Camera roll angle adjusting method and device, storage medium and electronic equipment
An adjustment method and roll angle technology, applied in image analysis, image enhancement, instruments, etc., can solve the problems of high road surface smoothness, resource consumption, poor real-time performance, etc., and achieve fast calculation speed, good real-time performance, and high efficiency. Effect
Active Publication Date: 2021-01-05
SHANGHAI HORIZON INTELLIGENT AUTOMOTIVE TECH CO LTD
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Because the extraction and matching of corner points is a very resource-intensive calculation for this method, the real-time performance of this scheme is poor, and it has high requirements for the smoothness of the road surface
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[0035] Hereinafter, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited by the exemplary embodiments described here.
[0036] It should be noted that relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
[0037] Those skilled in the art can understand that terms such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc. necessary logical sequence.
[0038] It should also be understood that in the embodiments of the present disclosure, "...
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The embodiment of the invention discloses a camera roll angle adjusting method and device, a storage medium and electronic equipment. The method comprises the steps: responding to the lane change of avehicle, and obtaining the distance difference between two lane lines included in the same lane before and after the lane change based on a camera disposed on the vehicle; determining an increment value and an increment direction of a rolling angle of the camera according to the distance difference; adjusting the roll angle of the camera based on the increment direction and the increment value. According to the method disclosed in the embodiment of the invention, the dynamic real-time calibration of the roll angle can be conveniently carried out in a straightway scene; based on an existing lane line sensing result, a large number of extra corner points do not need to be extracted and matched, the calculation process is very simple, the increment direction and the increment value can be determined only by conducting lane line spacing, the calculation speed is high, the efficiency is high, and the real-time performance is good.
Description
technical field [0001] The present disclosure relates to camera extrinsic parameter calibration technology, in particular to a camera roll angle adjustment method and device, storage medium, and electronic equipment. Background technique [0002] After the camera is installed on the vehicle, there will be an installation error, and the estimation of this installation error is an important content in the calibration of the camera's extrinsic parameters. Since the roll angle Roll in the external parameters of the camera has a great influence on the measurement of the lateral distance between the lane line and the obstacle in front, a stable and reliable calibration scheme is very important. [0003] The existing technology realizes the adjustment of the roll angle through the online calibration method based on the characteristic corner points of the real vehicle. The specific scheme includes: let the vehicle go straight on the straight road at a certain speed, extract the char...
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IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/30256
Inventor 陈波宋巍
Owner SHANGHAI HORIZON INTELLIGENT AUTOMOTIVE TECH CO LTD