Single camera calibration method based on road surface collinear three points and parallel line thereof

A single-camera, parallel-line technology, applied in image analysis, image data processing, instruments, etc., to achieve the effect of ensuring pertinence and versatility

Inactive Publication Date: 2010-06-09
HUNAN UNIV +1
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Problems solved by technology

[0006] In order to solve the above-mentioned technical problems existing in the existing single-camera calibration method, the present invention proposes an easy-to-implement, simple-to-operate single-camera calibration method based on three collinear points on the road surface and their parallel lines

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  • Single camera calibration method based on road surface collinear three points and parallel line thereof
  • Single camera calibration method based on road surface collinear three points and parallel line thereof
  • Single camera calibration method based on road surface collinear three points and parallel line thereof

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[0019] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0020] Camera calibration method of the present invention comprises the following steps:

[0021] 1. Selection of calibration target and establishment of relevant coordinate system

[0022] In the traffic scene, select the calibration target, that is, two parallel lines with a known distance on the road surface and three points on one of the parallel lines. Two parallel lines on the actual road surface are denoted as a and b respectively, and the distance between the two lines a and b is measured in advance as d w . The three points represent points A, B, and C respectively, among which point A is the closest to the camera, and point C is the farthest from the camera. The distance between the two points A and B is measured in advance as Δd 1 , the distance between two points AC is Δd 2 , and assume that the coordinates of point A in the tw...

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Abstract

The invention discloses a single camera calibration method based on road surface collinear three points and parallel line thereof, comprising the following steps: (1) building an image two-dimensional coordinate system and a ground two-dimensional world coordinate system; (2) in a traffic scene, selecting three points in straight roadway demarcation lines and parallel roadway edge straight lines as a calibration target, measuring the intervals among three points and the interval between two parallel straight lines, and obtaining the coordinate of the corresponding pixel of the calibrated target in an image; (3) calculating the angle of parallel lines in a ground world coordinate system; (4) calculating the focal distance and the depression angle parameter of the camera; and (5) calculating the coordinate conversion relation of each corresponding point in the image coordinate system and the ground world coordinate system to finally finish calibrating the camera. The invention does not need to put a regular calibration rectangle in a traffic scene, but only needs three points and the parallel lines thereof on a traffic marking. The method is simple and practical and has favorable pertinence and popularity.

Description

technical field [0001] The invention relates to a single-camera calibration method in the field of traffic technology, in particular to a single-camera calibration method based on three collinear points on the road surface and their parallel lines. Background technique [0002] With the development of communication and network technology, sensor technology, image processing and pattern recognition technology, intelligent traffic information monitoring technology has made great progress. Based on visual sensors such as cameras and relying on theories of machine vision and pattern recognition, road traffic information engineering technology has gradually matured, and has been widely used in electronic police, highway monitoring and other fields. In traffic monitoring, the traffic parameters on the road, such as traffic flow, instantaneous speed, average speed, occupancy rate, etc., are calculated according to the road scene image captured by the camera. In the actual detectio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 李树涛贺科学
Owner HUNAN UNIV
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