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Camera external parameter calibration method, device and system in vehicle-mounted mobile measurement system

A vehicle-mounted mobile measurement and camera technology, which is used in measurement devices, image analysis, image enhancement, etc., can solve the problems of high point cloud quality requirements, long time, and easy matching errors.

Pending Publication Date: 2021-09-14
ALIBABA GRP HLDG LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] At present, the main method of calibrating the external parameters of the camera is to manually select the corresponding points or boundaries of the same name between the point cloud and the image, and then perform manual calibration. This method has high requirements for the quality of the point cloud and high requirements for the calibration personnel. Calibration results are easily affected by noise, prone to matching errors, and time-consuming

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  • Camera external parameter calibration method, device and system in vehicle-mounted mobile measurement system
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  • Camera external parameter calibration method, device and system in vehicle-mounted mobile measurement system

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Embodiment 1

[0056] Embodiment 1 of the present invention provides a camera extrinsic parameter calibration method in a vehicle-mounted mobile measurement system, the process of which is as follows figure 1 shown, including the following steps:

[0057] Step S11: Match the same-named elements of at least two images in the collected point cloud data and image data to obtain the same-named element combination, and match the same-named element point pairs included in the two images from the same-named element combination.

[0058] Obtain what the vehicle-mounted mobile measurement system collects during the driving of the vehicle: image data obtained through the camera, point cloud data obtained through the laser scanner, and inertial navigation trajectory data obtained through the inertial navigation system. Wherein, the inertial navigation trajectory data includes: the trajectory of the relationship between the location information of the inertial navigation system and time, and the posture...

Embodiment 2

[0114] Embodiment 2 of the present invention provides a specific implementation method of camera extrinsic parameter calibration in a vehicle-mounted mobile measurement system, the process of which is as follows Figure 7 shown, including the following steps:

[0115] Step S71: Obtain the image data, point cloud data and inertial navigation track data collected by the vehicle-mounted mobile measurement system during the driving of the vehicle.

[0116] Specifically, the obtained point cloud data and inertial navigation trajectory data are the data of the local world coordinate system after solving. In this way, the size of the coordinate value in the data can be reduced, the calculation amount can be reduced, and the readability of the data can be increased.

[0117] Step S72: Identify the elements in the point cloud data, and for each element, use the deep learning method to determine the elements with the same name in at least two images in the image data, obtain a combinat...

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Abstract

The invention discloses a camera external parameter calibration method, device and system in a vehicle-mounted mobile measurement system. The method comprises the following steps: performing homonymy element matching on at least two images in point cloud data and image data to obtain a homonymy element combination, and matching homonymy element point pairs included in every two images from the homonymy element combination; for the same-name element point pairs, according to the set pose of a camera relative to inertial navigation and the pose of the inertial navigation in a world coordinate system during image shooting, back-projecting the first element point to the point cloud data to obtain a back-projection point, projecting the back-projection point to an image where a second element point is located to obtain a projection point, and determining the distance between the projection point and the second element point; judging whether the average value of the distance is lower than an error threshold value; and if not, changing the set pose according to a preset rule until the average value is lower than the error threshold value, and taking the current set pose as a calibration result of the external parameters of the camera. According to the method, automatic calibration of the external parameters of the camera in the vehicle-mounted mobile measurement system can be realized, and the calibration accuracy is high.

Description

technical field [0001] The invention relates to the technical field of electronic map data collection, in particular to a camera extrinsic parameter calibration method, device and system in a vehicle-mounted mobile measurement system. Background technique [0002] In the process of making electronic maps, in addition to making various map elements through the point cloud data obtained by the laser scanner, the images captured by the camera are usually used to color the point clouds to improve the efficiency of making electronic maps. The accuracy of point cloud coloring depends on The relative pose between the laser scanner and the camera is the accuracy of the extrinsic calibration of the camera. [0003] At present, the main method of calibrating the external parameters of the camera is to manually select the corresponding points or boundaries of the same name between the point cloud and the image, and then perform manual calibration. This method has high requirements for ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G01C25/00
CPCG06T7/80G01C25/00G06T2207/10028
Inventor 李勇
Owner ALIBABA GRP HLDG LTD