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Automatic calibration method, device and equipment for external parameters of all-round view camera based on lane line detection and computer storage medium

A technology for lane line detection and automatic calibration, applied in computing, image data processing, instruments, etc., can solve problems such as affecting the labeling results, not suitable for real-time field operations, and cumbersome.

Pending Publication Date: 2021-05-11
CHINA AUTOMOTIVE INNOVATION CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that it is necessary to provide a special scene for external parameter labeling. In the scene, a specific reference system (such as a calibration board) must be prepared, and the calibration position of the car must be fixed in advance. Each camera in the surround-view camera must be marked separately. Once a label is inaccurate, it will affect the entire labeling result, and it is not suitable for real-time field operations, and it is more cumbersome
[0005] At present, for surround-view cameras, the commonly used extrinsic calibration method usually uses a set of three-dimensional calibration markers, which contain a number of feature points that are easy to identify from the image and have known three-dimensional coordinates. Point extraction processing, and calibrate each camera corresponding to the three-dimensional coordinates of each feature point; rely on the reference object and the plane mirror to solve, that is, calibrate according to the three coordinate point information on the reference object and the three movement information of the plane mirror, This calibration method will be affected by the propagation of light

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  • Automatic calibration method, device and equipment for external parameters of all-round view camera based on lane line detection and computer storage medium
  • Automatic calibration method, device and equipment for external parameters of all-round view camera based on lane line detection and computer storage medium
  • Automatic calibration method, device and equipment for external parameters of all-round view camera based on lane line detection and computer storage medium

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Embodiment 1

[0090] The method for automatically calibrating external parameters of the surround-view camera based on lane line detection proposed in this embodiment needs to meet the following conditions:

[0091] 1. There is a map (world coordinate system) in the road section.

[0092] 2. It is necessary to provide an initial camera extrinsic parameter as an initial value for continuous updating. The translation matrix needs to be measured manually, and the error range of each direction should be within 10cm. An initial value must be provided for the rotation matrix.

[0093] 3. You need to drive steadily on this road section for a period of time, and at least one camera image in the surround-view camera needs to detect a lane line that meets the calibration conditions (the lane line is relatively straight and the detection effect is good).

[0094] 4. The collected data meets the images collected by the surround-view camera. Every pair at the same moment can be matched with features, an...

Embodiment 2

[0108] figure 2 is the change curve of loss, when the iteration reaches 100 times and the loss reaches 0.060, it converges. At this time, the lane line in the world coordinate system after the internal and external parameter transformation of the surround-view camera image is fitted with the corresponding map lane line. image 3 It is the fitting condition of the lane line in the world coordinate system and the corresponding map lane line after the internal and external parameters transformation of the surround-view camera image. The two white lines in the point cloud image are the lane lines on both sides of the world coordinate system. The two blue line segments are the lane lines on both sides in the world coordinate system after the surround-view camera image is transformed with internal and external parameters.

[0109]In this embodiment, the method of automatically obtaining external parameters for the first camera of the surround view camera uses the algorithm idea of...

Embodiment 3

[0123] This embodiment provides a device for automatically calibrating external parameters of a surround-view camera based on lane line detection, including a surround-view camera, a data screening module, a path solving module, a data checking module, and a feature matching module. The surround view camera is used to collect traffic scene data, and at least one initial camera external parameter is provided as an initial value for continuous update. The translation matrix is ​​manually measured, and the error range of each direction is within 10cm. The rotation matrix provides an initial value; At least one camera image detects a lane line that meets the calibration conditions; the collected data meets the images collected by the surround-view camera, and every pair of features are matched at the same moment, and at least 8 matching feature points are matched; after the data is collected, first set the loss function , the loss function is based on the lane lines in the map corr...

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Abstract

The invention relates to an automatic calibration method, device and equipment for external parameters of an all-round view camera based on lane line detection, and the method comprises the steps: firstly, automatically selecting an image, selecting one lane line, selecting an image with the lane line infinitely approaching to a straight line, taking the information of the lane line of the image and the information of the lane line in a corresponding map as an input and a truth value, setting a loss function, and iteratively updating the external parameters of the camera by adopting a mode of performing reverse derivation on the loss function, so that the image lane line is overlapped with the map lane line after being subjected to internal and external parameter conversion. After the external parameters of the camera are obtained, the images, obtained at the same time, of the cameras nearby the camera are obtained, under the condition that the internal parameters of the two cameras and the external parameters of one camera are obtained, the external parameters of the other camera are obtained, and the external parameters of the third camera, the fourth camera and the like are further obtained. According to the automatic calibration method for the external parameters of the all-round view camera based on lane line detection, the initial camera external parameters of the first camera need to be provided, and only the rotation matrix in the camera external parameters is updated.

Description

technical field [0001] The invention relates to an automatic calibration method, device, equipment and computer storage medium for external parameters of a surround-view camera based on lane line detection, and relates to the field of coordinate positioning. Background technique [0002] The camera extrinsic parameter is also called the camera pose, which consists of a rotation matrix and a translation matrix. The camera extrinsic calibration refers to determining a rotation matrix and a translation matrix, which are used to describe the camera coordinate system and other coordinate systems (such as the body coordinate system). conversion relationship. [0003] The surround-view camera in an autonomous vehicle consists of multiple cameras working together, and the fusion of image information from multiple cameras can eliminate visual blind spots and blind spots. In the field of automatic driving, the external parameter calibration of each camera of the surround-view camera ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/73
CPCG06T7/80G06T7/73G06T2207/30256G06T2207/20081
Inventor 李丰军周剑光
Owner CHINA AUTOMOTIVE INNOVATION CORP