Vehicle-mounted camera angle calibration method, terminal and storage medium

An angle calibration, vehicle-mounted camera technology, applied in image data processing, instrumentation, computing and other directions, can solve the problem of limited application scenarios, achieve a wide range of application scenarios, avoid large vanishing point errors, good reliability and robustness sexual effect

Active Publication Date: 2022-02-18
TIANJIN SOTEREA AUTOMOTIVE TECH LMITED CO +1
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] In view of this, the present invention provides a vehicle-mounted camera angle calibration method, a terminal and a storage medium, whi

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  • Vehicle-mounted camera angle calibration method, terminal and storage medium
  • Vehicle-mounted camera angle calibration method, terminal and storage medium
  • Vehicle-mounted camera angle calibration method, terminal and storage medium

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Embodiment Construction

[0057] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0058] In order to make the purpose, technical solution and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0059] see figure 1 , which shows the implementation flow chart of a vehicle camera angle calibration method provided by the embodiment of the present invention, which is described in detail as follow...

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Abstract

The invention provides a vehicle-mounted camera angle calibration method, a terminal and a storage medium. The mounting position of a camera on a vehicle is fixed, a world coordinate system, a camera coordinate system, an image plane coordinate system and a pixel coordinate system are predefined, and the method comprises the following steps: obtaining a boundary line of a vehicle body and a road in an image according to the image shot by the camera; obtaining a calibration value of a roll angle and a calibration value of a yaw angle of the camera according to a mapping relation of the boundary line in the world coordinate system and the pixel coordinate system; obtaining two lane lines in the image according to the image; and according to the mapping relation of the two lane lines in the world coordinate system and the pixel coordinate system, obtaining the calibration value of the pitch angle of the camera. The application scene of camera angle calibration can be enlarged.

Description

technical field [0001] The present invention relates to the technical field of automatic driving and assisted driving, and in particular to a vehicle-mounted camera angle calibration method, a terminal and a storage medium. Background technique [0002] In automatic driving and assisted driving products, the calibration of camera external parameters is the basis of computer vision applications. Camera extrinsic parameters include the pose of the camera relative to the world coordinate system when capturing images, such as roll angle, yaw angle, and pitch angle. [0003] Generally, the traditional camera calibration method needs to use a specific calibration object with known size. By establishing the correspondence between the point on the calibration object with known coordinates and its image point, a certain algorithm is used to obtain the external parameters of the camera. The calibration accuracy of this method depends on Due to the dimensional accuracy of the calibrat...

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Application Information

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IPC IPC(8): G06T7/80G06T7/13G06T5/30
CPCG06T7/80G06T7/13G06T5/30G06T2207/30244G06T2207/30256
Inventor 徐显杰窦汝振包永亮
Owner TIANJIN SOTEREA AUTOMOTIVE TECH LMITED CO
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