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Vehicle-mounted camera calibration method based on roadside unit information

A roadside unit and calibration method technology, applied in the field of camera calibration, can solve the problems of high requirements, not rich enough, and single standards in the scene, and achieve the effect of enriching calibration standards, simplifying the difficulty of calibration, and overcoming strong scene dependencies.

Active Publication Date: 2021-04-02
NANJING DESAY SV AUTOMOTIVE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the traditional on-board camera calibration technology is either completed in a pre-laid calibration grid, or requires the vehicle to drive to a specific scene to complete, and these two calibration methods are purely based on the image information collected by the camera. The reliable standards for judging whether the calibration is successful or not are all based on the results of the image. The standard it relies on is single, not rich enough, and has high requirements for the scene

Method used

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  • Vehicle-mounted camera calibration method based on roadside unit information
  • Vehicle-mounted camera calibration method based on roadside unit information
  • Vehicle-mounted camera calibration method based on roadside unit information

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Embodiment 1

[0051] Such as Figure 1-Figure 5As shown, this embodiment provides a vehicle camera calibration method based on roadside unit information, based on the vehicle camera, vehicle OBD, and a plurality of RSU devices connected to the vehicle OBD in communication, wherein the vehicle OBD is used to obtain the RSU around the vehicle Device-related information, the on-board camera is used to obtain picture information around the vehicle body. Usually, the car camera includes a front car camera, a rear car camera, a left car camera and a right car camera. Types of on-board cameras include but are not limited to ultra-wide-angle cameras, wide-angle cameras, and telephoto cameras.

[0052] A vehicle camera calibration method based on roadside unit information, such as figure 1 As shown, the method includes:

[0053] 101. Screen the RSU devices around the vehicle to obtain at least two valid RSU devices.

[0054] Such as figure 2 As shown, in the specific implementation process, it...

Embodiment 2

[0071] This embodiment provides a calibration device for a vehicle-mounted camera, based on the calibration method for a vehicle-mounted camera based on roadside unit information described in Embodiment 1, specifically including an acquisition module, a determination module, and a calibration module; the acquisition module includes Vehicle-mounted OBD and a plurality of vehicle-mounted cameras arranged around the vehicle body, the vehicle-mounted camera is used to obtain picture information around the vehicle body, and the vehicle-mounted OBD is used to obtain relevant information of RSU equipment around the vehicle; the determination module is used to filter out effective RSU equipment, and calculate the relative coordinate data between the effective RSU equipment and the vehicle and the image coordinate data of the effective RSU equipment in the picture information; The calibration module is used to determine the vehicle camera according to the relative coordinate data and the...

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Abstract

The invention relates to a vehicle-mounted camera calibration method based on roadside unit information, and the method comprises the steps: screening RSU equipment around a vehicle, and obtaining atleast two pieces of effective RSU equipment; acquiring picture information around the vehicle through a vehicle-mounted camera, wherein the picture information comprises each effective RSU equipment;acquiring relative coordinate data between each effective RSU equipmentand the vehicle; acquiring image coordinate data of each effective RSU equipment in the picture information; and by taking the effective RSU equipment as a base point, determining parameters of the vehicle-mounted camera according to the image coordinate data and the relative coordinate data so as to finish calibration. According to the calibration method, the defect that the existing camera calibration technology has strong dependence on scenes is overcome, the calibration difficulty is simplified, the calibration standardis enriched, more choices are provided for users, and the experience effect of the users is improved.

Description

technical field [0001] The present application relates to the technical field of camera calibration, in particular to a vehicle camera calibration method based on roadside unit information. Background technique [0002] In recent years, with the rapid development of the automobile industry and the continuous improvement of people's living standards, the number of automobiles in our country is increasing rapidly, and the proportion of non-professional automobile drivers among automobile drivers has also increased significantly. When reversing in crowded and narrow places such as streets, garages, and parking lots, it is easy to scratch or collide due to the blind spots of conventional optical rearview mirrors. [0003] In order to solve the problem of blind spots in the viewing angle and to show the driver more intuitively the surrounding conditions of the vehicle, the manufacturer has installed multiple cameras around the vehicle body to form a 360° panoramic image system. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/30252Y02D30/70
Inventor 胡思明刘祎
Owner NANJING DESAY SV AUTOMOTIVE CO LTD