External parameter estimation method for vehicle panoramic image stitching based on virtual camera model

Abstract

The invention relates to a method for estimating external parameters of vehicle panoramic image stitching based on a virtual camera model, comprising the steps of: (1) establishing a virtual camera model for a specific vehicle, and calculating a parameter matrix of the virtual camera model; Place multiple marker points in the ground area; (2) each camera shoots a set of images containing marker points, finds the coordinates of the corresponding multiple marker points in the panoramic field of view, and uses the external parameter matrix to be obtained to determine the coordinates Convert it to the coordinates in the current camera coordinate system; (3) Perform distortion correction on the original image, find the image coordinates of the marker points, and convert them into the coordinates in the corresponding camera coordinate system through the camera imaging model; Step (2) , (3) to establish a system of equations, and solve the external parameters of each camera. The present invention simplifies the steps of estimating the external parameters by establishing the equation system to obtain the analytical solution of the external parameters of each camera.

Description

technical field [0001] The invention belongs to the technical field of automotive electronics, and in particular relates to a vehicle panoramic image stitching technology based on a virtual camera model. Background technique [0002] Vehicle panoramic image stitching refers to installing multiple wide-angle or fisheye cameras around the vehicle, usually four cameras in total, front, rear, left, right, and left. Image processing is used to seamlessly stitch the video images of multiple cameras into a panoramic video image. Through the panoramic video image, the driver can observe the situation around the vehicle intuitively and in real time, which greatly improves the safety of the driver in complex environments. Therefore, the research of panoramic image stitching method has direct practical significance. [0003] The panoramic image stitching method based on the virtual camera model mainly assumes that there is a virtual camera directly above the vehicle, and the panoramic...

AI Technical Summary

Problems solved by technology

At present, the traditional method is to use image analysis to calculate the external parameters through optimization, which is complicated to operate and not stable.

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