Camera calibrating method and system in vehicle panoramic looking-around system

A panoramic surround view and calibration method technology, applied in the field of assisted driving equipment calibration, can solve problems such as installation error angle error, affecting 360-degree surround view splicing effect, camera parameter error, etc., to ensure accuracy, facilitate mass production line deployment, The effect of high degree of automation

Active Publication Date: 2017-09-05
IFLYTEK CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although this method improves the calibration efficiency to a certain extent, due to the existence of installation errors (such as position errors, angle errors, etc.), directly adapting the camera

Method used

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  • Camera calibrating method and system in vehicle panoramic looking-around system
  • Camera calibrating method and system in vehicle panoramic looking-around system
  • Camera calibrating method and system in vehicle panoramic looking-around system

Examples

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example 1

[0175] Example 1: The calibration reference object is set on the roof of the vehicle to be calibrated. Correspondingly, the second calibration unit may include the following subunits:

[0176] A calibration reference object image acquisition subunit, configured to acquire an image of the calibration reference object captured by an external measurement camera;

[0177] The first coordinate determination subunit is used to determine the pixel point coordinates of each corner point on the calibration reference object and the physical coordinates of the roof, and determine the position of each corner point on the vehicle body according to the roof physical coordinates of each corner point on the calibration reference object. coordinates in the coordinate system;

[0178] The first parameter calibration subunit is used to calibrate the camera parameters of the external measurement camera relative to the vehicle body coordinate system by using the pixel coordinates of each corner po...

example 2

[0179] Example 2: The calibration reference object is set to be the projection of the body of the vehicle to be calibrated on the ground coordinate system. Correspondingly, the second calibration unit may include the following subunits:

[0180] The body photo acquisition subunit is used to obtain the whole body photo taken by the external measurement camera;

[0181] The calculation subunit is used to calculate the pixel point coordinates of the four projected points in the ground coordinate system around the body in the external measurement camera;

[0182] The second coordinate determination subunit determines the coordinates of four projected points on the ground coordinate system around the vehicle body in the vehicle body coordinate system;

[0183] The second parameter calibration subunit is used to calibrate the coordinates of the external measurement camera relative to the vehicle body according to the pixel coordinates of the four projected points around the vehicle ...

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Abstract

The invention discloses a camera calibrating method and system in a vehicle panoramic looking-around system. The method comprises that a ground tag is laid in a calibration area, and an external measuring camera which can shoot the ground tag, a roof and a vehicle body is arranged over the calibration area; a to-be-calibrated vehicle with the vehicle panoramic looking-around system is arranged in the calibration area; the transformation relation between a ground coordinate system and a vehicle body coordinate system is determined on the basis of the external measuring camera; and a camera parameter of the camera relative to the vehicle body coordinate system is calibrated on the basis of the transformation relation. Via the calibrating method and system, the calibrating efficiency can be improved, and the accuracy of a calibration result is ensured.

Description

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Claims

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Application Information

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Owner IFLYTEK CO LTD
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