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Camera position fused calibration method

A camera, pose technology, applied in image communication, color TV components, TV system components, etc., to improve accuracy and avoid direct participation.

Inactive Publication Date: 2019-04-26
JINAN INSPUR HIGH TECH TECH DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above-mentioned problem of how to improve the accuracy of the camera pose of an autonomous vehicle, the present invention proposes a method for merging and calibrating the camera pose, which is used to facilitate users to obtain accurate camera relative pose data

Method used

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  • Camera position fused calibration method

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Embodiment Construction

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection of the present invention. scope

[0025] A method for merging and calibrating camera poses according to the present invention is to install a plurality of cameras in a site with obvious surrounding environment characteristics, which are used to identify the vehicle wheel position and the vehicle position respectively, and then use a mobile platform to drive the automatic driving vehicle t...

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Abstract

The invention provides a camera position fused calibration method, belonging to the technical field of vehicle automatic driving. Multiple cameras are installed in a site with obvious surrounding feature and are respectively used for recognizing a vehicle wheel position and a vehicle position, then a mobile platform drives a self-driving vehicle to move, a camera position is resolved by using a related mathematic method according to changes of images taken by a camera installed in the vehicle, so as to determine a relative position of the vehicle wheel and the camera to obtain the position ofthe camera. Fused calibration is performed by using Kalman filter according to vehicle factory model size data and a calculation result, so as to obtain more accurate camera position data. Through adoption of the method and system in the invention, a user can acquire a more accurate camera position calibration result.

Description

technical field [0001] The invention relates to vehicle automatic driving technology, in particular to a method for fusion calibration of camera poses. Background technique [0002] At this stage, the research on autonomous driving at home and abroad is gradually deepening, and it is constantly advancing from assisted driving to autonomous driving. In the process of vehicle automatic driving, the camera is an indispensable sensor. The prerequisite for autonomous vehicles to use the camera to perceive the environment is to know the relative pose of the camera and the vehicle. Although the position and attitude of the camera relative to the vehicle can be calculated through the size parameters of the car factory and the camera, due to the problems of installation and mold accuracy, there must be slight differences in the relative poses of the cameras of different vehicles. The accuracy requirements of the pose are also higher, so it is necessary to improve the accuracy of th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N17/00H04N5/232
CPCH04N17/002H04N23/661H04N23/64
Inventor 王彦邦张连聘高明
Owner JINAN INSPUR HIGH TECH TECH DEV CO LTD