WO2017209015A1 - Procédé d'étalonnage de paramètre d'installation d'appareil de capture de vues stéréo - Google Patents

Procédé d'étalonnage de paramètre d'installation d'appareil de capture de vues stéréo Download PDF

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Publication number
WO2017209015A1
WO2017209015A1 PCT/JP2017/019782 JP2017019782W WO2017209015A1 WO 2017209015 A1 WO2017209015 A1 WO 2017209015A1 JP 2017019782 W JP2017019782 W JP 2017019782W WO 2017209015 A1 WO2017209015 A1 WO 2017209015A1
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WIPO (PCT)
Prior art keywords
stereo camera
installation
mark
axis direction
vertical axis
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PCT/JP2017/019782
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English (en)
Japanese (ja)
Inventor
貴好 菊池
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Ｋｙｂ株式会社
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Publication of WO2017209015A1 publication Critical patent/WO2017209015A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders

Definitions

  • the present invention relates to a stereo camera installation parameter calibration method used in a road surface state detection device that detects a road surface state such as a road surface height.
  • a control method of the active suspension system there is preview control that detects the road surface condition in front of the vehicle and appropriately controls various characteristics of the suspension.
  • a method for detecting the road surface condition in front of the vehicle a stereo method using parallax information of a road surface image in front of the vehicle captured by two cameras is known.
  • Patent Document 1 discloses that a first image and a second image obtained by photographing a road surface in stereo are projected on XY plane coordinates, and the plane coordinates are , A detection area centered on a specific coordinate (X, Y) is set, a parallax v1 when the image of the detection area is at the road surface position is calculated, and a coordinate (X ⁇ A technique is described in which a comparison area centered on v1, Y) is set, and the height of the detection area from the road surface is detected by comparing the image of the detection area with the image of the comparison area.
  • Patent Document 1 even when it is difficult to identify a road surface, it is possible to detect a difference in level of a step from the road surface.
  • the accuracy of each installation parameter of the installation height and the installation angle of the stereo camera greatly affects the detection accuracy.
  • the installation parameters may change due to vibration or deterioration of the attached parts over time. For this reason, means for easily and accurately calibrating the installation parameters is required.
  • a stereo camera installation parameter calibration method includes: A stereo camera installation parameter calibration method that is attached to a movable object and that images the road surface to detect the height of the road surface to which the object moves, The road surface provided with a mark at a predetermined distance from the position of the stereo camera is imaged by the stereo camera, Using the installation parameter and the value of the predetermined distance, obtain the position in the vertical direction in the coordinate space of the image captured by the stereo camera, Comparing the position of the obtained vertical axis direction with the position of the captured mark in the vertical axis direction in the coordinate space; The installation parameter is calibrated based on the comparison result.
  • the position in the vertical axis direction is In the coordinate space of the image captured by the stereo camera, the distance from the stereo camera respectively corresponding to a plurality of predetermined positions in the vertical axis direction is calculated using the installation parameters, respectively. It is obtained by determining a position in the vertical axis direction in the coordinate space corresponding to the distance closest to the predetermined distance among the calculated distances, Comparing the determined position and the position of the imaged mark in the vertical direction in the coordinate space; The installation parameter may be calibrated based on the comparison result.
  • the installation parameter may be calibrated so that the determined position and the position in the vertical axis direction of the imaged mark in the coordinate space coincide with each other.
  • the installation parameter to be calibrated is an installation height and an installation angle of the stereo camera
  • the mark includes a first mark provided at a predetermined first distance from the position of the stereo camera; a second mark provided at a predetermined second distance different from the first distance from the position of the stereo camera;
  • the road surface on which the mark is provided may be imaged by the stereo camera at a timing when the object passes a position a predetermined distance before the position of the mark provided on the road surface.
  • FIG. 5 is a diagram for explaining a first calibration method for installation parameters of the stereo camera 10. It is a flowchart which shows the procedure of the 1st calibration method.
  • 10 is a diagram for explaining a second calibration method for installation parameters of the stereo camera 10. It is a flowchart which shows the procedure of the 2nd calibration method of the installation parameter of a stereo camera. It is a figure which shows the positional relationship in the coordinate space of the image of several calibration line and a mark. It is a figure for demonstrating the 3rd calibration method of the installation parameter of the stereo camera. 12 is a flowchart illustrating a procedure of a third calibration method for installation parameters of the stereo camera 10. It is a figure for demonstrating the method to give an exact imaging timing to a stereo camera, when calibrating the installation parameter of a stereo camera automatically while driving
  • the present embodiment relates to a stereo camera installation parameter calibration method used in a road surface state detection device that detects a distance to a detection target point on a road surface in front of a vehicle and a height of the detection target point using a stereo image. is there.
  • the stereo camera has a plurality of, for example, two cameras.
  • Each of the plurality of cameras is arranged so that the front of the vehicle is an imaging range, are separated from each other so that parallax can occur, and the optical axes thereof are parallel to each other.
  • the images captured by a plurality of cameras are processed by an arithmetic processing circuit.
  • the arithmetic processing circuit calculates parallax information between corresponding points of each image, calculates the distance from the stereo camera to the detection target point on the road surface based on the calculated parallax information and the installation parameters of the stereo camera, and is calculated Based on the distance, the height of the road surface is calculated.
  • FIG. 1 and 2 are explanatory diagrams of a method for calculating the distance and height from the stereo camera to the detection target point on the road surface.
  • FIG. 1 is a view showing a road surface including each camera and a detection target point from above
  • FIG. 2 is a view showing a road surface including each camera and the detection target point from the side.
  • the detection target point K on the road surface is seen in a direction inclined downward by an angle ⁇ from the optical axes 11R, 11L of the cameras 10R, 10L as shown in FIG.
  • the distance D from the cameras 10R and 10L to the detection target point K is calculated by the following equation (1).
  • D (d ⁇ f) / (x1 ⁇ x2) (1)
  • d is the distance between the cameras
  • f is the focal length of the lens.
  • x1-x2 is parallax
  • x1 is the X coordinate value of the image of the detection target point K in the image of one camera 10R
  • x2 is the X coordinate value of the image of the detection target point K in the image of the other camera 10L. is there.
  • the distance L and the height h from the stereo camera to the detection target point K on the road surface can be calculated by the stereo method.
  • the detection accuracy of the distance L and the height h by the above stereo method depends on the installation height and the installation angle accuracy of the stereo camera 10. In the installation work of the stereo camera 10, it is difficult to completely eliminate these installation parameter errors. In addition, the installation parameters may change due to vibration or deterioration of the attached parts over time.
  • FIG. 3 is a block diagram showing the configuration of the road surface condition detection device 1 of the present embodiment.
  • the road surface state detection device 1 of this embodiment includes a stereo camera 10, an arithmetic processing circuit 20, and a memory 30. Note that the memory 30 may be provided in the arithmetic processing circuit 20.
  • the stereo camera 10 has two cameras 10A and 10B.
  • the two cameras 10A and 10B are arranged such that the front of the vehicle is an imaging range, are separated from each other so that parallax is generated, and the optical axes thereof are parallel to each other.
  • the cameras 10A and 10B are configured to include an image pickup device such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). Imaging signals obtained by the respective cameras 10A and 10B are supplied to the arithmetic processing circuit 20.
  • an image pickup device such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). Imaging signals obtained by the respective cameras 10A and 10B are supplied to the arithmetic processing circuit 20.
  • the arithmetic processing circuit 20 is a device that performs arithmetic processing for parallax calculation and road surface displacement detection using the memory 30, and is configured by, for example, an FPGA (Field-Programmable Gate Array).
  • FPGA Field-Programmable Gate Array
  • the present invention is not limited to this, and may be configured by other integrated circuits such as ASIC (Application Specific Specific Integrated Circuit).
  • the arithmetic processing circuit 20 functionally includes an image processing unit 21, a road surface displacement calculation unit 22, and an installation parameter calibration unit 23.
  • the image processing unit 21 digitizes the two video signals supplied from the stereo camera 10 to form an image, and performs preprocessing, such as filter processing such as distortion correction of each image and noise removal from each image. Further, the image processing unit 21 searches for the correspondence between the images using the preprocessed image (camera 10A image) as a reference image and the other image (camera 10B image) as a reference image. Disparity information of two images is generated.
  • the road surface displacement calculation unit 22 calculates the distance L from the stereo camera 10 and the road surface height h of the detection target point on the road surface using the parallax information obtained by the image processing unit 21.
  • the road surface displacement calculation unit 22 generates road surface displacement information for preview control of the suspension system 60 from the calculated distance L and height h information, and supplies the road surface displacement information to the suspension system 60.
  • the installation parameter calibration unit 23 performs a process of calibrating the installation parameters of the stereo camera 10.
  • a linear mark M orthogonal to the lane direction (Y direction) is provided at a position away from the stereo camera 10 by a predetermined distance L in the lane direction (Y direction) of the road surface 70. It is done.
  • the mark M should be provided by accurately detecting a position corresponding to a predetermined distance L from the stereo camera 10 using, for example, a laser displacement meter.
  • FIG. 5 is a diagram showing an image obtained by imaging the road surface 70 provided with the mark M with the stereo camera 10.
  • the mark M is provided on the horizontal road surface 70 in a direction orthogonal to the lane direction (vertical axis direction (Y-axis direction) in the image coordinate space)
  • the coordinate space of the image captured by the stereo camera 10 The mark M is obtained as a straight image 71 parallel to the X axis.
  • the installation height of the stereo camera 10 can be accurately measured by using, for example, a laser distance meter.
  • a laser distance meter When the stereo camera 10 can be accurately installed on the vehicle body at the target height by such means, only the error in the installation angle of the stereo camera 10 needs to be calibrated.
  • FIG. 6 is a diagram for explaining a first calibration method for the installation parameters of the stereo camera 10.
  • FIG. 7 is a flowchart showing the procedure of the first calibration method.
  • the arithmetic processing circuit 20 (installation parameter calibration unit 23) uses the installation parameter of the stereo camera 10 and the value of a predetermined distance L to determine the position in the vertical axis direction in the coordinate space of the image captured by the stereo camera 10. Is obtained as follows (step S101).
  • the arithmetic processing circuit 20 obtains an angle ⁇ ′ formed by the straight line connecting the lower end of the angle of view of the stereo camera 10 and the straight line connecting the viewpoint of the stereo camera 10 and the mark M, using Expression (5).
  • ⁇ v is the vertical angle of view of the stereo camera 10
  • ⁇ camera is the installation angle of the stereo camera 10.
  • the installation angle ⁇ camera is an angle of the optical axis 11 of the stereo camera 10 with respect to the horizontal line 12.
  • the arithmetic processing circuit 20 obtains the position in the vertical axis direction in the coordinate space of the image from the angle ⁇ ′.
  • the position in the vertical axis direction in the coordinate space of the image corresponding to the angle ⁇ ′ obtained at this time is the value before the calibration of the parameter of the installation angle ⁇ camera, so that the stereo camera 10 has an error corresponding to the installation angle ⁇ camera.
  • the arithmetic processing circuit 20 calculates a difference between the obtained position in the vertical direction and the position in the vertical direction of the mark M in the coordinate space of the image captured by the stereo camera 10 (step S102). If there is a significant difference (YES in step S103), the installation angle ⁇ camera of the stereo camera 10 is updated so as to reduce the difference (step S104). For example, when the obtained Y-coordinate position is farther away than the mark M, the installation angle ⁇ camera is increased, and conversely, the obtained vertical axis position is in front of the mark M position. The installation angle ⁇ camera is decreased.
  • the arithmetic processing circuit 20 calculates the increase / decrease amount of the installation angle ⁇ camera of the stereo camera 10 between the position in the vertical axis direction and the vertical axis position of the mark M in the coordinate space of the image captured by the stereo camera 10. You may make it obtain
  • the arithmetic processing circuit 20 uses the updated installation parameter and the value of the predetermined distance L to perform the vertical axis direction in the coordinate space of the image captured by the stereo camera 10 Is calculated again, and the difference between the calculated vertical position and the vertical position of the mark M in the coordinate space of the image captured by the stereo camera 10 is calculated, and the installation angle ⁇ camera of the stereo camera 10 is calculated.
  • the installation angle ⁇ camera at the time when the difference between the obtained position in the vertical axis direction and the position in the vertical axis direction of the mark M in the coordinate space of the image captured by the stereo camera 10 becomes zero or minimum is obtained.
  • the calibration result is determined (step S105). The calibration of the installation angle ⁇ camera by the first calibration method is thus completed.
  • FIG. 8 is a diagram for explaining a second calibration method for the installation parameters of the stereo camera 10.
  • FIG. 9 is a flowchart showing the procedure of the second calibration method for the installation parameters of the stereo camera 10.
  • the arithmetic processing circuit 20 (installation parameter calibration unit 23) is compared with a predetermined distance L from the stereo camera 10 to the mark M, using the values of the installation parameters of the installation height of the stereo camera 10 and the installation angle before calibration.
  • the distances from the stereo camera 10 of the plurality of calibration lines are calculated (step S201). For example, as shown in FIG. 10, each of the plurality of calibration lines 72A, 72B, 72C is preset as a position in the vertical axis direction in the coordinate space of the image.
  • the arithmetic processing circuit 20 calculates the calibration line 72A from the stereo camera 10 as follows from the installation height of the stereo camera 10 and the installation angle before calibration, and further the position in the vertical axis direction of each calibration line. The distances to 72B and 72C are calculated respectively.
  • the arithmetic processing circuit 20 calculates an angle ⁇ ′ corresponding to the position (Y coordinate value) of the number of pixels H_pixel from the lower end of the image by the following equation (8).
  • ⁇ ′ ⁇ ⁇ H_pixel (8)
  • the arithmetic processing circuit 20 calculates a distance LA from the stereo camera 10 to the calibration line 72A by the following equation (9).
  • LA DA ⁇ cos ⁇ ”(9)
  • DA is a linear distance from the viewpoint of the stereo camera 10 to the calibration line 72A.
  • ⁇ ′′ is an angle formed by a straight line connecting the viewpoint of the stereo camera 10 and, for example, the calibration line 72A, and a parallel line to the road surface when the stereo camera 10 is installed at an angle of ⁇ camera. Obtained by (5).
  • the distance LA from the stereo camera 10 to the calibration line 72A is calculated by substituting this ⁇ "value into the equation (9). Note that the distance LA from the stereo camera 10 to the other calibration lines 72B and 72C is calculated. The distances LB and LC are similarly calculated.
  • the arithmetic processing circuit 20 determines the distance from the stereo camera 10 to the mark M among the distances LA, LB, LC from the stereo camera 10 calculated as described above to the calibration lines 72A, 72B, 72C.
  • the calibration line closest to the predetermined distance L is determined as an effective calibration line (step S202).
  • the predetermined distance L may be set in advance in the device, or the user may input the distance L actually measured between the stereo camera 10 and the mark M.
  • the calibration line 72A is determined as the effective calibration line.
  • the calibration lines are all the lines in the image coordinate space, all the lines in a specific height range in the image coordinate space, or a plurality of lines every N (N is a value of 1 or more). There may be.
  • the arithmetic processing circuit 20 calculates a difference between the position of the effective calibration line in the coordinate space of the image in the vertical axis direction and the position of the mark M in the coordinate space of the image captured by the stereo camera 10 in the vertical axis direction.
  • the installation angle ⁇ camera of the stereo camera 10 is updated so as to reduce the difference (step S205). For example, when the effective calibration line is farther than the mark M in the coordinate space of the image, the installation angle ⁇ camera is increased. Conversely, when the effective calibration line is in front of the mark M, the installation angle ⁇ camera is increased. The angle ⁇ camera is decreased.
  • the arithmetic processing circuit 20 determines the optimum increase / decrease amount of the installation angle ⁇ camera of the stereo camera 10, the position of the effective calibration line in the image coordinate space in the vertical axis direction, and the coordinate space of the image captured by the stereo camera 10. It may be determined uniquely from the difference between the position of the mark M in the vertical axis direction.
  • the arithmetic processing circuit 20 recalculates the distances LA, LB, and LC from the stereo camera 10 for each of the plurality of calibration lines 72A, 72B, and 72C, and performs effective calibration. Line determination, calculation of the difference between the position of the effective calibration line in the coordinate space of the image in the vertical axis direction and the position of the mark M in the coordinate space of the image captured by the stereo camera 10 in the vertical axis direction, and stereo The installation angle ⁇ camera of the camera 10 is similarly updated.
  • step S206 This completes the calibration of the installation angle ⁇ camera by the second calibration method.
  • the distance for the calibration line is calculated only in the vertical axis direction of the effective calibration line in the image coordinate space only for the effective calibration line determined in the first processing recycling.
  • a difference between the position and the position of the mark M in the vertical axis direction in the coordinate space of the image captured by the stereo camera 10 may be calculated.
  • a third calibration method for calibrating both the installation height H and the installation angle ⁇ camera of the stereo camera 10 will be described.
  • the third calibration method for example, as shown in FIG. 11, a plurality of marks M1 and M2 are provided on the road surface 70 apart from each other in the lane direction.
  • the mark M1 is referred to as a “first mark M1”
  • the mark M2 is referred to as a “second mark M2”.
  • the first mark M1 and the second mark M2 are provided by accurately detecting positions corresponding to predetermined distances L1 and L2 from the stereo camera 10 using, for example, a laser displacement meter.
  • FIG. 12 is a flowchart showing the procedure of the third calibration method for the installation parameters of the stereo camera 10.
  • the arithmetic processing circuit 20 calculates the position in the vertical axis direction in the coordinate space of the image captured by the stereo camera 10 from the installation parameters (installation height H and installation angle ⁇ camera) of the stereo camera 10 and the value of the distance L2. (Step S301). This process is performed by the above equations (4) to (7).
  • the arithmetic processing circuit 20 calculates a difference between the obtained position in the vertical axis direction and the position in the vertical axis direction of the image of the second mark M2 in the coordinate space of the image captured by the stereo camera 10 (step). If there is a significant difference (YES in step S303), the installation height H of the stereo camera 10 is updated so that the difference becomes 0 or minimum (step S304), and the process proceeds to step S305. If there is no significant difference (NO in step S303), the process moves to step S305 without updating the installation height H.
  • step S305 the arithmetic processing circuit 20 calculates the position in the vertical axis direction in the coordinate space of the image captured by the stereo camera 10 from the installation parameter of the stereo camera 10 and the value of the distance L1 (step S305). This process is performed by the above equations (4) to (7).
  • the arithmetic processing circuit 20 calculates a difference between the obtained position in the vertical axis direction and the position in the vertical axis direction of the image of the first mark M1 in the coordinate space of the image captured by the stereo camera 10 (step S1). If there is no significant difference (NO in step S307), the current installation parameter of the stereo camera 10 is determined as a calibration result (step S310). If there is a significant difference (YES in step S307), the installation angle ⁇ camera of the stereo camera 10 is updated so that the difference becomes 0 or minimum (step S308).
  • step S309 it is determined whether or not the installation angle ⁇ camera has been updated. If the installation angle ⁇ camera has been updated, the current installation parameter of the stereo camera 10 is determined as a calibration result (step S310).
  • step S303 If there is a significant difference (YES in step S303), the installation height H of the stereo camera 10 is updated again in step S304 so that the difference becomes 0 or minimum.
  • the arithmetic processing circuit 20 moves to step S305 in order to re-evaluate the current installation angle ⁇ camera, and the subsequent operations are repeated.
  • the installation height H of the stereo camera 10 using the second mark M2 is adjusted, and the installation angle ⁇ camera of the stereo camera 10 using the first mark M1 is adjusted. Is repeatedly performed alternately to calibrate the installation parameters.
  • the first mark M1 may be used for adjusting the installation height H of the stereo camera 10
  • the second mark M2 may be used for adjusting the installation angle ⁇ camera of the stereo camera 10.
  • the installation angle ⁇ camera of the stereo camera 10 can be changed by, for example, shifting the position for reading an image from the imaging device of the stereo camera 10 in the entire vertical axis direction. In this case, the total number of pixels in the vertical axis direction of the imaging element of the stereo camera 10 needs to be larger than the number of pixels in the vertical axis direction from which an image is read. Further, the installation angle ⁇ camera of the stereo camera 10 may be changed by mechanically changing the direction of the optical axis 11 of the stereo camera 10 by the camera actuator 80.
  • the installation height H of the stereo camera 10 can be changed by mechanically moving the barrel of the stereo camera 10 by the camera actuator 80 in the vertical direction.
  • the installation parameters such as the installation height and the installation angle of the stereo camera 10 may fluctuate due to aged deterioration of the mounting bracket or vibration caused by backlash of the screw hole. There is.
  • a system that can automatically calibrate the installation parameters of the stereo camera 10 while the vehicle is traveling on a public road or the like is conceivable.
  • a mark M is provided on a road surface such as a public road, and the road surface may be imaged by the stereo camera 10 at a timing when the stereo camera 10 of the vehicle passes a position at a predetermined distance L in front of the mark M. .
  • FIGS. 13A and 13B are diagrams illustrating a configuration for giving accurate imaging timing to the stereo camera 10 when the installation parameters of the stereo camera 10 are automatically calibrated while the vehicle is traveling on a public road or the like.
  • vehicle detectors 110 and 110 such as an optical sensor and a camera are used.
  • the passage speed and passage timing of the vehicle C between the vehicle detectors 110, 110 are detected, and transmission / reception of signals and the like are included.
  • the stereo camera 10 performs imaging at a predetermined distance L before the mark M.
  • the calibration process by the first calibration method or the second calibration method of the installation parameters is performed. Can do.
  • a method of generating the timing at which the vehicle stereo camera 10 passes a position at a predetermined distance L before the mark M a method using the vehicle detectors 110 and 110, a predetermined distance before the mark M, and the like.
  • a plurality of marks for generating the vehicle passage timing are provided in a position further forward than the position L, separated from each other in the lane direction, and these are detected by a detector such as an optical sensor or a camera provided in the vehicle. It can also be detected.
  • This application example can also be applied to the third calibration method.
  • the present invention can be applied not only to a vehicle traveling on a road surface, but also to various transporting devices and robots that move on an indoor floor surface.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

La présente invention concerne un procédé d'étalonnage d'un paramètre d'installation d'appareil de capture de vues stéréo qui, selon un mode de réalisation de la présente invention, est un procédé d'étalonnage d'un paramètre d'installation d'un appareil de capture de vues stéréo qui est fixé à un objet mobile et capture des images d'une surface de route sur laquelle l'objet doit se déplacer, afin de détecter la hauteur de la surface de route. Selon ce procédé : l'appareil de capture de vues stéréo capture une image d'une surface de route sur laquelle une marque a été prévue à une distance prescrite à partir de la position de l'appareil de capture de vues stéréo ; le paramètre d'installation et la valeur de la distance prescrite sont utilisés pour obtenir une position directionnelle d'axe vertical dans un espace de coordonnées dans l'image capturée par l'appareil de capture de vues stéréo ; et la position directionnelle d'axe vertical obtenue et la position directionnelle d'axe vertical de la marque imagée dans l'espace de coordonnées sont comparées, et le paramètre d'installation est étalonné en fonction du résultat de comparaison.
PCT/JP2017/019782 2016-06-03 2017-05-26 Procédé d'étalonnage de paramètre d'installation d'appareil de capture de vues stéréo WO2017209015A1 (fr)

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JP2016112088A JP6209648B1 (ja) 2016-06-03 2016-06-03 ステレオカメラの設置パラメータ校正方法

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