Camera calibration method, terminal equipment and computer readable storage medium

Abstract

The invention discloses a camera calibration method, terminal equipment and a computer readable storage medium. Through the terminal equipment, multiple to-be-calibrated images are transformed into atarget coordinate system according to a preset matrix, a light stream vector corresponding to each pixel in each to-be-calibrated image is obtained, an overlapping region of all the to-be-calibrated images is searched for, the searched pixels with the highest light stream vector matching degree serve as target pixels, target pixel coordinates of all the target pixels are obtained, coordinate difference values of all the target pixel coordinates are calculated, the preset matrix is updated according to the coordinate difference values, according to the updated preset matrix, the overlapping area is transformed into the target coordinate system, overlapping factors of the overlapping area are calculated, and when the overlapping factors are larger than a preset threshold value, according tothe coordinates of the overlapping area in the target coordinate system, all the to-be-calibrated images are calibrated. The dependence on fixed sites and precise vehicle positions can be reduced, andvehicles can be precisely calibrated in real time.

Description

technical field [0001] The invention relates to the field of vehicle calibration, in particular to a camera calibration method, terminal equipment and a computer-readable storage medium. Background technique [0002] At present, the vehicle calibration on the market is generally realized by the following steps: 1. Park the vehicle to be calibrated in the designated site, requiring high accuracy of the vehicle parking position; 2. Spread the specified image scene around the vehicle, and place it on the site. No stains, reflections, etc.; 3. Obtain the picture of the camera in the scene; 4. Calculate the position of the effective corner in the calibration pattern; 5. Use the position of the corner on the image and the position of the corner in the real world coordinate system Find the corresponding relationship from the real position, and then get the conversion parameters from the world coordinate system to the image coordinate system, and transform each image to the specifie...

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a camera calibration method, terminal equipment and computer-readable storage medium, aiming to solve the problem that the prior art relies too much on the site environment and accurate position information, and once the environment or vehicle position deviates, it cannot be accurate. Technical Issues in Calibrating Vehicles

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