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Image acquisition device calibration method, device, equipment and medium

An image collector and calibration method technology, applied in the field of image processing, can solve the problems of low accuracy of height parameters, inability to fit real scenes, and inability to calibrate camera height parameters, etc.

Active Publication Date: 2022-04-22
APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] 1) Using the mobile phone sensor to calibrate the external parameters is limited by the type of sensor equipped on the mobile phone, and can only calibrate the three-axis angle in the external parameters of the camera, but cannot calibrate the height parameters of the camera;
[0008] 2) The height parameters can only be estimated based on the user's height distribution, hand-held habits, etc. However, the accuracy of the estimated height parameters is low. Based on the height parameters with low accuracy, accurate real-world fit cannot be achieved, and AR cannot be achieved. The best experience in navigation

Method used

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  • Image acquisition device calibration method, device, equipment and medium
  • Image acquisition device calibration method, device, equipment and medium
  • Image acquisition device calibration method, device, equipment and medium

Examples

Experimental program
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no. 1 example

[0058] figure 1 This is a flowchart of a method for calibrating an image collector provided by the first embodiment of the present application. This embodiment can be applied to the case of using the calibrated vehicle-mounted image collector to calibrate the terminal image collector to be calibrated. Typically, this embodiment can be applied to a situation in which the camera of the mobile phone is calibrated by using the camera that has been calibrated on the vehicle after the navigation scene is switched from the AR navigation of the vehicle to the AR navigation of the mobile phone. The method can be implemented in software and / or hardware. see figure 1 , the image collector calibration method provided by this embodiment includes:

[0059] S110: Determine common feature points in the vehicle-mounted image and the terminal-collected image.

[0060] The vehicle-mounted image acquisition is an image acquired by a vehicle-mounted image collector. The image collected by the...

no. 2 example

[0097] figure 2 This is a flowchart of a method for calibrating an image collector provided by the second embodiment of the present application. This embodiment is an optional solution proposed to realize real-time external parameter estimation for the calibrated terminal image collector on the basis of the above-mentioned embodiment. see figure 2 , the image collector calibration method provided by this embodiment includes:

[0098] S210: Determine common feature points in the vehicle-mounted image and the terminal-collected image.

[0099] S220. Determine the world coordinates of the common feature point according to the calibration parameters of the vehicle-mounted image collector, the image coordinates of the common feature point in the vehicle-mounted image, and the height of the common feature point.

[0100] S230. Determine the height parameter of the terminal image collector according to the world coordinates, the internal parameters of the terminal image collecto...

no. 3 example

[0107] Figure 3a This is a flowchart of a method for calibrating an image collector provided by the third embodiment of the present application. Figure 3b This is a schematic diagram of an application scenario of an image collector calibration method provided by the third embodiment of the present application. This embodiment is an optional solution proposed on the basis of the above-mentioned embodiments, taking the vehicle-mounted image collector as a vehicle-mounted AR camera and the terminal image collector as a mobile phone camera as an example. see Figure 3a and Figure 3b , the image collector calibration method provided by this embodiment includes:

[0108] After the in-vehicle AR navigation system is installed, the in-vehicle AR camera is calibrated with internal and extrinsic parameters, and the calibration parameters are stored.

[0109] Obtain the user's login account and password, and log in to the AR navigation system;

[0110] If it is detected that the ...

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Abstract

The embodiment of the present application discloses an image collector calibration method, device, equipment and medium, which relate to the field of image processing, and in particular to AR navigation technology. The specific implementation plan is: determine the common feature points in the vehicle-mounted image acquisition and terminal acquisition image; and the height of the public feature point to determine the world coordinates of the public feature point; according to the world coordinates, the internal reference of the terminal image collector and the image coordinates of the public feature point in the image collected by the terminal, determine the Describe the height parameters of the terminal image collector. Embodiments of the present application provide a calibration method, device, equipment, and medium for an image collector, so as to accurately determine the height parameter of a terminal image collector.

Description

technical field [0001] The embodiments of the present application relate to the field of image processing, and in particular, to AR navigation technology. Specifically, the embodiments of the present application relate to a method, apparatus, device, and medium for calibrating an image collector. Background technique [0002] After arriving near the destination based on vehicle navigation, in the scenario where you need to use the mobile phone to navigate to the destination by walking or cycling, you need to switch from in-car AR navigation to mobile AR navigation. However, when switching from car AR navigation to mobile AR navigation, the mobile phone camera needs to be calibrated. [0003] The existing calibration methods for mobile phone cameras include: [0004] 1) Use the mobile phone sensor to calibrate the three-axis angle in the external parameters of the camera; [0005] 2) Estimate the height parameters in the external parameters of the camera according to exper...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/73G06T7/80
CPCG06T7/73G06T7/80
Inventor 李映辉周志鹏
Owner APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD