Vehicle-mounted camera calibration method and device, vehicle-mounted camera and storage medium

Abstract

The embodiment of the invention discloses a vehicle-mounted camera calibration method and device, a vehicle-mounted camera and a storage medium. The method comprises the following steps: acquiring coordinate parameters of left and right lane lines in a world coordinate system from an image acquired by the camera; mapping the left lane line and the right lane line to a customized virtual two-dimensional image according to the coordinate parameters, obtaining the intersection point of the left lane line and the right lane line obtained through mapping, and building a mapping relation between the virtual two-dimensional image and the customized coordinate range of the world coordinate system; combining the M frames of images to obtain N cross points in the virtual two-dimensional image, one frame of image corresponds to one cross point, M and N are positive integers, and N is not larger than M; selecting a target intersection meeting a preset standard from the N intersections; based on a world coordinate system, mapping the target cross point to a camera coordinate system to obtain a calibration reference point; acquiring a deviation angle of the calibration reference point relative to a camera coordinate system; calculating the offset angle of the camera relative to the ground reversely through the intersection point, so that the calculation amount is small, and the accuracy is high.

Description

technical field [0001] The invention relates to the field of camera calibration, in particular to a vehicle camera calibration method and device, a vehicle camera and a storage medium. Background technique [0002] The on-board camera needs to be statically calibrated before leaving the factory to establish the relationship between the two-dimensional camera coordinate system and the three-dimensional world coordinate system, so as to analyze the spatial attributes of the objects (vehicles, people, street signs, etc.) that appear during the driving process of the vehicle. However, due to the movement of the camera relative to the ground or the axle during the driving of the vehicle, the result of static calibration will cause inaccurate calculation of the target distance under such movement, which will reduce the accuracy of the target analysis results. [0003] At present, for monocular cameras on the market, by extracting the optical flow points (feature points of stationa...

AI Technical Summary

Problems solved by technology

However, this calibration method is only for monocular cameras, and it needs to extract

Images