Calibration method and system of external parameters of vehicle-mounted cameras

A technology of external parameters and calibration methods, applied in image data processing, image analysis, instruments, etc., can solve the problems of matching accuracy affecting calibration accuracy, low accuracy, high calibration plate, etc., and achieve the effect of improving calibration accuracy

Inactive Publication Date: 2018-09-21
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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Problems solved by technology

This method has high requirements for the placement of the calibration board, the calibration process is cumbersome and inefficient, and the matching accuracy of the feature points dir

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  • Calibration method and system of external parameters of vehicle-mounted cameras
  • Calibration method and system of external parameters of vehicle-mounted cameras
  • Calibration method and system of external parameters of vehicle-mounted cameras

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Embodiment Construction

[0045] method embodiment

[0046] refer to figure 1 , a method for calibrating external parameters of a vehicle-mounted camera, comprising the following steps:

[0047] S1. Park the vehicle at a designated location in the calibration site where multiple markers are set;

[0048] S2. Control each camera on the vehicle to take images, and then check the installation position and angle of the cameras based on the principle of inverse perspective transformation;

[0049] S3. Gradually fine-tune the external parameters of the calibrated camera within the preset adjustment range according to the preset step size, and calculate the variance between the measurement results collected by the camera and the standard results after each adjustment of the external parameters;

[0050] S4. Select a group of external parameters corresponding to the minimum variance value as the calibration result.

[0051] The present invention first checks the installation position and angle of the camera...

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Abstract

The invention discloses a calibration method and system of external parameters of vehicle-mounted cameras. The method comprises the steps of: S1, parking a vehicle at a designated position in a calibration site where a plurality of markers are disposed; S2, controlling each vehicle-mounted camera for image shooting, and then carrying out checking of camera mounting positions and angles on the basis of a principle of inverse perspective transformation; S3, finely adjusting the external parameters of the cameras step by step after checking in a preset adjustment range according to preset step length, and calculating the variance of a measurement result, which is collected and obtained by the cameras after each time of adjustment on the external parameters, and a standard result; and S4, selecting a set of external parameters, which correspond to a minimum value of the variance, as a calibration result. The method improves calibration accuracy of the external parameters of the cameras, can carry out simultaneous calibration of the multiple cameras, is fast and highly efficient, and can be widely applied in an industry of control of the vehicle-mounted cameras.

Description

technical field [0001] The invention relates to the field of vehicle camera control, in particular to a method and system for calibrating external parameters of a vehicle camera. Background technique [0002] The camera is increasingly becoming an important sensory sensor of the car, and in the process of using the camera, it is a very critical step to calibrate its external parameters. At present, the external parameter calibration method of the vehicle camera is mainly manual calibration. The first method is to park the vehicle on a flat straight road with lane lines drawn on both sides, and adjust the calibration software to make the lane lines collected by the camera parallel to complete the calibration. This method needs to park the car in the middle of the road and keep it parallel to the lane line, and rely on the naked eye to observe whether the transformed lane line is parallel. Calibration has high requirements on the environment and is highly subjective, which af...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 郑炜栋肖志光蒋少峰周国茂
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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