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Camera calibration method and device, intelligent vehicle and storage medium

A camera calibration, camera technology, applied in image data processing, instrumentation, computing and other directions, can solve problems such as the influence of external parameters of the camera

Active Publication Date: 2021-02-05
天翼交通科技有限公司
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  • Description
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Problems solved by technology

This method needs to manually select the laser point area corresponding to the calibration plate, so the camera extrinsic parameters obtained by calibrating the camera will be affected by human factors

Method used

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  • Camera calibration method and device, intelligent vehicle and storage medium
  • Camera calibration method and device, intelligent vehicle and storage medium
  • Camera calibration method and device, intelligent vehicle and storage medium

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Embodiment Construction

[0051] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0052] Embodiments of the present invention provide a camera calibration method and device, an intelligent vehicle and a storage medium. Specifically, an embodiment of the present invention provides a camera calibration method suitable for a camera calibration device, and the camera calibration device can be integrated in an electronic device.

[0053] The electronic device can be a terminal and other devices, such as smart vehicles, smart phones, smart watches, tablet compute...

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Abstract

The embodiment of the invention discloses a camera calibration method and device, an intelligent vehicle and a storage medium. Time synchronization processing can be carried out on an obtained initialcamera pose transformation sequence and an initial radar pose transformation sequence to obtain a camera pose transformation sequence and a radar pose transformation sequence, and then a first rotation external parameter is determined according to a first association relation; a second rotation external parameter, a scale factor and a translation parameter are determined according to the radar pose transformation sequence, the camera pose transformation sequence, the scale factor of the target camera, a second association relationship and the first rotation external parameter, and the camerapose transformation sequence is corrected according to the scale factor to obtain a corrected camera pose transformation sequence; and according to the radar pose transformation sequence, the corrected camera pose transformation sequence, the first association relationship and the second association relationship, a target rotation parameter and a target translation parameter are obtained. Therefore, camera calibration can be realized without using a calibration plate during camera calibration, and the calibration accuracy is improved.

Description

technical field [0001] The invention relates to the field of unmanned driving technology, in particular to a camera calibration method, device, intelligent vehicle and storage medium. Background technique [0002] Unmanned driving technology usually includes technologies such as environmental perception, behavior decision-making, motion control, and vehicle positioning. For analysis, it is generally necessary to calibrate the camera and determine its camera parameters such as camera extrinsic parameters. [0003] At present, when the camera is calibrated with the data acquired by the radar, it is generally necessary to use a calibration plate to match the laser points scanned by the radar on the calibration plate with the pixels corresponding to the image captured by the camera to construct a reprojection error equation and estimate The extrinsic information of the camera. This method needs to manually select the laser point area corresponding to the calibration plate, so ...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 汪丹许全优徐伟健范国泽闵锐莫耀凯王劲
Owner 天翼交通科技有限公司
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