Calibration method and device of shooting device, electronic equipment and storage medium
A technology of a shooting device and a calibration method, which is applied in the field of intelligent transportation, and can solve problems such as low calibration efficiency and slow calibration speed
Pending Publication Date: 2020-08-18
APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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[0004] At present, there are a large number of cameras installed on both sides of the road. If the above method is used, it is necessary to manually set up a calibration board within the field of view of each camera, and obtain the world coordinates of the corner points in the calibration board. The calibration speed is slow and the calibration efficiency is low. Low
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[0025] 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.
[0026] In order to illustrate the calibration method of the camera provided by this application more clearly, the following combines figure 1 The calibration method of the photographing device in the prior art will be described. figure 1 It is a schematic diagram of a camera calibration method in the prior art. figure 1 Shown are the shooting devices installed on b...
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The invention discloses a calibration method and device of a shooting device, electronic equipment and a storage medium, and relates to the field of intelligent transportation. A reference object exists in a shooting visual field range of the shooting device, a plurality of reference points are arranged on the reference object, and the reference object is a static object in an environment where the shooting device is located. The method comprises the following steps: acquiring an image shot by the shooting device, wherein the image comprises the plurality of reference points; acquiring world coordinates of the plurality of reference points in a high-precision map according to the position of the shooting device; and obtaining external parameters of the shooting device according to the pixel coordinates of the plurality of reference points and the world coordinates of the plurality of reference points in the image. In the present application, because the plurality of reference points arranged in the shooting visual field range of the shooting device are the reference points on the static object in the environment, the world coordinates of the plurality of reference points of the vehicle in the acquired high-precision map of the environment are detected, the problem of manually acquiring the world coordinates of the reference points is avoided, and the calibration efficiency of the shooting device is improved.
Description
technical field [0001] The present application relates to the technical field of intelligent transportation, and in particular to a calibration method, device, electronic equipment and storage medium of a photographing device in automatic driving technology. Background technique [0002] Camera extrinsic parameter calibration refers to obtaining the transformation matrix from the world coordinate system of the camera to the camera coordinate system after the camera is installed. The transformation matrix is the camera extrinsic parameter, also called the camera pose. The camera extrinsic parameter is a necessary condition for connecting the position of the object in the real world with the pixel position of the object in the image. It is widely used in fields that need to locate the position of the object in the image, such as automatic driving, security, and traffic monitoring of intelligent transportation. and control areas. [0003] In the prior art, the method of came...
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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 贾金让
Owner APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD