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Camera installation angle detection method and device and vehicle

An installation angle and detection method technology, applied in non-transitory computer-readable storage medium, camera installation angle detection device, vehicle, camera installation angle detection field, can solve complex detection process, error, camera installation angle error large and other problems, to achieve the effect of high detection accuracy, improved detection accuracy and wide applicability

Active Publication Date: 2019-07-02
BYD CO LTD
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Problems solved by technology

[0002] At present, the detection of camera installation angle is generally achieved through camera calibration. In camera calibration, many parameters need to be measured, the detection process is complicated, and there is inevitably a certain error in the measurement of each parameter. Therefore, the final camera installation large angle error

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  • Camera installation angle detection method and device and vehicle
  • Camera installation angle detection method and device and vehicle
  • Camera installation angle detection method and device and vehicle

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Embodiment Construction

[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0021] The camera in the embodiment of the present invention can be a vehicle-mounted monocular camera, which can be used for distance detection, speed detection, pedestrian detection, lane line detection, driving record and reversing assistance, etc. The camera of the embodiment of the present invention can also be used as a robot speed camera. The following embodiments take a vehicle-mounted monocular camera as an example for illustration.

[0022] The method, device and vehicle for detecting the installation angle of the came...

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Abstract

The invention discloses a camera installation angle detection method and device and a vehicle. The method comprises the following steps of obtaining the height of a camera relative to a first horizontal plane is obtained; imaging a marker which is arranged on a first horizontal plane and is away from the camera by a preset distance in the horizontal direction through a camera to obtain a marker image, wherein the marker and the optical axis of the camera are located in the same vertical plane; determining a pixel coordinate system according to the identification image, and obtaining coordinates of the marker in the pixel coordinate system; acquiring the internal parameters of the camera, and acquiring the installation angle of the camera according to the height of the camera relative to the first horizontal plane, the preset distance, the coordinates of the marker in the pixel coordinate system and the internal parameters of the camera. According to the method, the detection precisionof the installation angle of the camera can be improved, the implementation is easy and efficient, and the applicability is wider.

Description

technical field [0001] The present invention relates to the technical field of vehicle imaging, in particular to a camera installation angle detection method, a non-transitory computer-readable storage medium, a camera installation angle detection device and a vehicle. Background technique [0002] At present, the detection of camera installation angle is generally achieved through camera calibration. In camera calibration, many parameters need to be measured, the detection process is complicated, and there is inevitably a certain error in the measurement of each parameter. Therefore, the final camera installation The angle error is large. Contents of the invention [0003] The present invention aims to solve one of the technical problems in the above-mentioned technologies at least to a certain extent. Therefore, an object of the present invention is to provide a method for detecting the installation angle of a camera, which can improve the detection accuracy of the inst...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N17/00
CPCH04N17/002
Inventor 贺刚芮淑娟姜波
Owner BYD CO LTD
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