Multi-camera parameter calibration method, device and equipment and storage medium
A calibration method and multi-camera technology, applied in the field of computer vision, can solve the problems of too strict requirements on the accuracy of the calibration scene, difficult to look around the multi-camera system calibration task, etc., and achieve the effect of improving the efficiency of external parameter calibration
Active Publication Date: 2022-07-12
魔视智能科技(武汉)有限公司
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[0004] However, the above-mentioned solution has too strict requirements on the accuracy of the calibration scene, and it is not easy to be extended to the calibration task of the surround-view multi-camera system of large mobile devices.
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[0040] The technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0041] It should be understood that the "instruction" mentioned in the embodiments of the present application may be a direct instruction, an indirect instruction, or an associated relationship. For example, if A indicates B, it can indicate that A directly indicates B, for example, B can be obtained through A; it can also indicate that A indicates B indirectly, such as A indicates C, and B can be obtained through C; it can also indicate that there is an association between A and B relation.
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The invention relates to a multi-camera system parameter calibration method and device, equipment and a storage medium, and particularly relates to the technical field of computer vision. The method comprises the following steps: for each target camera in a multi-camera system, obtaining each frame of target image; performing image processing on each frame of target image, and determining image annotation coordinates in each frame of target image based on the pose of the target reflector when each frame of target image is collected, and determining image annotation in the omnidirectional calibration plate and reflection point coordinates corresponding to each frame of target image; and determining external parameter information of the target cameras to determine relative attitudes among the target cameras by taking matching of the image labeling coordinates in each frame of target image and the reflection point coordinates corresponding to each frame of target image as a target condition. According to the scheme, a specific calibration scene does not need to be set up, and external parameter calibration of each target camera can be realized only by performing pose transformation on the reflector, so that the external parameter calibration efficiency of the multi-camera system is improved.
Description
technical field [0001] The present invention relates to the technical field of computer vision, in particular to a multi-camera parameter calibration method, device, equipment and storage medium. Background technique [0002] Similar to traditional driving, real-time perception and localization (SLAM) of the vehicle operating environment is the basis for decision-making and control of unmanned systems, and related perception technologies and vehicle pose estimation methods have also received key attention from academia and industry. [0003] Compared with human drivers who can only observe the traffic situation in a certain direction at the same time, driverless technology is more expected to achieve 360-degree real-time perception of the surrounding environment of the vehicle without dead ends. Due to the limited field of view of a single camera, more and more unmanned systems use multiple cameras to form a panoramic imaging system. Before using the above-mentioned surroun...
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IPC IPC(8): G06T7/80G06T7/70
CPCG06T7/85G06T7/70G06T2207/30244
Inventor 丁洋王一夫王之睿张如高虞正华
Owner 魔视智能科技(武汉)有限公司