Method and device for acquiring external parameters of vehicle-mounted camera

Abstract

The invention discloses a method and a device for acquiring external parameters of a vehicle-mounted camera. The method in one particular embodiment comprises steps: an image set generated by using atarget vehicle-mounted camera and a reference camera on the vehicle to photograph a preset marker set when the vehicle is in different positions is acquired; a marker in the image and an angular pointin the marker are recognized, and according to coordinates of the angular point in the image, coordinates in a world coordinate system and the internal parameters of the vehicle-mounted camera, the position information and the attitude information in the case of image photographing by the vehicle-mounted camera are determined; according to the position information and the attitude information ofthe target vehicle-mounted camera and the reference camera when the vehicle is in different positions, the external parameters of the target vehicle-mounted camera relative to the reference camera when the vehicle is in the position are determined; and according to re-projection errors of each angular point, the external parameters are adjusted to be the external parameters of the target vehicle-mounted camera. Thus, the external parameters of multiple vehicle-mounted cameras can be accurately acquired.

Description

technical field [0001] The present application relates to the field of computer technology, in particular to computer vision technology, and in particular to a method and device for acquiring external parameters of a vehicle-mounted camera. Background technique [0002] External parameter calibration, referred to as external parameter calibration, is a process for calculating the transformation of the position and orientation of two different cameras. After calibration, the displacement and rotation parameters between the two cameras are calculated, which are extrinsic parameters. Using this extrinsic parameter, the position and pose of one camera can be transformed into the position and pose of another camera. [0003] However, existing calibration techniques mainly address the calibration of external parameters among a small number of cameras of the same type. For unmanned vehicles and other systems that involve multiple camera types and a large number of cameras, it is ...

AI Technical Summary

Problems solved by technology

[0003] However, the existing calibration technology mainly solves the external parameter calibration among a small number of cameras of the same type.

For unmanned vehicles and other systems involving multiple camera types and a large number of cameras, it is difficult to use existing calibration methods to process

In addition, since the unmanned vehicle system is extremely sensitive to data accuracy, the results calibrated by existing calibration methods cannot guarantee the accuracy of high-precision calculations of other modules.

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