Image correction method and device

An image correction and image technology, applied in image enhancement, image analysis, graphic image conversion, etc., can solve problems affecting position estimation accuracy, result deviation, acceleration and deceleration bumps, etc.

Pending Publication Date: 2020-02-14
WUHAN KOTEI INFORMATICS
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Problems solved by technology

[0004] Due to the acceleration, deceleration, and bumps of the vehicle, the ground-facing camera will deviate from the vertical direction, resulting in the zoom-in of the place close to the ground-facing camera, and the zooming out of the far place, resulting in an uncertain inclination of the output image.
The tilted image calculates the zoom amount and rotation of the two frames before and after the image, which will cause deviation in the result and affect the accuracy of position calculation

Method used

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Embodiment Construction

[0037] 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 embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0038] figure 1 A flowchart of an image correction method provided by an embodiment of the present invention, such as figure 1 As stated, the method includes:

[0039] Step 101, acquiring an image of the target in the ground-facing direction through a ground-facing camera installed in the target, and obtaining an angle change value of the ground...

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Abstract

The embodiment of the invention provides an image correction method and device. The method comprises the following steps: acquiring an image of a target object in the direction over the ground througha camera over the ground installed in the target object, and acquiring an angle change value of the camera over the ground through a gyroscope connected with the camera over the ground; and performing tilt correction on the image according to the angle change value and the internal reference matrix of the camera over the ground. According to the method and the device provided by the embodiment ofthe invention, the rotation angle of the camera over the ground in each direction is acquired in real time through the gyroscope, and the inclination image caused by the conditions of acceleration, deceleration, jolt and the like of the vehicle is corrected by combining the internal reference matrix of the camera over the ground, so that the position estimation precision is improved.

Description

technical field [0001] The invention relates to the technical field of high-precision positioning, in particular to an image correction method and device. Background technique [0002] High-precision positioning is one of the basic technologies for unmanned driving. At present, the Global Navigation Satellite System (GNSS) is the most used for vehicle positioning. However, due to factors such as buildings, trees, and tunnels, it will cause signal interference and seriously affect the positioning accuracy. Visual positioning is due to the cost It is widely used as a supplementary technology of GNSS due to low noise and no interference from signal occlusion. [0003] Compared with the visual positioning scheme of the front-view camera, the field-of-ground camera has a smaller field of view and is not disturbed by surrounding vehicles, pedestrians, light, etc., and has better environmental adaptability. The ground camera generally adopts the method of visual odometer (Visual ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T3/60G06T5/00G06T7/80
CPCG06T3/608G06T5/006G06T7/80
Inventor 程德心卫扬道王婷夏良俊
Owner WUHAN KOTEI INFORMATICS
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