Camera calibration method, device, vehicle-mounted terminal and storage medium
A calibration method and camera technology, applied in image analysis, image data processing, character and pattern recognition, etc., can solve the problems of complicated and time-consuming process, low efficiency and accuracy of camera, etc.
Active Publication Date: 2021-11-19
杭州锐见智行科技有限公司
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[0004] However, these methods all need to manually move the vehicle or determine the positional relationship between the vehicle and the intermediary. The process is complicated and time-consuming, resulting in low efficiency and accuracy for camera calibration.
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[0055] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0056] The camera calibration method provided by this application can be applied to such as figure 1shown in the application environment. Wherein, the vehicle-mounted terminal 11 is communicatively connected with the image acquisition device 12, and both are arranged inside the vehicle. Specifically, the vehicle-mounted terminal 11 acquires images containing lane lines collected by the image acquisition device 12 to be calibrated; 11. Determine the reference lane lines satisfying the continuity condition as reliable lane lines in the set of reliable lane lines; The reli...
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The present application relates to a camera calibration method, device, vehicle-mounted terminal, and storage medium. The method includes: acquiring an image including lane lines collected by a camera to be calibrated; If the continuity condition is met, the reference lane line that satisfies the continuity condition is determined as a reliable lane line in the reliable lane line set; if the number of reliable lane lines in the reliable lane line set reaches the preset number threshold, then the The selected reliable lane line in , determine the vanishing point corresponding to the selected reliable lane line; calibrate the camera based on the vanishing point. This application makes the camera calibration no longer require the user to manually intervene to move the car or place an intermediary for vehicle identification. The camera calibration can be completed during the driving process, and the calibration based on lane line recognition can be performed in real time, which improves the camera calibration. efficiency and accuracy.
Description
technical field [0001] The present application relates to the technical field of automobile automatic driving, in particular to a camera calibration method, device, vehicle-mounted terminal and storage medium. Background technique [0002] The current autonomous driving technology basically relies on traditional cameras, and the relative pose relationship between the camera and the body is a crucial parameter; even for the exact same car and the camera, there are unavoidable differences in position and angle between each installation. difference, so this relationship must be determined by some means. [0003] Camera calibration can basically be divided into two types, the first is static calibration based on the calibration target; the second is the calibration method that relies on the calibration reference object, for example, the lane line is determined as the calibration reference object. The former needs to place the calibration target in front of the stationary vehicl...
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IPC IPC(8): G06K9/00G06T7/80
CPCG06T7/80G06V20/588
Inventor 徐涵刘国清
Owner 杭州锐见智行科技有限公司