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Vanishing point extraction method, camera calibration method and storage medium

A technology of extraction method and calibration method, which is applied in vanishing point extraction method, camera calibration method and storage medium field, can solve the problems of many restrictive conditions and no guarantee of accuracy, and achieves strong applicability, good robustness, and diversified scenarios. Effect

Active Publication Date: 2020-03-27
BEIJING JINGWEI HIRAIN TECH CO INC
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Problems solved by technology

[0007] Aiming at the problem of many restrictive conditions and unguaranteed accuracy in the attitude self-calibration of the vehicle-mounted machine in the related art, the present invention proposes a robust and applicable Vanishing point extraction method, camera calibration method and storage medium

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  • Vanishing point extraction method, camera calibration method and storage medium
  • Vanishing point extraction method, camera calibration method and storage medium
  • Vanishing point extraction method, camera calibration method and storage medium

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Embodiment Construction

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention.

[0063] figure 1 is a flowchart of a method for extracting a vanishing point according to an embodiment of the present invention. Such as figure 1 As shown, the vanishing point extraction method includes the following steps:

[0064] S11, acquiring invariant edge images in consecutive N frames of images;

[0065] Among them, the N frames of images are acquired by the front camera of the vehicle during driving, and the N frames of images reflect the changes of the road conditions ahead durin...

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Abstract

The invention discloses a vanishing point extraction method, a camera calibration method and a storage medium. The vanishing point extraction method comprises the following steps: acquiring continuousN frames of images according to a vehicle-mounted camera to extract invariant edge images; further fitting vanishing points according to effective straight lines in the invariant edge image. According to the vanishing point extraction method provided by the invention, a driver does not need to deliberately keep the vehicle driving path parallel to the lane line, and images of the vehicle drivingpath parallel to the lane line can be automatically screened and extracted in a vehicle driving scene for vanishing point extraction and calculation, so that the vanishing point extraction method hasno very high requirements on actual driving roads and scenes. According to the vanishing point extraction method and the vehicle-mounted camera calibration method of the traffic signboard, the problems that an existing camera parameter calibration method is large in calculation amount, prone to being disturbed by the external environment and the like are solved, the robustness is good, and the applicability is high.

Description

technical field [0001] The invention relates to the technical fields of image processing and vehicle-mounted cameras, and in particular, relates to a method for extracting a vanishing point, a method for calibrating a camera, and a storage medium. Background technique [0002] The on-board camera is one of the most important sensors in intelligent driving technology. To convert the two-dimensional image collected by the monocular camera into effective three-dimensional data, the internal and external parameters of the camera must be calculated. This calculation process of internal and external parameters is called calibration. The internal parameters of the camera are relatively stable after the lens is fixed, and generally do not change, so it only needs to be calibrated before leaving the factory; while the external parameters of the camera will be subject to Installation, body shake and other influences are parameters that are relatively easy to change, so it is very impo...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/30256
Inventor 赵锐
Owner BEIJING JINGWEI HIRAIN TECH CO INC
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