Vehicle-mounted monocular camera external parameter automatic calibration system and calibration method based on key points
An automatic calibration and key point technology, applied to mechanical equipment, combustion engines, computer components, etc., can solve the problems of road sections without lane line information or side-view cameras that cannot be calibrated, and achieve simple and convenient implementation with low hardware requirements , the effect of strong method flexibility
Pending Publication Date: 2022-08-02
CHONGQING CHANGAN AUTOMOBILE CO LTD
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Although this type of calibration method has a fast calculation speed, it is only suitable for front-view and rear-view cameras, and cannot be calibrated for road sections without lane line information or side-view cameras
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[0087] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0088] First of all, it should be noted that the algorithm involved in the present invention needs to be based on the following four assumptions:
[0089] 1) The vehicle moves in a straight line;
[0090] 2) There is only a change in the installation angle of the camera relative to the body, and there is no position change;
[0091] 3) The difference between the initial value of Euler angle and the real value is not more than 5 degrees;
[0092] 4) The camera internal parameters are known and do not change in the whole process; the camera external parameters refer to the parameters of the camera in the world coordinate system, such as the camera's position, rotation direction, etc.; the camera internal parameters refer to the parameters related to the camera's own characteristics, Such as camera focal length, pixel size, etc.
[0093] Specifically, the...
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The invention discloses a vehicle-mounted monocular camera external parameter automatic calibration system and calibration method based on key points, and the system comprises a feature point extraction and matching module which is used for extracting feature points in continuous frames of images and carrying out the matching of the feature points; the relative motion resolving module is used for resolving relative motion between continuous frames by adopting an epipolar geometry method based on the feature point pairs; the homography solving module screens out road surface feature points with high matching according to the homography relation; the external parameter solving module is used for solving external parameters of the camera; and the result output module calculates a mean value after a fixed quantity is reached and finally outputs the mean value. The method comprises the following steps: setting an initial value; extracting and matching feature points; solving relative motion; extracting and matching road surface feature points; homography solving is carried out; calculating external parameters; and accumulating the output. Small-amplitude deflection of the camera caused by vehicle vibration or installation deviation can be corrected without depending on a calibration object, a lane line or other information and manual participation, and meanwhile, the method is also suitable for calibration of the side-view camera.
Description
technical field [0001] The invention relates to the technical field of intelligent vehicles, in particular to an automatic calibration system and calibration method for external parameters of a vehicle-mounted monocular camera based on key points. Background technique [0002] The vehicle camera is an important sensor of the vehicle vision system, which can provide the vehicle with the ability to perceive the driving environment and provide the basic data required for decision-making for the assisted driving system. The effective performance of the in-vehicle vision system depends on the accurate calibration of the in-vehicle camera, and the camera will be deflected during the working cycle due to body vibration or vehicle maintenance, which affects the accuracy of the vision system. Therefore, a simple and efficient camera extrinsic parameter calibration method is needed. [0003] The current camera calibration methods based on pure vision algorithms mainly include traditi...
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IPC IPC(8): G06T7/80G06V10/44G06V10/75
CPCG06T7/80G06V10/44G06V10/757Y02T10/40
Inventor 张德泽单玉梅
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD