Image stitching calibration method and device for panorama parking systems

Abstract

The invention discloses an image stitching calibration method and device for panorama parking systems. The method comprises the following steps of: determining positions, in a world coordinate system,of third calibration cloth and fourth calibration cloth by utilizing a vehicle body width; determining a position, in the world coordinate system, of first calibration cloth by utilizing images acquired by a left image acquisition device and a right image acquisition device when a vehicle is located at a first position; determining a position, in the world coordinate system, of second calibrationcloth by utilizing images acquired by the left image acquisition device and the right image acquisition device when the vehicle is located at a second position; determining installation information of each image acquisition device by utilizing the positions, in the world coordinate systems, of the fourth calibration cloth; determining pixel points, in the images acquired by the image acquisitiondevices, corresponding to pixel points in a panorama parking image; and establishing and storing a mapping relationship so as to complete image stitching calibration. On the basis of the method and device, the operation difficulty and operation deviation probability of users can be reduced and then the image stitching calibration correctness can be improved.

Description

technical field [0001] The invention belongs to the technical field of image processing, and in particular relates to an image splicing calibration method and an image splicing calibration device for a panoramic parking system. Background technique [0002] The panoramic parking system is a new type of vehicle-mounted auxiliary equipment. Four cameras (such as ultra-wide-angle fisheye cameras) installed on the front, rear, left, and right sides of the vehicle simultaneously collect real-time images around the vehicle. Stitching - image enhancement, resulting in a 360° panorama around the vehicle. During the parking process, the driver can know the blind spots around the vehicle through the panoramic parking system, making the parking process easier. [0003] Before the panoramic parking system is put into use, the images taken by the four cameras need to be spliced ​​and calibrated so that the images taken by the four cameras can be accurately combined into a 360° panoramic...

AI Technical Summary

Problems solved by technology

[0006] The above-mentioned image splicing calibration method has strict requirements for the user to place the calibration cloth, and requires the user to accurately measure the relative distance between the calibration cloth and the vehicle, or The user needs to manually select the calibration point. When any deviation occurs in any operation, it will cause problems in image stitching, which makes the operation of the image stitching calibration process complicated and difficult.

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