Calibration cloth, site and method for 360-degree panoramic parking assistance system

Abstract

The invention relates to a 360-degree panoramic parking assistant system, and particularly relates to a calibration cloth, a site and a method for 360-degree panoramic parking assistance system. An Nx M checkerboard grid is arranged in the center of the middle position of the calibration cloth body, wherein N is not less than 3m and M is not less than 3m, and the checkerboard grid comprises a black grid and a white grid arranged crosswise; An auxiliary calibration block is respectively arranged on the left and right sides of the checkerboard, the auxiliary calibration block is a black squarecalibration block or a black circular calibration block. according to the invention, the two sides of the lower calibration cloth are respectively provided with a black square calibration block of 1mx 1m as an auxiliary calibration block, The four vertices of the black square calibration block optimize the external parameters of the four cameras, and the accuracy is greatly improved. At the stitching position, the pixel error is generally lower than one pixel, and it is difficult to see the stitching seam with the naked eye, and the stitching effect is far better than the traditional calibration cloth and calibration algorithm.

Description

technical field [0001] The invention relates to the technical field of a 360° panoramic parking assist system, in particular to a calibration cloth, a site and a method for a 360° panoramic parking assist system. Background technique [0002] As a new type of intelligent parking assistance system, the 360° panoramic parking assistance system has been increasingly used in new models. However, in the actual mass production of the car factory, there are different installation errors in the cameras of each vehicle, so it is necessary to perform automatic calibration and correction for each vehicle, so that the system can correct the image display and stitching effect caused by production process factors by calibration. The speed and effect of this calibration method depend on the calibration site and calibration cloth. [0003] The current calibration method uses four commonly used cameras, LVDS transmission coaxial line, and four checkerboard calibration cloths. There is only ...

AI Technical Summary

Problems solved by technology

However, this calibration method has the following disadvantages: the calibrated parameters of the four cameras, because the checkerboard has no grid point distribution at the splicing point, the calculated value deviates far from the theoretical real value. 3~4 pixels, resulting in poor stitching effect

During the calibration process, the coordinates of the generated checkerboard grid points are two-dimensional coordinates, which lack a height information, which makes it impossible to restore the height information of the out-of-grid points through the calibrated external parameters. Therefore, at the splicing seam, if there is a higher height object, the object cannot be spliced ​​perfectly

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