On-line calibration system and method for external parameter of monocular camera

A calibration method and calibration system technology, applied in the field of monocular camera external parameter online calibration system, can solve the problems of difficult processing and maintenance of high-precision three-dimensional calibration objects, poor robustness, etc., to achieve reduced impact, simple implementation, and strong flexibility Effect

Active Publication Date: 2017-04-05
TIANJIN JINHANG INST OF TECH PHYSICS
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Problems solved by technology

The three-dimensional calibration object can be calibrated by a single image, and the calibration accuracy is high, but the processing and maintenance of h

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  • On-line calibration system and method for external parameter of monocular camera
  • On-line calibration system and method for external parameter of monocular camera
  • On-line calibration system and method for external parameter of monocular camera

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Embodiment Construction

[0058] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0059] Aiming at the application of infrared cameras in assisted driving of vehicles, the present invention provides a system and method capable of automatic calibration of camera extrinsic parameters, which can obtain the roll angle, pitch angle and yaw angle of the camera installation in real time, which can be used for possible follow-up Modules such as identification provide data protection.

[0060] The present invention uses the real-time image of the infrared camera as the main input, supplemented by the internal reference information of the camera. The infrared image is input at a frame rate of 30 frames, and the self-calibration method is used to perform online calibration of the camera's external parameters a...

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Abstract

The invention discloses an on-line calibration system for an external parameter of a monocular camera. The system comprises a straight line detection module, a lane extraction module, a fast-perspective-removal (FPR) module, an optimal value iterative module, and an external parameter output module. The straight line detection module obtains an effective straight line position of an inputted infrared image; the lane extraction module carries out effective straight line searching and determination at a possibly occurring lane position; the FPR module carried out perspective transformation removing on a lane based on an imaging principle; the optimal value iterative module carries out loop iteration to enable a fitness function to be optimized, thereby obtaining an angle with the smallest error relative to a practical value; and the external parameter output module is used for outputting the angle obtained by optimal iteration. No calibration object is needed; the influence on the calibration precision by any external factor can be reduced; dependence on the straight line information of the lane is only needed during the calculation process; the flexibility is high; and on-line calibration on the camera can be realized. Moreover, no control by an external device and no strict experiment condition are needed during the calculation process. The system and method are simple and convenient to realize.

Description

technical field [0001] The invention belongs to the technical field of camera calibration, and relates to an external parameter online calibration system and method for a monocular camera. Background technique [0002] In the image measurement process and machine vision applications, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of camera imaging, and these geometric model parameters are camera parameters. Under most conditions, these parameters must be obtained through experiments and calculations. This process of solving parameters is called camera calibration (or camera calibration). Whether it is in image measurement or machine vision applications, the calibration of camera parameters is a very critical link. The accuracy of the calibration results and the stability of the method directly affect the...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T2207/30244
Inventor 魏琳琳周全赟张羽
Owner TIANJIN JINHANG INST OF TECH PHYSICS
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