A method and device for calibrating external parameters of a vehicle-mounted camera
A technology of external parameters and calibration methods, applied in the field of computer vision, can solve problems such as the inability to calibrate the external parameters of vehicle-mounted cameras
Active Publication Date: 2021-12-28
HUAWEI TECH CO LTD
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[0006] This application provides a method and device for calibrating the external parameters of a vehicle-mounted camera to solve the problem in the prior art that the external parameters of the vehicle-mounted camera cannot be calibrated while the vehicle is running
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[0063] A car camera is a sensor used for assisted driving or autonomous driving. The image captured by the on-board camera can determine the relationship between the vehicle and the surrounding environment, thereby providing necessary information for lane correction, vehicle distance maintenance, reversing and other operations, ensuring safe driving.
[0064] The external parameters of the on-board camera play an important role in determining the relationship of the vehicle to its surroundings. Wherein, the external parameters of the vehicle camera refer to the translation distance and rotation angle of the vehicle camera relative to the vehicle. According to the images of the surrounding environment captured by the vehicle-mounted camera and the external parameters of the vehicle-mounted camera, the positional relationship between the vehicle and the landmarks in the surrounding environment (such as parking lines, street signs, lane lines, walls) can be determined, so as to c...
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The present application provides a method and device for calibrating external parameters of a vehicle-mounted camera to solve the problem in the prior art that the external parameters of the vehicle-mounted camera cannot be calibrated while the vehicle is running. The method includes: obtaining the local coordinates of multiple road traffic markings in the digital image captured by the vehicle-mounted camera, the multiple road traffic markings containing at least two non-parallel line segments, the local coordinates are used to indicate that the multiple road traffic markings The position of the line in the digital image; determine the global coordinates of the multiple road traffic markings in the digital map, and the global coordinates are used to indicate the positions of the multiple road traffic markings in the digital map; according to the multiple road traffic markings The local coordinates of the line and the global coordinates of the multiple road traffic markings are calculated to obtain the external parameters of the vehicle camera, and the external parameters are used to indicate the translation distance and rotation angle of the vehicle camera relative to the vehicle.
Description
technical field [0001] The present application relates to the technical field of computer vision, in particular to a method and device for calibrating external parameters of a vehicle-mounted camera. Background technique [0002] Car cameras are playing an increasingly important role as a sensor in assisted driving and autonomous driving. By correlating the environment around the vehicle with the digital images captured by the car camera, it can provide necessary information for safe driving. In the process of correlating the environment around the vehicle with the digital images captured by the on-board camera, the external parameters of the on-board camera play an important role. Wherein, the external parameters of the vehicle camera refer to the translation distance and rotation angle of the vehicle camera relative to the vehicle. [0003] In the prior art, the external parameters of the vehicle-mounted camera are calibrated at the time of delivery or maintenance, that i...
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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 杨臻杨磊沈骏强
Owner HUAWEI TECH CO LTD