EP 2014003275 W EP2014003275 W EP 2014003275W WO 2015090529 A1 WO2015090529 A1 WO 2015090529A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
motor vehicle
calibration
reference pattern
image
Prior art date
Application number
PCT/EP2014/003275
Other languages
German (de)
English (en)
Inventor
Jens Pollmer
Original Assignee
Audi Ag
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 Audi Ag filed Critical Audi Ag
Publication of WO2015090529A1 publication Critical patent/WO2015090529A1/fr

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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
    • 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
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the invention relates to a motor vehicle, in particular a test vehicle, comprising a camera partially detecting the surroundings of the motor vehicle.
  • the invention relates to a method for checking a calibration of a directed to a part of the environment of a motor vehicle camera of the motor vehicle.
  • Modern driver assistance systems in particular those based on environmental data on the environment of a motor vehicle, often use the data of built in the motor vehicle, directed to the environment of the motor vehicle cameras.
  • a camera on and / or behind the windscreen of a motor vehicle, which is directed to the apron of the motor vehicle.
  • Such cameras take on camera images that reflect the environment of the motor vehicle and can be used to extract certain information through functions of the driver assistance system.
  • calibration errors can also occur in motor vehicles not used as test vehicles and used in normal traffic, the detection of which also presupposes the use of a calibration stand.
  • the invention is therefore based on the object to provide a suitable in particular for test vehicles way to check a performed calibration of a camera in a simple manner without the use of a calibration.
  • a motor vehicle of the type mentioned at the outset that the motor vehicle has a vehicle-fixed reference, which can be detected at least at times by the camera. pattern for checking calibration and / or calibrating the camera.
  • the motor vehicle further comprises a control device, in particular a control unit, and / or the motor vehicle is associated with an external control device which for checking the calibration of the camera based on a comparison of the currently recorded in a camera image visible reference pattern is formed with the visible in a immediately after a successful calibration of the camera reference image of the camera visible reference pattern.
  • a reference image is taken in which the reference given on the motor vehicle is taken. is visible.
  • the two images of the reference pattern can be compared with each other and, if necessary, a deviation determined that corresponds to a deviation from the original calibration and the corresponding can be assessed.
  • certain threshold values can be stored in the control device, exceeding which a calibration error is detected and corresponding further measures are initiated.
  • a built-in motor vehicle control unit can be used, but it is also conceivable to use an external, for this purpose the motor vehicle associated control unit.
  • the control device can also be a computing device, for example a computer installed in the motor vehicle or a laptop to be carried. The computing device can also be assigned to the data acquisition during operation as a test vehicle.
  • the control device is formed at a detected deviation from the original calibration for outputting an indication information and / or for recalibration of the camera as a function of the deviation.
  • the issuance of an indication information indicates to a user of the motor vehicle that the data recorded with the camera are no longer reliable due to the calibration error, so that the latter can take appropriate measures, for example if no reliable recalibration is carried out is possible to visit a calibration stand or the like.
  • a man-machine interface of the motor vehicle can be used to output the notification information.
  • the control unit can thus determine a calibration correction which can be applied to the camera so that it in turn supplies camera images or data. which correspond to the camera images or data recorded during the original calibration, for example in a calibration stand.
  • a recalibration is preferably linked to recalibration conditions, in particular used only for smaller deviations from the original calibration in order to avoid errors in the recalibration as possible. If a recalibration is not possible, a calibration stand can be consulted, for example, after a corresponding note information in order to allow a completely new calibration.
  • the reference pattern for a calibration, especially if a new camera is used in the motor vehicle. If a first camera has been calibrated via a calibration stand and a reference image has been taken, a camera image of the reference pattern can be recorded on a new, built-in camera, which is then compared with the old reference image in order to derive a calibration of the new camera such that a calibration as given by the old camera.
  • the first reference image taken with the camera first calibrated and calibrated via a calibration stand thus serves as a calibration default that can be used in the calibration of new cameras inserted in the motor vehicle.
  • a particularly expedient embodiment of the present invention provides that the reference pattern is arranged on an engine hood of the motor vehicle.
  • This embodiment is expedient in particular in connection with a camera arranged on and / or behind a windshield of the motor vehicle and / or the front of the motor vehicle detecting camera.
  • Directed to the front of the vehicle cameras may detect a part of the hood, which can be used to apply the then basically available reference pattern;
  • the engine hood it is also conceivable and preferred for the engine hood to be set up to record reference images and thus to be compared with camera images in order to be able to make targeted recordings of the reference pattern when the motor vehicle is stationary, which can be used as a basis for checking the calibration.
  • the camera has a detection area having at least one part of the reference pattern with the hood closed and / or is arranged for detecting the reference pattern when the engine hood is open. It is preferred to use a large portion of the hood for the reference pattern and to set the hood when a calibration and / or calibration check is to take place, after which the entire detection range of the camera can then be checked.
  • a checkerboard pattern is particularly useful, as it allows the detection of inaccuracies of the calibration and their classification at different points of the detection range of the camera, after distortions in the image of the checkerboard pattern can be easily detected and optionally also automatically evaluated, for more detailed information about to provide a calibration error.
  • the reference pattern is also conceivable in principle, for example other geometrical structures to be mounted on the hood, but also, for example, structures attached to mountings in the field of vision of the camera and the like.
  • the camera in particular when the bonnet is used as a carrier of the reference pattern, may be a camera arranged on and / or behind a windscreen of the motor vehicle and / or detecting the apron of the motor vehicle.
  • laterally aligned cameras reference pattern which can be arranged for example on the inside of openable doors and the like.
  • the invention also relates to a method for checking a calibration of a directed to a part of the environment of a motor vehicle camera of the motor vehicle, in particular of a motor vehicle according to the invention, wherein a stationary arranged on the motor vehicle reference pattern is recorded in a camera image of the camera and the figure of the reference pattern is compared in a reference picture of the camera recorded immediately after calibration of the motor vehicle.
  • the method according to the invention can be carried out by the control device already mentioned with regard to the motor vehicle, which has corresponding storage and computing means.
  • a refinement of the method provides that, in the case of a reference pattern arranged on the engine hood of the motor vehicle, the reference image and the camera image are recorded when the engine hood is raised, in particular when the motor vehicle is stationary.
  • the reference image and the camera image are recorded when the engine hood is raised, in particular when the motor vehicle is stationary.
  • a large part or even the entire detection range of the directed on the apron of the motor vehicle, for example, and / or behind the windshield of the motor vehicle camera is used after the arranged on the hood reference pattern ultimately adjusts the other field of view of the camera.
  • the motor vehicle is parked, ensured that defined conditions are given in terms of the relative position of the reference pattern and the camera.
  • a calibration error during the drive of the motor vehicle.
  • a plurality of camera images are recorded and time-averaged during a check carried out during the journey, before a comparison of the imaged reference structures takes place.
  • the reference pattern is arranged in the detection range of the camera when the motor vehicle is currently in driving mode.
  • a statistical analysis of the camera images over a certain period averages out vibrations occurring during travel operation, possibly at the location of the camera and at the location of the reference pattern, so that a more meaningful and reliable comparison is made possible.
  • an exclusion criterion for a calibration check to be performed is given, for example, if it is known from surrounding data of the motor vehicle that a stronger mechanical effect on the motor vehicle is imminent, which may have an effect on the relative positioning of the reference pattern and the camera , For example, a pothole and / or any other unevenness over which the motor vehicle will drive and thus can preclude a to be carried out during the journey of the motor vehicle verification of the calibration by means of the exclusion criterion.
  • An expedient refinement of the method according to the invention also provides that, given a deviation between the reference patterns which exceeds a threshold value, recalibration of the camera takes place as a function of the deviation and / or information is output.
  • recalibration of the camera takes place as a function of the deviation and / or information is output.
  • a reference image recorded once by a previously calibrated camera can be used for the later installation of other cameras for the calibration of the other cameras solely on the basis of the reference pattern.
  • a recalibration has taken place and if further calibration errors are to be monitored, it may be expedient to record a further camera image of the reference pattern after recalibration and / or recalibration after replacement of the camera, in particular when the motor vehicle is stationary, which is based on a plausibility check of the calibration performed is placed.
  • Fig. 1 shows an inventive motor vehicle
  • Fig. 2 is a schematic diagram for checking the calibration.
  • Fig. 1 shows a schematic diagram of a motor vehicle 1 according to the invention in a plan view.
  • the motor vehicle 1 has a windscreen 2, on which, detecting the apron 3 of the motor vehicle 1, a camera 4 is arranged.
  • a reference pattern 6, here in the form of a checkerboard pattern, applied which is used to check the calibration of the camera 4 and for recalibration of the camera 4 and optionally for the calibration of a camera replacing the camera 4, as in the following will be explained in more detail.
  • reference pattern 6 of the hood 5 does not have to be the only reference pattern of the motor vehicle 1, in particular if further, for example, to the sides or on the back of the motor vehicle 1 directed cameras are provided, the here for the sake of clarity not closer are shown. Then reference patterns can also be provided on a trunk lid 7 of the motor vehicle and, for example, on the interior of side doors of the motor vehicle and the like, preferably in turn checkerboard pattern.
  • the camera 4 is arranged so that it detects the reference pattern 6 in an expedient manner only when the hood 5 is set up, thus actually fills the entire field of view of the camera 4, which allows a particularly simple verification of the calibration.
  • the reference pattern lies at any time in the detection range of the camera 4, so that in particular a calibration check can take place while driving, although statistical averaging over time ranges is preferably performed in order to detect unequal vibrations of the camera 4 and of the reference pattern 6.
  • the camera 4 is assigned as a control device, a control unit 8 of the motor vehicle, which is designed for carrying out the method according to the invention, specifically for checking a calibration of the camera 4.
  • a control unit 8 of the motor vehicle which is designed for carrying out the method according to the invention, specifically for checking a calibration of the camera 4.
  • Fig. 2 Immediately after the camera 4 has been calibrated, for example in a calibration stand, the hood 5 is set up and a reference image 9 of the reference pattern 6 is recorded. If now a review of the calibration take place at a later time, in turn the engine hood 5 is set up and a current camera image 10 of the reference pattern 6 is recorded.
  • the reference image 9 stored in a memory of the control unit 8 or the reference pattern 6 shown therein is now compared with the reference pattern 6 shown in the camera image 10, so that a deviation 11 can be determined which describes a calibration error. In the example shown in Fig. 2, it acts as if a shift in the horizontal direction has taken place.
  • the checkerboard pattern can also
  • a step 12 the deviations 11 are checked against action criteria, wherein, for example, it is determined whether the deviation 11 exceeds a threshold in terms of amount, and the like. If an action criterion is fulfilled, actions are therefore necessary, these take place in a step 13.
  • hint information is output which indicates the calibration error.
  • the determined deviation 11 optionally with further information, is stored in an event memory of the control unit 8.
  • recalibration criteria are evaluated. If a recalibration criterion is met, ie the deviation 11 found to be relevant, but not too strong, a recalibration takes place after the individual partial deviations have been easily classified, judged and corrected on the basis of the checkerboard pattern, as explained. This can of course also be logged in the control unit 8, so that the course of calibration errors and the like can be traced. After the recalibration may expediently another camera image are taken, which should then again correspond to the reference image 9.
  • the camera 4 may be calibrated using the reference image 9 which would still be picked up by the camera 4, after which then a clear reference point exists, so that the data of the new camera and the Incidentally, data from the camera 4 are also comparable with one another when the calibration of the new camera with reference to the reference image 9 is successful.

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)

Abstract

Véhicule à moteur (1), notamment véhicule d'essai, comportant une caméra (4) captant en partie l'environnement (3) du véhicule, le véhicule à moteur (1) étant équipé d'un modèle de référence (6) qui est à demeure dans le véhicule et peut être capté au moins temporairement par la caméra (4), ce modèle de référence servant à vérifier l'étalonnage de ladite caméra (4) et/ou à l'étalonner .
PCT/EP2014/003275 2013-12-19 2014-12-06 Véhicule à moteur et procédé pour vérifier l'étalonnage d'une caméra WO2015090529A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013021616.8 2013-12-19
DE102013021616.8A DE102013021616A1 (de) 2013-12-19 2013-12-19 Kraftfahrzeug und Verfahren zur Überprüfung einer Kalibrierung einer Kamera

Publications (1)

Publication Number Publication Date
WO2015090529A1 true WO2015090529A1 (fr) 2015-06-25

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PCT/EP2014/003275 WO2015090529A1 (fr) 2013-12-19 2014-12-06 Véhicule à moteur et procédé pour vérifier l'étalonnage d'une caméra

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DE (1) DE102013021616A1 (fr)
WO (1) WO2015090529A1 (fr)

Cited By (2)

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Publication number Priority date Publication date Assignee Title
US10735716B2 (en) 2018-12-04 2020-08-04 Ford Global Technologies, Llc Vehicle sensor calibration
WO2021003361A1 (fr) * 2019-07-03 2021-01-07 Uatc, Llc Système de détection de défaillance de lidar

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DE102016003021B4 (de) 2016-03-12 2017-11-23 Audi Ag Kraftfahrzeug-Steuervorrichtung und Verfahren zum Ermitteln einer Position eines in einem Kraftfahrzeug eingebauten optischen Sensors
CN110879130A (zh) * 2018-09-06 2020-03-13 舜宇光学（浙江）研究院有限公司 目视光学系统的成像质量测试方法及其测试图案单元
DE102018220597B4 (de) * 2018-11-29 2021-02-18 Zf Friedrichshafen Ag Verfahren und System zur Selbst-Kalibrierung eines optischen Sensors eines Bilderfassungssystems eines Fahrzeugs
CA3076342A1 (fr) * 2019-04-24 2020-10-24 The Boeing Company Alignement des capteurs sur les vehicules au moyen des sorties des capteurs
US11639234B2 (en) 2019-04-24 2023-05-02 The Boeing Company Method, system and apparatus for aligning a removable sensor on a vehicle
DE102021126367A1 (de) 2021-10-12 2023-04-13 Avl Software And Functions Gmbh Verfahren und Vorrichtung zur Positionsbestimmung eines portablen Referenzsensorsystems gegenüber einem Fahrzeug
DE102022104939A1 (de) 2022-03-02 2023-09-07 Audi Aktiengesellschaft Fahrerloses Transportfahrzeug

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JP5124147B2 (ja) * 2007-02-01 2013-01-23 三洋電機株式会社 カメラ校正装置及び方法並びに車両

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WO2002050770A1 (fr) * 2000-12-21 2002-06-27 Robert Bosch Gmbh Procede et dispositif permettant de compenser un defaut d'alignement d'un dispositif de production d'images
WO2004094196A1 (fr) * 2003-04-24 2004-11-04 Robert Bosch Gmbh Dispositif et procede de calibrage d'un capteur d'images
DE102004056669A1 (de) * 2004-10-13 2006-04-20 Robert Bosch Gmbh Einrichtung für die Kalibrierung eines Bildsensorsystems in einem Kraftfahrzeug

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10735716B2 (en) 2018-12-04 2020-08-04 Ford Global Technologies, Llc Vehicle sensor calibration
WO2021003361A1 (fr) * 2019-07-03 2021-01-07 Uatc, Llc Système de détection de défaillance de lidar
US11543535B2 (en) 2019-07-03 2023-01-03 Uatc, Llc Lidar fault detection system

Also Published As

Publication number Publication date
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