Camera parameter obtaining method and device of a vehicle-mounted multi-camera surround view system

A camera parameter, multi-camera technology, applied in image data processing, image analysis, instruments, etc., can solve the problems of low efficiency and low degree of automation in the multi-camera calibration process

Active Publication Date: 2019-04-12
CHENGDU CK TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] The embodiment of the present application provides a method and device for obtaining camera parameters of a vehicle-mounted multi-camera surround v

Method used

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  • Camera parameter obtaining method and device of a vehicle-mounted multi-camera surround view system
  • Camera parameter obtaining method and device of a vehicle-mounted multi-camera surround view system
  • Camera parameter obtaining method and device of a vehicle-mounted multi-camera surround view system

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Embodiment 1

[0063] This embodiment provides a method for obtaining camera parameters of a vehicle-mounted multi-camera surround-view system. The vehicle-mounted multi-camera surround-view system includes a plurality of cameras installed at different positions on the vehicle body.

[0064] In the specific implementation process, such as figure 2 As shown, the vehicle-mounted multi-camera surround view system has four cameras, which are respectively installed at the front end, rear end, left end, and right end of the vehicle body. Wherein, the camera located at the front end of the vehicle body is Cam_Front, the camera located at the rear end of the vehicle body is Cam_Back, the camera located at the left end of the vehicle body is Cam_Left, and the camera located at the right end of the vehicle body is Cam_Right.

[0065] In the specific implementation process, the vehicle can be parked on a flat roadside road, and 8 calibration objects are placed around the body. These 8 calibration obje...

Embodiment 2

[0121] Based on the same inventive idea, such as Figure 9 As shown, this embodiment provides a device 900 for obtaining camera parameters of a vehicle-mounted multi-camera surround-view system. The vehicle-mounted multi-camera surround-view system includes a plurality of cameras installed at different positions on the vehicle body. The device 900 includes:

[0122] The first acquiring unit 901 is configured to acquire a calibration object image captured by a target camera, where the target camera is any one of the plurality of cameras, and the calibration object image shows a preset number of calibration objects, so The calibration object is a checkerboard;

[0123] The extraction unit 902 is configured to extract feature points in the calibration object map, where the feature points are checkerboard corner points in the checkerboard; wherein, the extraction of feature points in the calibration object image includes: Use the preset corner point template to convolve with the ...

Embodiment 3

[0146] Based on the same inventive idea, such as Figure 10 As shown, it is a schematic diagram of an apparatus 100 for obtaining camera parameters of a possible vehicle-mounted multi-camera surround view system. exist Figure 10 In this example, the device 100 is a system including a touch input device 101 . However, it should be understood that the system may also include one or more other physical user interface devices, such as a physical keyboard, mouse, and / or joystick. The operating platform of the device 100 can be adapted to run one or more operating systems, such as Android (Android) operating system, Windows (Windows) operating system, Apple IOS operating system, BlackBerry (BlackBerry) operating system, Google Chrome operating system, etc. type operating system. However, in other embodiments, the device 100 may also run a dedicated operating system instead of a general-purpose operating system.

[0147] In some embodiments, the device 100 can simultaneously sup...

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Abstract

The invention discloses a camera parameter obtaining method of a vehicle-mounted multi-camera surround view system, which comprises the following steps: obtaining a calibration object image collectedby a target camera, the target camera being any one of a plurality of cameras, a preset number of calibration objects being displayed in the calibration object image, and the calibration objects beingchessboards; extracting feature points in the calibration object graph, wherein the feature points are chessboard corner points in the chessboard; obtaining a first coordinate of the feature point onthe calibration object image and a second coordinate of a checkerboard corner point corresponding to the feature point on a checkerboard coordinate system; and inputting the first coordinates and thesecond coordinates into a preset machine model to obtain internal parameters and external parameters of the target camera. The technical problems of low efficiency and low automation degree of a multi-camera calibration process of a vehicle-mounted all-round view system in the prior art are solved. Meanwhile, the invention further discloses a camera parameter obtaining device of the vehicle-mounted multi-camera surround view system.

Description

technical field [0001] The present invention relates to the technical field of a vehicle-mounted multi-camera surround-view system, in particular to a method and device for obtaining camera parameters of a vehicle-mounted multi-camera surround-view system. Background technique [0002] In recent years, with the improvement of the awareness of safe driving of vehicles, consumers have higher and higher demands for hazard avoidance assistance and vision improvement technologies such as "vehicle panorama", and vehicle surround view systems have gradually become popular in recent years. [0003] The vehicle surround view system includes: multiple cameras installed on the front, rear, left, and right sides of the vehicle, signal conversion components, video synthesis / processing components, and vehicle displays; the cameras collect video frames from the front, rear, left, and right sides of the vehicle at the same time, and input them to the video synthesis / processing component for ...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80Y02T10/40
Inventor 赵冉阳袁梓瑾
Owner CHENGDU CK TECH
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