Camera external parameter calibration method, device and equipment and readable storage medium

A calibration method and camera technology, applied in image data processing, instruments, calculations, etc., can solve the problems of low calibration accuracy, difficult to obtain cameras, and can not meet the actual needs of use, and achieve the goal of improving accuracy, convenience and accuracy. Effect

Active Publication Date: 2020-06-26
APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, it is difficult to obtain the attitude of the existing camera in the world coordinate system, so the calibration is difficult and the calibration accuracy is low. The existing calibration methods can no longer meet the actual use requirements

Method used

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  • Camera external parameter calibration method, device and equipment and readable storage medium
  • Camera external parameter calibration method, device and equipment and readable storage medium
  • Camera external parameter calibration method, device and equipment and readable storage medium

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Embodiment Construction

[0065] Exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0066] figure 1 A flowchart showing a camera extrinsic parameter calibration method according to an embodiment of the present application. refer to figure 1 , the camera extrinsic calibration method includes the following steps:

[0067] S101. Acquire a first image captured by a camera, and determine a target identifier in the first image;

[0068] S102, searchin...

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Abstract

The invention discloses a camera external parameter calibration method, device and equipment and a readable storage medium, and relates to the field of camera calibration. According to the specific implementation scheme, acquiring a first image shot by a camera, and determining a target marker in the first image; searching a target marker in the high-precision map; determining a plurality of first-class feature points of a target marker in the high-precision map; determining a plurality of second-class feature points of the target marker in the first image according to the plurality of first-class feature points, the plurality of first-class feature points corresponding to the plurality of second-class feature points; and performing external parameter calibration on the camera according tothe world coordinates of the plurality of first-class feature points and the pixel coordinates of the plurality of second-class feature points. According to the scheme provided by the invention, theconvenience and accuracy of camera external parameter calibration are improved.

Description

technical field [0001] The present application relates to camera calibration, and in particular to a camera extrinsic calibration method, device, equipment and readable storage medium. Background technique [0002] In the vehicle-road coordination scenario, the camera is usually used as a road test perception device to perceive information such as the position of vehicles, pedestrians and other objects. However, during the working process of the camera, the position of the camera may change due to factors such as wind, external impact, or human movement. At this time, the external parameters of the camera need to be corrected. The camera extrinsics determine the relative positional relationship between the camera coordinate system and the world coordinate system. [0003] However, it is difficult to obtain the attitude of the existing camera in the world coordinate system, so the calibration is difficult and the calibration accuracy is low, and the existing calibration meth...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 朱晓星
Owner APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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