Vehicle-mounted panoramic around view calibration system and method

Abstract

The present invention provides a vehicle-mounted panoramic around view calibration system and method. The method comprises: extracting an image containing a feature object from images acquired by a panoramic around view system, and marking the image as a feature object image; extracting feature object useful information from the feature object image; according to the feature object useful information, optimizing a calibration parameter; and verifying accuracy of a calibration result, wherein the calibration result refers to a calibration parameter obtained by optimization. According to the system and method provide by the present invention, optimization of the calibration parameter is taken as an optimization problem, and an error function based on a multi-camera feature projection error, so as to indicate a calibration error under a current optimization result, so that calibration is more accurate and rapider, and calibration precision of the panoramic around view system is improved; and calibration can be optimized and corrected by using an artificial marker or a non-artificial marker, so that calibration efficiency and applicability of the panoramic around view system are improved.

Description

technical field [0001] The invention relates to the fields of automotive electronics, visual systems, and vehicle navigation, and in particular, relates to a calibration system and method for a vehicle-mounted panoramic view. Background technique [0002] The panoramic surround view system installs multiple fisheye cameras around the vehicle, and uses the on-board processor to process the multi-channel video images obtained, so as to provide the driver with a vision around the vehicle, thereby improving driving safety. Since the panoramic view system contains multiple cameras (generally greater than or equal to 4), the pose calibration between cameras and between the camera and the car is a key link in the system. The accuracy and convenience of the calibration system directly determine the panoramic view system. effect and convenience. [0003] For different scenarios, the surround view system generally adopts different calibration methods. For example, when the vehicle is...

AI Technical Summary

Problems solved by technology

[0012] 1. The calibration algorithm based on this patent document has low calibration accuracy

[0013] 2. The patent document does not provide the calibration result inspection link in the present invention

[0020] 1. This patent document mainly describes the panoramic view system, and the calibration is only one of the sub-devices using traditional technology, but there is no optimized, specific and practical calibration system as provided by the present invention

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