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

A parking assistance and panoramic technology, applied in the field of calibration cloth of 360° panoramic parking assistance system, can solve problems such as far deviation, poor splicing effect, and incomplete splicing of objects, and achieve the effect of improving accuracy

Inactive Publication Date: 2019-03-29
ZHENGZHOU TIAMAES TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0021] Embodiment 1: A calibration cloth for a 360° panoramic parking assist system, including a calibration cloth body, an N×M checkerboard is arranged in the middle of the calibration cloth body, and the checkerboard includes cross-arranged black grids and White grid, wherein N is not less than 3m, and M is not less than 3m. In this embodiment, the body of the calibration cloth is a rectangle of 6.4m×1.6m, the checkerboard is a rectangle of 1m×0.2m, and the checkerboard is a rectangle of 0.2m×0.2m The black grid and the white grid are arranged along a rectangular cross; an auxiliary calibration block is respectively arranged on the left and right sides of the checkerboard. The auxiliary calibration block in this embodiment is a black square calibration block, and the black square calibration block is a square of 1m×1m . The four vertices of the black square calibration block can be used to optimize the external parameters of the 4 cameras, which makes up for the defect that ...

Embodiment 2

[0022] Embodiment 2: This embodiment will be described centering on the differences from Embodiment 1.

[0023] In this embodiment, the auxiliary calibration block is a black circular calibration block, wherein the diameter of the black circular calibration block is 1m. After processing through the graphic image algorithm, after obtaining the coordinates of the center of the black circular calibration block, similarly, use this The coordinates of the center of the 4 black circular calibration blocks are used to improve the internal and external parameters and distortion parameters generated by the optimized calibration program.

Embodiment 3

[0024] Embodiment 3: This embodiment will be described focusing on the differences from Embodiment 1.

[0025] A calibration cloth, site and calibration method for a 360° panoramic parking assist system, including front and rear calibration cloths and left and right calibration cloths, the upper calibration cloth and the lower calibration cloth are the calibration cloths in Embodiment 1, the upper The calibration cloth and the lower calibration cloth are both 6.4m×1.6m rectangles, and the checkerboard set in the middle of the upper calibration cloth and the lower calibration cloth is a 1m×0.2 m rectangle, and the checkerboard consists of 0.2m×0.2 m black grid and white grid Arranged along a rectangular cross; on the left and right sides of the checkerboard, a black square calibration block of 1m×1m is respectively set. The left calibration cloth and the right calibration cloth are the part of the calibration cloth in Example 1 without the auxiliary calibration block, that is, ...

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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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T3/40
CPCG06T3/4038G06T2200/32G06T7/80
Inventor 郭建国方志乾成海波谢琪斌
Owner ZHENGZHOU TIAMAES TECH
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