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Dynamic calibration system, and combined optimization method and combined optimization device in dynamic calibration system

A joint optimization and dynamic calibration technology, applied in image data processing, instrumentation, computing, etc., can solve problems such as limited scalability, poor calibration accuracy, and affecting the overall performance of the panoramic view system

Active Publication Date: 2016-08-10
SHANGHAI OUFEI INTELLIGNET VEHICLE INTERNET TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among the existing calibration schemes, some schemes have poor calibration accuracy, which affects the overall performance of the panoramic view system; some schemes have low execution efficiency and are not suitable for occasions with high real-time requirements such as assembly lines; some calibration schemes are too dependent on complexity Auxiliary equipment, which limits its scalability under different working conditions

Method used

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  • Dynamic calibration system, and combined optimization method and combined optimization device in dynamic calibration system
  • Dynamic calibration system, and combined optimization method and combined optimization device in dynamic calibration system
  • Dynamic calibration system, and combined optimization method and combined optimization device in dynamic calibration system

Examples

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Embodiment 1

[0114] When a new car is assembled on the assembly line, based on the principles of the present invention, it includes: a feature picking module, a feature parameter extraction module, a calibration parameter optimization module, and a calibration result inspection module; specifically includes the following execution steps:

[0115] 1) The feature picking module can contain several pre-designed artificial markers and a designated global coordinate system. Markers are placed around the calibration field, and their positions in the set global coordinate system are known. The position of the car in the global coordinate system is known. Images are automatically detected and localized to this artificial marker.

[0116] 2) The feature parameter extraction module automatically extracts the position of the artificial marker in the image.

[0117] 3) The calibration parameter optimization module combines the obtained position of the artificial marker in the image with the position...

Embodiment 2

[0120] In the 4S shop of vehicle maintenance, for the calibration of the panoramic system, based on the principle of the present invention, including: a feature picking module, a feature parameter extraction module, and a calibration parameter optimization module, the following steps can be adopted:

[0121] 1) The feature picking module contains a specially designed artificial marker. Markers are placed around the vehicle. The position of the marker in the image can be located manually or by image recognition.

[0122] 2) The feature parameter extraction module extracts the position of each feature parameter of the artificial marker in the image.

[0123] 3) The calibration parameter optimization module combines the obtained position of the artificial marker in the image with the position of the global coordinate system known in advance to calculate and optimize the calibration parameters.

[0124] 4) The calibration result inspection module stitches the panoramic images ac...

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Abstract

The invention provides a dynamic calibration system, and a combined optimization method and a combined optimization device in the dynamic calibration system. The dynamic calibration system comprises a marker geometry feature extraction module, a camera parameter estimation module and a calibrate result evaluation module; the marker geometry feature extraction module detects a marker in the image shot by the camera, extracts geometry features of the marker, and traces and matches the extracted geometry features on images of follow-up frames which are provided by the camera; the camera parameter estimation module is used for obtaining the error of repeated projection according to the extracted geometry features of the marker and current poses of various cameras and obtaining a calibration result when the repeated projection error satisfies a set error threshold; all cameras are positioned in initial position states during the first operation; and the calibration result evaluation module is used for evaluating the accuracy of the calibration result and determining whether to receive parameters of the calibration result. The calibration parameter of the invention has relatively high accuracy, and the dynamic calibration system, the combined optimization method and the combined optimization device in the dynamic calibration system are applicable to the dynamic streamline calibration, high in execution efficiency, wide in application range and simple in system.

Description

technical field [0001] The present invention relates to the field of automotive electronics and vehicle navigation, in particular to a dynamic calibration system, a joint optimization method and device in the dynamic calibration system. Background technique [0002] The vehicle-mounted panoramic surround-view system installs multiple fisheye cameras around the vehicle, and uses the vehicle-mounted processor to perform image processing on the obtained multi-channel video to provide the driver with a view around the vehicle, thereby improving driving safety. The panoramic surround view system includes multiple cameras (generally ≥ 4). [0003] Before and after calibration, the relationship between the geometric positions and distance scales between cameras has a significant impact on the stitching results. Therefore, the pose calibration between cameras and between cameras and cars is a key link in the system. The accuracy and scalability of the calibration link directly deter...

Claims

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T2207/30244
Inventor 杨磊蒋如意段勃勃马光林于萌萌
Owner SHANGHAI OUFEI INTELLIGNET VEHICLE INTERNET TECH CO LTD
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