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A system and method for assisting parking by monocular distance measurement

A technology for assisting parking and monocular ranging, which is applied in image analysis, image enhancement, instruments, etc., can solve problems such as lens distortion, large error, and lack of solutions, and achieve the effect of ensuring accuracy

Active Publication Date: 2020-12-29
SHANDONG ACAD OF SCI INST OF AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to serious lens distortion, the fisheye camera often has a large error when it is applied to monocular distance measurement.
[0005] To sum up, at present, there is still a lack of effective solutions for how to expand the driver's field of vision and how to provide the driver with accurate parking distance information or obstacle distance information.

Method used

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  • A system and method for assisting parking by monocular distance measurement
  • A system and method for assisting parking by monocular distance measurement
  • A system and method for assisting parking by monocular distance measurement

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Experimental program
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Effect test

Embodiment 2

[0086] Embodiment 2 of the present invention The method for assisting parking by monocular distance measurement includes the following steps:

[0087] S201, using a fisheye camera to obtain an image behind the car.

[0088] After parking the car in the specified area and laying the checkerboard calibration cloth on the ground, connect the USB image acquisition box to the PC to obtain the fisheye calibration image I behind the car on the PC. 0 .

[0089] S202, system calibration.

[0090] Use the PC to select the fisheye camera calibration toolbox to calibrate the fisheye camera to be used in the system. You can use the opencv or matlab calibration toolbox to calibrate the fisheye camera. In this embodiment, the matlab calibration toolbox is selected.

[0091] The system calibration steps are:

[0092] S2021, the PC acquires the fisheye calibration image I behind the car 0 , to determine the system calibration parameter d 0 ,w 0 .

[0093] S2022, according to the pre-acq...

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Abstract

The invention discloses a monocular ranging auxiliary parking system and method. A fisheye camera is installed on the rear body of a car, and a checkerboard calibration cloth is placed on the ground behind the car to obtain a fisheye calibration image behind the car; Calibrate the image to calibrate, determine the area of ​​interest, establish a coordinate mapping table and a distance value information mapping table; obtain calibration parameter values, detect the feature points of parking spaces or obstacles in the area of ​​​​interest; calculate the distance between the feature points and the rear of the car. The invention can ensure the accuracy of the distance information provided to the driver, and can be applied in a panoramic parking image system.

Description

technical field [0001] The invention belongs to the field of automobile safety assisted driving, and in particular relates to a monocular ranging assisted parking system and method. Background technique [0002] In terms of assisted parking technology, the main technical means at present are reversing radar and reversing image. The reversing radar is a probe installed on the rear bumper that sends ultrasonic waves to hit obstacles and then reflects the sound waves to calculate the actual distance between the car body and the obstacles. However, there is a blind spot in the measurement of the reversing radar. At the same time, because the sound wave signal emitted by the radar probe is relatively narrow, there are situations such as misjudgment when detecting thin obstacles. In addition, when the reversing speed is fast, the response speed of the reversing radar is not enough to meet the requirements of reversing. The reversing image is installed behind the car with a wide-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/32G06T7/80G06K9/36G06T5/00G06K9/46
CPCG06T7/80G06T2207/10016G06T2207/30264G06V20/586G06V20/58G06V10/247G06V10/20G06V10/25G06V10/44G06T5/80
Inventor 闫旭琴邢仁鹏李研强王磊车晓波于良杰
Owner SHANDONG ACAD OF SCI INST OF AUTOMATION
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