Distortion correction method, apparatus and system of wide-angle lens

Abstract

The invention discloses a distortion correction method, apparatus and system of a wide-angle lens. The method comprises the following steps: obtaining n half field angles theta 1 to theta n of the wide-angle lens, and obtaining adjacent view field ratios beta 1 to beta (n-1) according to the n half field angles; obtaining image heights r1 to rn corresponding to the n half field angles according tothe n half field angles; obtaining an image height relationship of the adjacent half field angles according to the adjacent view field ratios beta 1 to beta (n-1) and the image heights r1 to rn corresponding to the n half field angles, and obtaining the image height of each half field angle according to the image height corresponding to the maximal view field angle and the image height relationship of the adjacent half field angles through recursive computation; and sequentially correcting the distortion of the wide-angle lens in the central view field according to the image height of each half field angle. By adoption of the method, the distortion of the wide-angle lens in the central view field can be sequentially corrected according to the image height of each half field angle, so thatthe sampling rate of the central view field is higher than that of the edge, the correction efficiency is effectively improved, the cost is reduced, and the method is simple and easy to implement.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a distortion correction method, device and system for a wide-angle lens. Background technique [0002] ADAS (Advanced Driver Assistance System, Advanced Driver Assistance System) uses various sensors installed on the car to collect environmental data inside and outside the car at the first time, and carry out identification, detection and tracking of static and dynamic objects, etc. Technical processing enables the driver to perceive possible dangers in the fastest time, effectively increasing the comfort and safety of driving. Therefore, ADAS plays a very important role in the process of realizing autonomous driving. [0003] In related technologies, a typical ADAS system is generally equipped with three cameras at the front of the vehicle, and the field of view angles are about 42 degrees, 60 degrees and 120 degrees. If binocular vision is required, the number of came...

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Problems solved by technology

[0004] However, there is a lot of redundancy in the settings in the related art. For example, the field of view of the 42-degree camera itself is covered by the field of view of the 60-degree camera and the 120-degree camera, so that multiple cameras not only increase the complexity of the system connection but also increase the complexity of each camera. The complexity of communication and synchronization between them increases the cost of the entire system, and the overlapping of fields of view needs to be well ensured between the cameras, resulting in a fixed angular relationship between them, while the overall and The car itself also needs to ensure the angle, so it is necessary to perform regular corrections between the cameras and between the camera and the car body. The correction of the three cameras itself is relatively complicated and requires a lot of work, which needs to be solved urgently.

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