Camera external parameter assessment method and device, and camera external parameter calibration method and device

Abstract

The invention provides a camera external parameter assessment method and device, and a camera external parameter calibration method and device. The camera external parameter assessment method comprises the following steps: external parameters of a stereo camera are acquired; stereo images shot by the stereo camera are acquired, wherein the stereo images comprise a gray image and a depth image, and a vertical edge which is vertical to the ground exists in the scene; the vertical edge in the images is detected; a specific vertical edge is projected onto a ground parallel coordinate plane in a world coordinate system through the external parameters of the stereo camera; and the accuracy of the external parameters of the stereo camera is assessed based on the closeness degree between the projection shape formed by projecting the vertical edge onto the ground parallel coordinate plane and the round shape. Thus, the camera external parameter assessment can be performed conveniently, and the camera external parameter calibration method based on camera external parameter assessment can be used to acquire camera external parameters whose accuracy satisfies requirements.

Description

technical field [0001] The present invention generally relates to image processing, and in particular, relates to a method and device for evaluating camera extrinsic parameters based on image processing and a method and device for calibrating camera extrinsic parameters. Background technique [0002] In recent years, there have been more and more applications of using an image capture device such as a stereo camera to obtain images, and performing object positioning, detection, or tracking based on image analysis and processing. [0003] In order to accurately execute the above applications, it is usually necessary to calibrate the camera in advance in order to obtain accurate camera parameters. The parameters of the camera include internal parameters of the camera (usually referred to as internal parameters) and external parameters (usually referred to as extrinsic parameters). The internal parameters of the camera are inherent parameters of the camera itself, such as foca...

AI Technical Summary

Problems solved by technology

For example, there will be deviations in applications involving the fusion of detection results of multiple binocular cameras in the same world coordinate system, etc.

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