Camera external parameter calibration method and system of vehicle surround view system and surround view system

Abstract

The invention provides an improved external parameter calibration method for a camera of a vehicle surround view system. The method comprises the following steps: acquiring a calibration image of a checkerboard through the camera, wherein the checkerboard is placed at a position where the image acquired by the camera comprises two unshielded checkerboard images; for each collected calibration image, obtaining pixel coordinates of angular points in the image; obtaining a first coordinate of the angular point in a vehicle coordinate system based on related parameters of a look-around camera; for a group of adjacent angular points in the angular points, determining a first deviation and a second deviation according to the first coordinate of each angular point in the group of angular points, the first deviation is the difference between the included angle between the group of angular points and 90 degrees, and the second deviation is the difference between the distance between the adjacent angular points and the real side length of the checkerboard; for each angular point in the adjacent points of the group of angular points, calculating the distance difference of the angular point based on the first coordinates obtained by the two cameras on the basis of the first coordinates corresponding to the calibration images obtained by the two cameras; and performing optimization calculation on an external parameter based on the first deviation, the second deviation and the distance difference so as to obtain the external parameter of the camera.

Description

technical field [0001] The present application relates to automobile technology, and more specifically, relates to camera extrinsic parameter calibration technology of a vehicle surround view system. Background technique [0002] Vehicle surround view can provide drivers with a more convenient driving vision and improve driving safety. After the surround view camera is installed in the vehicle, it needs to be calibrated to obtain the parameters of the surround view camera, so as to ensure the correct stitching of the surround view panoramic view. [0003] The conventional calibration method is relatively complicated, and multiple calibration checkerboards need to be made, and the positions of the checkerboards need to be placed according to the requirements and the position of the vehicle should be limited. figure 1 A conventional look-around calibration scenario is illustrated. Such as figure 1 As shown, a plurality of checkerboards 101 are set around the vehicle 10, and...

AI Technical Summary

Problems solved by technology

This method has more human intervention and is not convenient enough

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