Multi-camera online calibration method and device, electronic equipment and computer readable medium

A multi-camera and vehicle-mounted camera technology, applied in the computer field, can solve the problems of inaccurate multi-camera calibration results, reducing the accuracy of multi-camera online calibration results, and insufficient relationship constraints.

Active Publication Date: 2022-06-24
禾多科技(北京)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] First, because the lane lines on most roads are not necessarily straight lines, the straight line equations of the lane lines extracted from the road images captured by multiple cameras are not accurate enough, thereby reducing t

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  • Multi-camera online calibration method and device, electronic equipment and computer readable medium
  • Multi-camera online calibration method and device, electronic equipment and computer readable medium
  • Multi-camera online calibration method and device, electronic equipment and computer readable medium

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Embodiment Construction

[0018] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes, and are not intended to limit the protection scope of the present disclosure.

[0019] In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings. The embodiments of this disclosure and features of the embodiments may be combined with each other without conflict.

[0020] It should be noted that the conce...

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Abstract

The embodiment of the invention discloses a multi-camera online calibration method and device, electronic equipment and a computer readable medium. A specific embodiment of the method comprises the steps of performing sidewalk area interception on each road image in each road image sequence in a road image sequence set to generate a sidewalk area image group sequence, and obtaining a sidewalk area image group sequence set; performing sidewalk feature point extraction on each sidewalk region image in each sidewalk region image group in each sidewalk region image group sequence in the sidewalk region image group sequence set to generate a sidewalk feature point sequence set; back-projecting each sidewalk feature point in the generated sidewalk feature point sequence set to a target plane to generate a back-projection feature point sequence set; obtaining a classification feature point sequence group set; and calibrating the vehicle body transformation matrix of each vehicle-mounted camera of the current vehicle to obtain a target transformation matrix group. According to the embodiment, the accuracy of the multi-camera calibration result can be improved.

Description

technical field [0001] Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a method, an apparatus, an electronic device, and a computer-readable medium for online calibration of multiple cameras. Background technique [0002] Multi-camera calibration is of great significance to the field of autonomous driving. At present, when performing multi-camera calibration, the usual method is: if there is no consensus area between multiple cameras, it is necessary to judge that a certain lane line is the same lane line in different cameras under the premise that the lane line is a straight line , for multi-camera calibration. If there is a consensus area between multiple cameras, it is necessary to extract matching features from the consensus area existing between different cameras to form a relationship constraint, so as to perform multi-camera calibration. [0003] However, when using the above method for online calibration of mu...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06N3/08G06N3/04G06K9/62G06V10/764G06V10/82
CPCG06T7/85G06N3/08G06T2207/20081G06T2207/30196G06N3/045G06F18/241Y02T10/40
Inventor 胡禹超孙磊倪凯
Owner 禾多科技(北京)有限公司
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