An unmanned aerial vehicle cooperation and 3D curved surface mapping-based automatic calibration method and device for a ship panoramic surround view system

Abstract

This invention provides an automatic calibration method and apparatus for a ship panoramic surround view system based on UAV collaboration and 3D surface mapping. A virtual 3D surface projection model is established in the ship's coordinate system, and the surface normal vectors of sampling points on this model are mapped outwards to generate the UAV's flight trajectory. The UAV, equipped with an RTK positioning module, acts as a dynamic calibration target with precise three-dimensional coordinates as it flies along this trajectory, its spatial distribution naturally matching the geometry of the surface projection model. During flight, images from the UAV are simultaneously acquired by the ship's onboard camera, and pixel coordinates are extracted using a target detection algorithm. Simultaneously, the time synchronization data between the UAV and the ship's onboard RTK module is used to establish the correspondence between pixel coordinates and three-dimensional coordinates in the ship's coordinate system, minimizing reprojection errors and jointly calculating the extrinsic parameters of each camera. This eliminates the dependence on fixed planar references on shore, enabling automated calibration with precise adaptation to the 3D surface projection model in any water area.

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