Vehicle-mounted camera calibration method and device and terminal equipment

Abstract

The invention is suitable for the technical field of calibration, and provides a calibration method and device for a vehicle-mounted camera and terminal equipment, and the method comprises the steps of obtaining a first height, perpendicular to the ground, of a target camera; determining a second height of a target point on the ground mapped on the reference object according to the first height, and obtaining a target range position according to the second height and a preset up-down floating range value; calculating a first ordinate of the target point in the image coordinate system according to a preset standard pitch angle of the target camera; drawing a reference line in a picture detected by the camera according to the first ordinate; adjusting the pitching angle of the target camera until the reference line is in the target range position; determining a third height of the reference line mapped in the reference object; and determining a target pitching angle of the target camera according to the third height and the first ordinate, so that the angle value can be efficiently calibrated, the requirement for the precision of a fine adjustment element of the vehicle-mounted camera can be lowered, and the calibration precision of the pitch angle of the camera is improved.

Description

technical field [0001] The present application belongs to the technical field of calibration, and in particular relates to a calibration method, device and terminal equipment for a vehicle-mounted camera. Background technique [0002] With the maturity of artificial intelligence algorithms, automatic driving and intelligent assisted driving technologies applied in vehicles have developed rapidly. Road monitoring, road scene analysis and collision risk perception have become necessary functions of various driver assistance systems and other intelligent systems. At present, when various driver assistance systems want to accurately realize road monitoring, road scene analysis and collision risk perception, one of the decisive functions is The influencing factor is the accuracy of camera ranging. [0003] Because the pitch angle calibration of the camera has a great influence on the accuracy of ranging, the current popular camera calibration is usually based on a fixed pitch an...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a calibration method, device, and terminal equipment for a vehicle-mounted camera, aiming to solve the problem of inaccurate calibration due to high hardware precision requirements and inability to accurately calibrate angle values

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