Parameter calibration method for cameras of vehicle-mounted all-round view system

Abstract

Provided is a parameter calibration method for cameras of a vehicle-mounted all-round view system. When internal parameters and external parameters of the cameras of the vehicle-mounted all-round view system are calibrated, a set of three-dimensional calibration markers are adopted and comprise a plurality of characteristic points which can be recognized easily from images and are provided with given three-dimensional coordinates; when a vehicle to be calibrated is parked in a calibration area, automatic image data collection is carried out through manual work or through external trigger signals, characteristic point extraction is carried out on the collected images, each camera is calibrated corresponding to the three-dimensional coordinate of each characteristic point, and errors of locating are lowered through the processes such as parameter optimization. According to the parameter calibration method for the cameras of the vehicle-mounted all-round view system, through the three-dimensional calibration markers, all areas of the cameras can be covered as much as possible, and the influence of camera distortion on the measuring errors in the calibration process is small; compared with a previous plane two-dimensional calibration board, a three-dimensional calibration board is accurate in selected characteristic point position, clear in imaging and low in error value, and image stitching precision is greatly improved.

Description

technical field [0001] The invention relates to the field of vehicle camera parameter calibration methods, and specifically designs a vehicle vehicle surround view system camera parameter calibration method. Background technique [0002] The car surround view system is composed of multiple wide-angle cameras assembled on the car body, each camera covers a certain area, and the images are transformed to generate a top view through viewpoint transformation, and then spliced ​​to obtain a car surround view bird's-eye view. In order to make the images captured by the above-mentioned multiple wide-angle cameras assembled on the vehicle body undergo point-of-view transformation to generate a seamless splicing synthetic bird's-eye view without distortion, the internal parameters and external parameters of the above-mentioned wide-angle cameras assembled on the vehicle body must be are precisely calibrated. Whether the internal parameters of the camera are accurate directly affects...

AI Technical Summary

Problems solved by technology

[0009] Purpose of the invention: In order to overcome the deficiencies of the prior art, the present invention provides a method for calibrating camera parameters of a vehicle-mounted surround view system. By using a calibration board and grouping the calibration parameters into groups, the method of calibrating each group of parameters solves the problems of the prior art. The positioning error of the car surround view system affects the stitching accuracy of the surround view image

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