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A panoramic parking device calibration method and device

A parking device and calibration method technology, applied in the field of panoramic parking, can solve problems such as too large blind spots, many human influences, and complex methods, and achieve the effects of reducing calibration errors, simplifying the calibration process, and improving accuracy

Active Publication Date: 2019-05-17
FORYOU GENERAL ELECTRONICS
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Problems solved by technology

[0003] This calibration method has the following defects: on the one hand, if the center of the vehicle to be calibrated is not at the origin of the world coordinate system of the panoramic parking device, the final panoramic stitching will be inaccurate and the blind area will be too large; on the other hand, this method is too large. Complex, with more human influence

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  • A panoramic parking device calibration method and device
  • A panoramic parking device calibration method and device
  • A panoramic parking device calibration method and device

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Embodiment Construction

[0036] The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings. The accompanying drawings are only for reference and description, and do not constitute a limitation to the protection scope of the present invention.

[0037] Embodiments of the present invention provide a method for calibrating a panoramic parking device on the one hand, including:

[0038] Step 1. Arrange calibration markers, auxiliary calibration patterns, and position cameras in the calibration field of the panoramic parking device according to predetermined rules.

[0039] Such as figure 1 As shown, the calibration field of the panoramic parking device is a horizontal rectangular field.

[0040] Specifically include the following steps:

[0041] Step 11. The step of setting the calibration markers: place the calibration markers in the four corners of the calibration field respectively, and their pattern characteristics should meet the requ...

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Abstract

The invention provides a panoramic parking device calibration method and device. The method comprises the steps of S1, arranging a calibration marker, an auxiliary calibration pattern and a positioning camera in a calibration field of a panoramic parking device according to preset rules; S2, establishing a world coordinate system of the panoramic parking device; S3, acquiring pixel coordinates ofan intersection angle point of the vehicle to be calibrated and the auxiliary calibration pattern; S4, calculating world coordinates of all angular points where the vehicle to be calibrated intersectswith the auxiliary calibration pattern; S5, acquiring the position of the vehicle to be calibrated in the world coordinate system of the panoramic parking device; S6, acquiring an external parameterof the panoramic camera; and S7, calibrating the panoramic parking device according to the position of the to-be-calibrated vehicle in the world coordinate system of the panoramic parking device. According to the invention, the image splicing accuracy of the panoramic parking device is improved.

Description

technical field [0001] The invention relates to the technical field of panoramic parking, in particular to a method and device for calibrating a panoramic parking device. Background technique [0002] When the panoramic parking device is mass-produced and assembled in the car factory, there will be a calibration process. Calibration is to obtain the position of the car in the world coordinate system and the external parameters of the panoramic camera that collects the image. The online calibration scheme of existing panoramic parking device is as follows: 1) find the extrinsic parameter of panoramic camera: set up the world coordinate system of panoramic parking device in the calibration field, according to the coordinates of the feature points of calibration markers in the world coordinate system , and the coordinates of the feature points in the pixel coordinate system, the panoramic camera is calibrated to obtain the external parameters of the panoramic camera; 2) Find t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/70
Inventor 姚雪飞张雨豪
Owner FORYOU GENERAL ELECTRONICS
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