A camera calibration method, device, electronic equipment and storage medium
A camera calibration and camera technology, applied in the field of image processing, can solve the problems of inconsistency of simulation results, reduced simulation accuracy, and inability to truly restore camera external parameters, so as to achieve the effect that simulation results are close to reality and improve accuracy.
Active Publication Date: 2022-01-28
TENCENT TECH (SHENZHEN) CO LTD
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[0002] Camera-in-the-loop is a commonly used image simulation method, which can be applied to hardware-in-the-loop simulation of assisted driving and automatic driving controllers. In related technologies, the camera calibration method of camera-in-the-loop is calibrated through a checkerboard grid. After the calibration is completed, Write the parameters obtained from the calibration into the algorithm, but this method only needs to fix the camera at one position, so that the external parameters of the camera calibration used on the real vehicle are not the same as the external parameters of the camera used on the real vehicle, and it is impossible to truly restore the camera on the real vehicle external parameters, which leads to the discrepancy between the simulation results and the actual vehicle results, which reduces the accuracy of the simulation
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[0086] Furthermore, in the embodiment of the present application, not only can the calibration personnel perform calibration by displaying superimposed images, but also can display the value of the coincidence degree index to guide the calibration personnel to perform calibration. Specifically, the embodiment of the present application provides a possible Implementation method: determine the degree of coincidence between the calibration image and the captured image.
[0087] Among them, determining the degree of coincidence between the calibration image and the captured image includes:
[0088] 1) Determine the calculation area in the calibration image and the captured image respectively, and determine the number of rows and columns of pixels contained in the calculation area.
[0089] Wherein, the calculation area is the whole image of the calibration image or the captured image. In addition, the image can be cut and the influence of scene factors such as the sky can be elim...
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The present application relates to the field of image processing, and in particular to a camera calibration method, device, electronic equipment and storage medium, which acquires a calibration image generated based on actual parameters of a target camera; acquires a captured image generated by capturing the calibration image with a camera to be calibrated; Superimposing the calibration image and the captured image to generate a superimposed image, the superimposed image is used to reflect the degree of coincidence between the calibration image and the captured image; based on the superimposed image, adjust the camera to be calibrated Parameters to be calibrated until the coincidence degree of the superimposed image representation meets the coincidence condition; after the calibration is completed, the calibration parameters of the camera to be calibrated are obtained, so that the calibration parameters of the camera to be calibrated are improved according to the actual parameters close to the target camera. accuracy.
Description
technical field [0001] The present application relates to the field of image processing, and in particular to a camera calibration method, device, electronic equipment and storage medium. Background technique [0002] Camera-in-the-loop is a commonly used image simulation method, which can be applied to hardware-in-the-loop simulation of assisted driving and automatic driving controllers. In related technologies, the camera calibration method of camera-in-the-loop is calibrated through a checkerboard grid. After the calibration is completed, Write the parameters obtained from the calibration into the algorithm, but this method only needs to fix the camera at one position, so that the external parameters of the camera calibration used on the real vehicle are not the same as the external parameters of the camera used on the real vehicle, and it is impossible to truly restore the camera on the real vehicle As a result, the simulation results are inconsistent with the actual veh...
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IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/10024G06T2207/30256
Inventor 胡东元
Owner TENCENT TECH (SHENZHEN) CO LTD