Vehicle-mounted camera pitch angle calibration method and device, electronic equipment, and vehicle

A vehicle-mounted camera and calibration method technology, which is applied in the field of automatic driving, can solve problems such as measurement accuracy differences, calculation errors, and complex calculation processes, and achieve the effect of accurate pitch angle calibration and elimination of calibration errors
CN108932737BActive Publication Date: 2021-02-26SHENZHEN HORIZON ROBOTICS TECH CO LTD
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Patents(China)
Current Assignee / Owner
SHENZHEN HORIZON ROBOTICS TECH CO LTD
Publication Date
2021-02-26

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Abstract

The present application relates to a method and device for calibrating the pitch angle of a vehicle-mounted camera, electronic equipment and a vehicle. According to an embodiment, a vehicle-mounted camera pitch angle calibration method may include: using the inertial measurement unit to determine the direction of gravity; using the inertial measurement unit to track the movement of the vehicle to obtain a first trajectory corresponding to a moving distance; using the vehicle-mounted camera to track The movement of the vehicle, obtaining a second trajectory corresponding to the moving distance; determining the offset between the first trajectory and the second trajectory, so as to determine the distance between the on-board camera and the inertial measurement unit An included angle: determining the pitch angle of the on-board camera based on the gravity direction, the included angle between the on-board camera and the inertial measurement unit, and the pitch angle direction determined by the inertial measurement unit. The method of the present invention can perform real-time online calibration of the pitch angle of the vehicle-mounted camera in a fully automatic manner in combination with an inertial measurement unit without manual participation, so it can be widely used in fields such as automatic driving.
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Description

technical field

[0001] The present application generally relates to the field of automatic driving (ADAS), and more particularly relates to a method and device for calibrating the pitch angle of a vehicle camera, which can perform real-time online calibration of the pitch angle of a vehicle camera in a fully automatic manner in combination with an inertial measurement unit , without human intervention. The present application also relates to an electronic device for carrying out the method, and a vehicle comprising the electronic device. Background technique

[0002] In recent years, autonomous driving, or Advanced Driver Assistance Systems (ADAS), has received extensive attention and intense research. The ADAS system needs to use various on-board sensors to perceive the various states of the vehicle itself and the surrounding environment, so as to make driving strategy decisions, and finally realize the automatic driving function. Among them, the vehicle-mounted camera, a...

Claims

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