Calibration error evaluation method, device, computer equipment and storage medium

Abstract

The present disclosure proposes a calibration error evaluation method, device, computer equipment and storage medium, which relate to the field of visual detection technology. The method includes: obtaining the initial coordinates of multiple first reference points and multiple second reference points located on the same straight line in the first coordinate system, wherein the first reference point is located within the shooting range of the first camera, and the second reference point is located within the shooting range of the second camera; according to the initial coordinates of each first reference point and the calibration parameters of the first camera, determining the first fitting straight line corresponding to the multiple first reference points in the second coordinate system; according to the initial coordinates of each second reference point and the calibration parameters of the second camera, determining the second fitting straight line corresponding to the multiple second reference points in the second coordinate system; according to the slope of the first fitting straight line and the slope of the second fitting straight line, determining whether the calibration error meets the requirements. In this way, accurate evaluation of camera parameter calibration error is achieved.

Description

Technical Field

[0001] The present disclosure relates to the field of visual inspection technology, and in particular to a calibration error evaluation method, device, computer equipment and storage medium. Background Art

[0002] The vehicle-mounted surround view system refers to a panoramic surround view system that stitches together the image videos collected by cameras installed in multiple directions around the vehicle body into a bird's-eye view. Among them, the vehicle-mounted surround view system relies on the calibration parameters of the camera when stitching the surround view. When the calibration parameters of the camera are not accurate enough, the surround view stitched by the vehicle-mounted surround view system will be misaligned. Therefore, it is very important to study how to evaluate the calibration error of the camera parameters. Summary of the invention

[0003] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0004] The first embodiment of the present disclosure provides a calibration error evaluation method, comprising:

[0005] Acquire initial coordinates of a plurality of first reference points and a plurality of second reference points located on the same straight line in a first coordinate system, wherein the first reference points are located within a shooting range of a first camera, and the second reference points are located within a shooting range of a second camera;

[0006] Determine first fitting straight lines corresponding to a plurality of first reference points in a second coordinate system according to the initial coordinates of each of the first reference points and the calibration parameters of the first camera;

[0007] Determine second fitting straight lines corresponding to a plurality of second reference points in the second coordinate system according to the initial coordinates of each second reference point and the calibration parameters of the second camera;

[0008] Whether the calibration error meets the requirement is determined according to the slope of the first fitting straight line and the slope of the second fitting straight line.

[0009] A second aspect of the present disclosure provides a method for evaluating a calibration error of a surround view system, comprising:

[0010] Adopting the calibration error evaluation method proposed in the embodiment of the first aspect of the present disclosure to determine whether the calibration error of each camera in the surround view system meets the requirements;

[0011] In response to any calibration error not meeting a requirement, determining that the surround view system calibration has failed;

[0012] In response to each of the calibration errors satisfying the requirement, it is determined that the calibration of the surround view system is successful.

[0013] The third aspect of the present disclosure provides a calibration error evaluation device, including:

[0014] A first acquisition module, used to acquire initial coordinates of a plurality of first reference points and a plurality of second reference points located on the same straight line in a first coordinate system, wherein the first reference points are located within the shooting range of the first camera, and the second reference points are located within the shooting range of the second camera;

[0015] A first determination module, configured to determine first fitting straight lines corresponding to a plurality of first reference points in a second coordinate system according to an initial coordinate of each of the first reference points and a calibration parameter of the first camera;

[0016] A second determination module, configured to determine second fitting straight lines corresponding to a plurality of second reference points in a second coordinate system according to the initial coordinates of each of the second reference points and the calibration parameters of the second camera;

[0017] The third determination module is used to determine whether the calibration error meets the requirement according to the slope of the first fitting straight line and the slope of the second fitting straight line.

[0018] The fourth aspect of the present disclosure provides a calibration error evaluation device, including:

[0019] A first determination module is used to determine whether the calibration error of each camera in the surround view system meets the requirements by adopting the calibration error evaluation method proposed in the embodiment of the first aspect of the present disclosure;

[0020] The second determination module is used for:

[0021] In response to any calibration error not meeting the requirement, determining that the surround view system calibration has failed; and

[0022] In response to each of the calibration errors satisfying the requirement, it is determined that the calibration of the surround view system is successful.

[0023] The fifth aspect embodiment of the present disclosure proposes a computer device, including: a memory, a processor, and computer instructions stored in the memory and executable on the processor. When the processor executes the instructions, it implements the calibration error evaluation method proposed in the first aspect embodiment of the present disclosure, and / or the surround view system calibration error evaluation method proposed in the second aspect embodiment of the present disclosure.

[0024] A sixth aspect embodiment of the present disclosure provides a vehicle, comprising a computer device as provided in the fifth aspect embodiment of the present disclosure.

[0025] The seventh aspect embodiment of the present disclosure proposes a non-temporary computer-readable storage medium storing computer instructions, which, when executed by a processor, implements the calibration error evaluation method proposed in the first aspect embodiment of the present disclosure, and / or the surround view system calibration error evaluation method proposed in the second aspect embodiment of the present disclosure.

[0026] The eighth aspect embodiment of the present disclosure proposes a computer program product. When the instruction processor in the computer program product is executed, it executes the calibration error evaluation method proposed in the first aspect embodiment of the present disclosure, and / or the surround view system calibration error evaluation method proposed in the second aspect embodiment of the present disclosure.

[0027] The calibration error evaluation method, device, computer equipment and storage medium provided by the present disclosure have the following beneficial effects:

[0028] First, the initial coordinates of multiple first reference points and multiple second reference points located on the same straight line in the first coordinate system are obtained, wherein the first reference point is located within the shooting range of the first camera, and the second reference point is located within the shooting range of the second camera; then, according to the initial coordinates of each first reference point and the calibration parameters of the first camera, the first fitting straight line corresponding to the multiple first reference points in the second coordinate system is determined, and according to the initial coordinates of each second reference point and the calibration parameters of the second camera, the second fitting straight line corresponding to the multiple second reference points in the second coordinate system is determined; finally, according to the slope of the first fitting straight line and the slope of the second fitting straight line, it is determined whether the calibration error meets the requirements.

[0029] The present invention maps multiple reference points located on the same straight line in the first coordinate system to the second coordinate system according to the camera calibration parameters, fits a straight line to the mapped coordinates, and determines the calibration error of the camera according to the slope of the fitted straight line. In this way, the evaluation of the camera parameter calibration error is realized, which provides support for the vehicle-mounted surround view system to accurately stitch the surround view.

[0030] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0032] Figure 1 A schematic diagram of a flow chart of a calibration error evaluation method provided by an embodiment of the present disclosure;

[0033] Figure 2 A schematic flow chart of a calibration error evaluation method provided by another embodiment of the present disclosure;

[0034] Figure 3 A schematic flow chart of a calibration error evaluation method provided by another embodiment of the present disclosure;

[0035] Figure 4 A schematic diagram of a flow chart of a method for evaluating a calibration error of a surround view system provided in an embodiment of the present disclosure;

[0036] Figure 5 A schematic diagram of the structure of a calibration error evaluation device provided by an embodiment of the present disclosure;

[0037] Figure 6 A schematic diagram of the structure of a device for evaluating calibration errors of a surround view system provided by an embodiment of the present disclosure;

[0038] Figure 7 A block diagram of an exemplary computer device suitable for implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0039] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0040] The following describes the calibration error evaluation method, apparatus, computer device, and storage medium according to embodiments of the present disclosure with reference to the accompanying drawings.

[0041] Figure 1 A flowchart of a calibration error evaluation method provided in an embodiment of the present disclosure.

[0042] The embodiment of the present disclosure takes the calibration error evaluation method configured in the calibration error evaluation device as an example. The calibration error evaluation device can be applied to any computer device so that the computer device can perform the calibration error evaluation function.

[0043] Among them, the computer device can be a personal computer (PC), a cloud device, a mobile device, etc. The mobile device can be, for example, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, a car device, etc., which are hardware devices with various operating systems, touch screens and / or display screens.

[0044] like Figure 1 As shown, the calibration error evaluation method may include the following steps:

[0045] Step 101, obtaining initial coordinates of a plurality of first reference points and a plurality of second reference points located on the same straight line in a first coordinate system, wherein the first reference points are located within a shooting range of a first camera, and the second reference points are located within a shooting range of a second camera.

[0046] It should be noted that when the vehicle-mounted surround view system stitches the surround view, it needs to stitch the two images taken by the adjacent cameras installed on the vehicle body in sequence. Since the shooting ranges of adjacent cameras usually have overlapping areas, the overlapping areas of the two images need to be fused when stitching the images.

[0047] It is understandable that when taking an image of a real object with a camera, it is necessary to determine the relationship between the three-dimensional geometric position of a point on the surface of the spatial object and its corresponding point in the image based on the camera's calibration parameters, and then restore the real spatial object in the image.

[0048] For example, when multiple reference objects in reality are located on the same straight line, the reference objects in the image processed by the camera should also be located on the same straight line.

[0049] Therefore, in the embodiment of the present disclosure, multiple reference points located on the same straight line can be used as a reference for evaluating the camera calibration error.

[0050] When determining the reference point, any possible method may be used, for example, a straight line may be marked on the ground around the vehicle, and then a plurality of reference points may be marked on the straight line.

[0051] Alternatively, a coordinate system may be established according to the position of the vehicle, and then a plurality of reference points may be determined within the coordinate system, and the plurality of reference points may be made to form a virtual straight line.

[0052] Then, each reference point can be divided into a first reference point and a second reference point according to its position. The first reference point can be a reference point located within the shooting range of the first camera, and the second reference point can be a reference point located within the shooting range of the second camera.

[0053] That is, the first camera can capture the first reference point, and the second camera can capture the second reference point. The first camera and the second camera can be any two adjacent cameras in the vehicle-mounted surround view system.

[0054] For example, when the vehicle-mounted surround view system is equipped with a camera in each of the four directions of the front, rear, left, and right of the vehicle body, the first camera may be a camera on the front side of the vehicle body, and the second camera may be a camera on the left side of the vehicle body. Alternatively, the first camera may be a camera on the front side of the vehicle body, and the second camera may be a camera on the right side of the vehicle body.

[0055] It should be noted that the surround view spliced ​​by the vehicle surround view system is a 360° panoramic bird's-eye view centered on the vehicle. In order to determine whether the surround view spliced ​​according to the calibration parameters of the camera meets the requirements, the straight line where the first reference point and the second reference point are located can be a straight line parallel to the outer edge of the vehicle and a certain distance away from the vehicle.

[0056] For example, the straight line where the first reference point and the second reference point are located can be a straight line 3 meters away from the front edge of the vehicle. The length of the straight line from the vehicle can be adjusted according to the shooting range presented in the surround view spliced ​​by the vehicle-mounted surround view system.

[0057] It should be noted that when the initial coordinates of the first reference point and the second reference point are determined, a first coordinate system can be established, wherein the first coordinate system is a world coordinate system, also known as a measurement coordinate system, which is a three-dimensional rectangular coordinate system, and the spatial positions of the first reference point and the second reference point can be described based on it.

[0058] For example, the origin of the first coordinate system may be the center point of the vehicle, the X-axis and the Y-axis are parallel to two adjacent edges of the vehicle, respectively, and the Z-axis is perpendicular to the ground on which the vehicle is located.

[0059] Step 102: determining first fitting straight lines corresponding to a plurality of first reference points in the second coordinate system according to the initial coordinates of each first reference point and the calibration parameters of the first camera.

[0060] It is understandable that when an image of a real scene is captured by a camera, the relationship between the three-dimensional geometric position of a point on the surface of a spatial object and its corresponding point in the image can be determined based on the camera's calibration parameters, thereby reconstructing the three-dimensional scene of the image.

[0061] Therefore, when the first reference point is projected into the image, the position coordinates of the first reference point in the image can be determined according to the initial coordinates of the first reference point and the calibration parameters of the first camera.

[0062] The second coordinate system is an image coordinate system, which is a two-dimensional rectangular coordinate system. The second coordinate system can be used to describe the relative position of the first reference point in the image. For example, the second coordinate system can be the coordinate system of the surround view spliced ​​by the vehicle-mounted surround view system.

[0063] It is understandable that due to the error in the camera calibration parameters, the image captured by the camera will have a certain difference from the actual scene. Therefore, when the first reference point is projected into the image, the positions of each point may be offset and not on a straight line.

[0064] In the embodiment of the present disclosure, the first fitting straight line may be a straight line fitted according to the position coordinates of each first reference point projected into the second coordinate system.

[0065] It is understandable that when fitting a straight line through reference points, more than two points are required. At the same time, the more points there are, the better the data pattern can be represented.

[0066] Therefore, in the embodiment of the present disclosure, the number of the first reference point and the second reference point can be determined according to actual needs, for example, it can be 3, 4 or 5, etc., and the present disclosure does not limit this.

[0067] Step 103: determining second fitting straight lines corresponding to the plurality of second reference points in the second coordinate system according to the initial coordinates of each second reference point and the calibration parameters of the second camera.

[0068] The second fitting line represents the relative position of the second reference point projected into the image. The specific implementation of determining the second fitting line can refer to the detailed description of determining the first fitting line in the embodiment of the present disclosure, which will not be repeated here.

[0069] Step 104: Determine whether the calibration error meets the requirement according to the slope of the first fitting straight line and the slope of the second fitting straight line.

[0070] It is understandable that the first reference point and the second reference point are located on the same straight line in the first coordinate system. When the first reference point is projected into the second coordinate system by the first camera, and the second reference point is projected into the second coordinate system by the second camera, the first fitting straight line and the second fitting straight line obtained should still be located on the same straight line in theory.

[0071] Therefore, when the first fitting straight line and the second fitting straight line are not on the same straight line, it can be determined that there is an error in the calibration parameters of the camera. Further, it can be determined whether the calibration error meets the requirements according to the slope of the first fitting straight line and the slope of the second fitting straight line.

[0072] For example, a threshold may be set in advance, and when the difference between the slope of the first fitting straight line and the slope of the second fitting straight line is greater than the threshold, it may be determined that the calibration error does not meet the requirement. Otherwise, it may be determined that the calibration error meets the requirement.

[0073] In the embodiment of the present disclosure, the initial coordinates of a plurality of first reference points and a plurality of second reference points located on the same straight line in the first coordinate system are first obtained, wherein the first reference point is located within the shooting range of the first camera, and the second reference point is located within the shooting range where the second camera overlaps with the first camera; then, according to the initial coordinates of each first reference point and the calibration parameters of the first camera, the first fitting straight line corresponding to the plurality of first reference points in the second coordinate system is determined, and according to the initial coordinates of each second reference point and the calibration parameters of the second camera, the second fitting straight line corresponding to the plurality of second reference points in the second coordinate system is determined; finally, according to the slope of the first fitting straight line and the slope of the second fitting straight line, it is determined whether the calibration error meets the requirements. The present disclosure maps a plurality of reference points located on the same straight line in the first coordinate system to the second coordinate system according to the camera calibration parameters, and fits a straight line to the mapped coordinates, and determines the calibration error of the camera according to the slope of the fitting straight line, thereby realizing the evaluation of the calibration error of the camera parameters, and providing support for the accurate splicing of the surround view by the vehicle-mounted surround view system.

[0074] Figure 2 FIG. 1 is a flow chart of a calibration error evaluation method provided by another embodiment of the present disclosure. Figure 2 As shown, the calibration error evaluation method may include the following steps:

[0075] Step 201, obtaining initial coordinates of a plurality of first reference points and a plurality of second reference points located on the same straight line in a first coordinate system, wherein the first reference points are located within a shooting range of a first camera, and the second reference points are located within a shooting range where the second camera overlaps with the first camera.

[0076] The specific implementation of step 201 may refer to the detailed description of other embodiments of the present disclosure and will not be repeated here.

[0077] Step 202 : determining the first projection coordinates of each first reference point in the second coordinate system according to the initial coordinates of each first reference point and the calibration parameters of the first camera.

[0078] The calibration parameters of the first camera may include intrinsic parameters, extrinsic parameters and distortion parameters. Distortion correction may be performed according to the distortion parameters to generate a corrected image. Image three-dimensional scene reconstruction may be performed according to the intrinsic and extrinsic parameters.

[0079] In the disclosed embodiment, the calibration parameters of the first camera can be used to calculate the initial coordinates of the first reference point to obtain the first projection coordinates of the first reference point projected into the second coordinate system, that is, the position of the first reference point projected into the image.

[0080] Step 203: performing straight line fitting on the plurality of first projection coordinates to obtain a first fitting straight line.

[0081] It is understandable that for each first reference point, its first projection coordinates in the second coordinate system can be calculated. Therefore, by performing straight line fitting on a plurality of first projection coordinates, a first fitting straight line can be obtained.

[0082] Step 204 : determining the second projection coordinates of each second reference point in the second coordinate system according to the initial coordinates of each second reference point and the calibration parameters of the second camera.

[0083] Among them, the specific implementation method of determining the second projection coordinates of each second reference point in the second coordinate system can refer to the detailed description of determining the first projection coordinates of each first reference point in the second coordinate system in the embodiment of the present disclosure, and will not be repeated here.

[0084] Step 205 , performing straight line fitting on the plurality of second projection coordinates to obtain a second fitting straight line.

[0085] The specific implementation method of obtaining the second fitting straight line can refer to the detailed description of obtaining the first fitting straight line in the embodiment of the present disclosure, which will not be repeated here.

[0086] Step 206 : In response to the difference between the slope of the first fitting straight line and the slope of the second fitting straight line being greater than a first set threshold, it is determined that the calibration error does not meet the requirement.

[0087] It is understandable that the greater the difference in slope between the first fitting straight line and the second fitting straight line, the greater the calibration error of the camera parameters. When stitching images based on the current calibration parameters of the camera, the image misalignment is more serious.

[0088] Therefore, a threshold of the slope difference, i.e., a first set threshold, can be set according to the acceptable degree of image misalignment. When the difference between the slope of the first fitting straight line and the slope of the second fitting straight line is greater than the first set threshold, it can be determined that the camera calibration error is too large and does not meet the requirements.

[0089] Among them, the first set threshold value can be any value set in advance as needed, and the present disclosure does not limit this. For example, if the first set threshold value is 1, and the difference between the slope of the first fitting line and the slope of the second fitting line is 2, which is greater than the first set threshold value, it can be determined that the camera calibration error is too large and does not meet the requirements. Alternatively, if the difference between the slope of the first fitting line and the slope of the second fitting line is 0.7, which is less than the first set threshold value, the following steps can be performed to continue to determine the calibration error.

[0090] Step 207 , in response to the difference between the slope of the first fitting line and the slope of the second fitting line being less than or equal to a first set threshold, refit the second fitting line according to the slope of the first fitting line to obtain a third fitting line parallel to the first fitting line.

[0091] It is understandable that the fitting line is obtained by fitting multiple projection coordinates and cannot fully reflect all projection coordinate information. Therefore, when the difference between the slope of the first fitting line and the slope of the second fitting line is less than or equal to the first set threshold, the calibration error of the camera can be further determined by the distance.

[0092] Specifically, the slope of the first fitting straight line may be used as a constant, and a plurality of second projection coordinates forming the second fitting straight line may be refitted to obtain a third fitting straight line parallel to the first fitting straight line.

[0093] Step 208 : In response to the distance between the first fitting straight line and the third fitting straight line being greater than a second set threshold, it is determined that the calibration error does not meet the requirement.

[0094] Step 209 , in response to the distance between the first fitting straight line and the third fitting straight line being less than or equal to a second set threshold, determining that the calibration error meets the requirement.

[0095] It can be understood that the larger the distance difference between the first fitting straight line and the third fitting straight line is, the larger the calibration error of the camera parameters is.

[0096] Therefore, a threshold value of the distance between straight lines, ie, a second set threshold value, may be preset. By comparing the distance between the first fitting straight line and the third fitting straight line with the second set threshold value, it is determined whether the calibration error meets the requirement.

[0097] Specifically, when the distance between the first fitting straight line and the third fitting straight line is greater than the second set threshold, it can be determined that the calibration error does not meet the requirement. Otherwise, it can be determined that the calibration error meets the requirement.

[0098] The second set threshold value may be any value set in advance, and the present disclosure does not limit this.

[0099] For example, if the second set threshold is 1, and the distance between the first fitting straight line and the third fitting straight line is 1.2, which is greater than the second set threshold, it can be determined that the calibration error does not meet the requirement. Alternatively, if the distance between the first fitting straight line and the third fitting straight line is 0.7, which is less than the second set threshold, it can be determined that the calibration error meets the requirement.

[0100] In the disclosed embodiment, first, the difference in slope between the first fitting straight line and the second fitting straight line is used to determine whether the camera calibration error meets the requirements. Then, when the difference in slope between the first fitting straight line and the second fitting straight line meets the requirements, the multiple second projection coordinates forming the second fitting straight line are refitted to obtain a third fitting straight line parallel to the first fitting straight line. Furthermore, according to the distance between the first fitting straight line and the third fitting straight line, it is determined whether the camera calibration error meets the requirements. Thus, by using two different levels of methods to determine the camera calibration error, the accuracy of the calibration error assessment is improved.

[0101] Figure 3 FIG. 1 is a flow chart of a calibration error evaluation method provided by another embodiment of the present disclosure. Figure 3 As shown, in Figure 2 Based on the illustrated embodiment, determining the first projection coordinates of each first reference point in the second coordinate system according to the initial coordinates of each first reference point and the calibration parameters of the first camera may include the following steps:

[0102] Step 301: Acquire a first original image captured by a first camera.

[0103] Since the plurality of first reference points are located within the shooting range of the first camera, the position corresponding to each first reference point can be determined in the first original image captured by the first camera.

[0104] For example, the first camera is a camera installed on the front side of the vehicle, then the first original image is an image showing the scene in front of the vehicle, and the first reference point may be a plurality of points in a straight line on the ground in front of the vehicle.

[0105] Step 302: Perform distortion correction on the first original image to obtain a first corrected image.

[0106] It is understandable that when a camera takes an image, certain distortion will occur, such as barrel distortion and pincushion distortion, etc. Therefore, the original image can be subjected to distortion correction according to the distortion parameters of the camera to obtain a corrected image.

[0107] Step 303 , determining the calibration coordinates of each first reference point on the first rectified image according to the initial coordinates of each first reference point and the calibration parameters of the first camera, so as to mark each first reference point in the first rectified image according to the calibration coordinates.

[0108] The calibration parameters of the first camera may include intrinsic parameters, extrinsic parameters and distortion parameters. Distortion correction may be performed according to the distortion parameters to generate a corrected image. Image three-dimensional scene reconstruction may be performed according to the intrinsic and extrinsic parameters.

[0109] In the disclosed embodiment, the calibration parameters of the first camera can be used to calculate the initial coordinates of the first reference point according to a certain algorithm to obtain the calibration coordinates of the first reference point projected onto the first corrected image, that is, the position of the first reference point projected onto the first corrected image.

[0110] After determining the calibration coordinates of the first reference point in the first corrected image, each first reference point may be marked on the first corrected image. For example, a red circle may be marked at the corresponding position. It should be noted that the present disclosure does not limit the specific marking method.

[0111] Step 304: transform the first rectified image into a first bird's-eye view image in a second coordinate system according to calibration parameters of the first camera.

[0112] It should be noted that when the vehicle-mounted surround view system stitches the surround view, it is necessary to first convert the image captured by each camera into a bird's-eye view, and then stitch multiple bird's-eye views into a surround view.

[0113] Therefore, in order to determine the calibration error of the stitched ring view, the first rectified image may be transformed into a first bird's-eye view in the second coordinate system according to the calibration parameters of the first camera.

[0114] For example, the first corrected image may be stitched into a bowl-shaped model according to the calibration parameters of the first camera to generate a first bird's-eye view in the second coordinate system.

[0115] Step 305: determine the first projection coordinates of each first reference point according to the mark of each first reference point in the first bird's-eye view.

[0116] It should be noted that each first reference point is marked in the first corrected image, so the first bird's-eye view formed by processing the first corrected image also has corresponding marks.

[0117] In the embodiment of the present disclosure, the first projection coordinates of each first reference point in the first bird's-eye view may be determined according to the mark of each first reference point.

[0118] It should be noted that the second projection coordinates of each second reference point in the second bird's-eye view can be determined according to the above method. Then, a plurality of second projection coordinates can be linearly fitted to obtain a second fitting straight line. The specific process can be referred to the description of the aforementioned embodiment of the present disclosure, which will not be repeated here.

[0119] In the disclosed embodiment, the original image captured by the camera is firstly subjected to distortion correction to obtain a corrected image; then the calibration coordinates of the reference points in the corrected image are calculated, and each reference point is marked on the corrected image; finally, the corrected image is converted into a bird's-eye view through projection transformation, and the projection coordinates of the reference points are determined according to the marks in the bird's-eye view. Thus, the calculation efficiency of the projection coordinates of the reference points is improved.

[0120] Figure 4 A flowchart of a method for evaluating a surround view system calibration error provided in an embodiment of the present disclosure.

[0121] The embodiment of the present disclosure takes the surround view system calibration error evaluation method as an example in which the surround view system calibration error evaluation device is configured. The surround view system calibration error evaluation device can be applied to any computer device so that the computer device can perform the calibration error evaluation function.

[0122] Among them, the computer device can be a personal computer (PC), a cloud device, a mobile device, etc. The mobile device can be, for example, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, a car device, etc., which are hardware devices with various operating systems, touch screens and / or display screens.

[0123] like Figure 4 As shown, the method for evaluating the calibration error of the surround view system may include the following steps:

[0124] Step 401, determining whether the calibration error of each camera in the surround view system meets the requirements.

[0125] To determine whether the calibration error of each camera in the surround view system meets the requirements, the calibration error evaluation method proposed in the foregoing embodiment of the present disclosure may be used.

[0126] It should be noted that the surround view system may include multiple cameras, such as 4, 6 or 8 cameras, and the present disclosure does not limit this.

[0127] It is understandable that each camera in the surround view system has two adjacent cameras. Therefore, when adopting the calibration error evaluation method proposed in the above embodiment of the present disclosure, it can be appropriately expanded.

[0128] For example, the surround view system includes four cameras, front, back, left and right. The front camera can be used as the first camera, the left camera can be used as the second camera, and the right camera can be used as the third camera.

[0129] Accordingly, the initial coordinates of multiple first reference points, multiple second reference points, and multiple third reference points located on the same straight line in the first coordinate system can be obtained. Among them, the first reference point is located in the shooting range of the first camera, the second reference point is located in the shooting range where the second camera overlaps with the first camera, and the third reference point is located in the shooting range where the third camera overlaps with the first camera. In other words, the first reference point is a point in the middle of the straight line, the second reference point is a point on the left side of the straight line, and the third reference point is a point on the right side of the straight line.

[0130] Furthermore, the first fitting straight lines corresponding to the multiple first reference points in the second coordinate system can be determined according to the initial coordinates of each first reference point and the calibration parameters of the first camera. The second fitting straight lines corresponding to the multiple second reference points in the second coordinate system can be determined according to the initial coordinates of each second reference point and the calibration parameters of the second camera. The third fitting straight lines corresponding to the multiple third reference points in the third coordinate system can be determined according to the initial coordinates of each third reference point and the calibration parameters of the third camera.

[0131] Finally, it can be determined whether the calibration error meets the requirement according to the slope of the first fitting straight line and the slope of the second fitting straight line, and the slope of the first fitting straight line and the slope of the third fitting straight line.

[0132] For the specific implementation of the above process, please refer to the detailed description of the aforementioned embodiments of the present disclosure, which will not be repeated here.

[0133] Step 402 : In response to any calibration error not meeting the requirement, determining that the surround view system calibration has failed.

[0134] Step 403: In response to each calibration error satisfying the requirement, it is determined that the surround view system calibration is successful.

[0135] When the surround view system stitches the surround view, there may be multiple stitching positions. For each stitching position, the calibration error must be evaluated. When any calibration error does not meet the requirements, it can be determined that the overall calibration of the surround view system has failed. Otherwise, it can be determined that the calibration of the surround view system has succeeded.

[0136] It should be noted that the vehicle surround view system is calibrated using a fixed reference pattern when it leaves the factory. After each calibration is completed, the calibration error evaluation method proposed in the embodiment of the present disclosure can be used to determine whether the surround view system is calibrated successfully and record it. When this calibration is successful, it can be determined that the vehicle surround view system is qualified. When this calibration fails, the calibration parameters of the surround view system can be adjusted, and then it is determined again whether the surround view system is calibrated successfully. Repeated calibration and evaluation are performed in this way until the surround view system is calibrated successfully.

[0137] In addition, when the number of calibration and evaluation reaches a set threshold and the surround view system still fails to calibrate, a prompt message can be issued to remind relevant personnel to find other factors affecting the calibration of the surround view system.

[0138] In order to implement the above embodiment, the present disclosure also proposes a calibration error evaluation device.

[0139] Figure 5 A schematic diagram of the structure of a calibration error evaluation device provided in an embodiment of the present disclosure.

[0140] like Figure 5 As shown, the calibration error evaluation device 100 may include: a first acquisition module 110 , a first determination module 120 , a second determination module 130 and a third determination module 140 .

[0141] The first acquisition module 110 is used to acquire initial coordinates of a plurality of first reference points and a plurality of second reference points located on the same straight line in a first coordinate system, wherein the first reference points are located within the shooting range of the first camera, and the second reference points are located within the shooting range of the second camera;

[0142] A first determination module 120, configured to determine first fitting straight lines corresponding to a plurality of first reference points in the second coordinate system according to the initial coordinates of each first reference point and the calibration parameters of the first camera;

[0143] A second determination module 130, configured to determine second fitting straight lines corresponding to the plurality of second reference points in the second coordinate system according to the initial coordinates of each second reference point and the calibration parameters of the second camera;

[0144] The third determination module 140 is used to determine whether the calibration error meets the requirement according to the slope of the first fitting straight line and the slope of the second fitting straight line.

[0145] The functions and specific implementation principles of the above modules in the embodiments of the present disclosure can be referred to the above method embodiments, and will not be repeated here.

[0146] The calibration error evaluation device of the embodiment of the present disclosure first obtains the initial coordinates of multiple first reference points and multiple second reference points located on the same straight line in the first coordinate system, wherein the first reference point is located within the shooting range of the first camera, and the second reference point is located within the shooting range of the second camera; then, according to the initial coordinates of each first reference point and the calibration parameters of the first camera, the first fitting straight line corresponding to the multiple first reference points in the second coordinate system is determined, and according to the initial coordinates of each second reference point and the calibration parameters of the second camera, the second fitting straight line corresponding to the multiple second reference points in the second coordinate system is determined; finally, according to the slope of the first fitting straight line and the slope of the second fitting straight line, it is determined whether the calibration error meets the requirements. The present disclosure maps multiple reference points located on the same straight line in the first coordinate system to the second coordinate system according to the camera calibration parameters, and fits a straight line to the mapped coordinates, and judges the calibration error of the camera according to the slope of the fitting straight line, thereby realizing the evaluation of the calibration error of the camera parameters, and providing support for the accurate splicing of the surround view by the vehicle-mounted surround view system.

[0147] Further, in a possible implementation of the embodiment of the present disclosure, the first determining module 120 includes:

[0148] a determining unit, configured to determine a first projection coordinate of each first reference point in the second coordinate system according to the initial coordinates of each first reference point and the calibration parameters of the first camera;

[0149] The fitting unit is used to perform straight line fitting on the plurality of first projection coordinates to obtain a first fitting straight line.

[0150] In a possible implementation manner, the determining unit includes:

[0151] An acquisition subunit, used for acquiring a first original image captured by a first camera;

[0152] A correction subunit, configured to perform distortion correction on the first original image to obtain a first corrected image;

[0153] a marking subunit, configured to determine the calibration coordinates of each first reference point on the first corrected image according to the initial coordinates of each first reference point and the calibration parameters of the first camera, so as to mark each first reference point in the first corrected image according to the calibration coordinates;

[0154] a transformation subunit, configured to transform the first rectified image into a first bird's-eye view in a second coordinate system according to calibration parameters of the first camera;

[0155] The determination subunit is used to determine the projection coordinates of each first reference point according to the mark of each first reference point in the first bird's-eye view.

[0156] In a possible implementation, the third determining module 140 is configured to:

[0157] In response to a difference between a slope of the first fitting straight line and a slope of the second fitting straight line being greater than a first set threshold, determining that the calibration error does not meet the requirement;

[0158] In response to the difference between the slope of the first fitting straight line and the slope of the second fitting straight line being less than or equal to a first set threshold, it is determined that the calibration error meets the requirement.

[0159] In a possible implementation, the third determining module 140 is configured to:

[0160] In response to a difference between the slope of the first fitting straight line and the slope of the second fitting straight line being greater than a first set threshold, determining that the calibration error does not meet a requirement;

[0161] In response to the difference between the slope of the first fitting straight line and the slope of the second fitting straight line being less than or equal to a first set threshold, refitting the second fitting straight line according to the slope of the first fitting straight line to obtain a third fitting straight line parallel to the first fitting straight line;

[0162] In response to a distance between the first fitting straight line and the third fitting straight line being greater than a second set threshold, determining that the calibration error does not meet the requirement;

[0163] In response to the distance between the first fitting straight line and the third fitting straight line being less than or equal to a second set threshold, it is determined that the calibration error meets the requirement.

[0164] The functions and specific implementation principles of the above modules in the embodiments of the present disclosure can be referred to the above method embodiments, and will not be repeated here.

[0165] In order to implement the above embodiment, the present disclosure also proposes a device for evaluating calibration errors of a surround view system.

[0166] Figure 6 A schematic diagram of the structure of a device for evaluating calibration errors of a surround view system provided in an embodiment of the present disclosure.

[0167] like Figure 6 As shown, the surround view system calibration error evaluation device 200 may include: a first determination module 210 and a second determination module 220 .

[0168] The first determination module 210 is used to determine whether the calibration error of each camera in the surround view system meets the requirements;

[0169] The second determining module 220 is used to:

[0170] In response to any calibration error not satisfying the requirement, determining that the surround view system calibration has failed; and

[0171] In response to each calibration error satisfying the requirement, it is determined that the surround view system calibration is successful.

[0172] In order to implement the above embodiments, the present disclosure further proposes a computer device, including: a memory, a processor, and computer instructions stored in the memory and executable on the processor. When the processor executes the instructions, the calibration error evaluation method and / or the surround view system calibration error evaluation method proposed in the aforementioned embodiments of the present disclosure are implemented.

[0173] In order to implement the above embodiments, the present disclosure also proposes a non-temporary computer-readable storage medium storing computer instructions. When the computer instructions are executed by a processor, the calibration error evaluation method and / or the surround view system calibration error evaluation method proposed in the above embodiments of the present disclosure are implemented.

[0174] In order to implement the above embodiments, the present disclosure also proposes a computer program product. When the instructions in the computer program product are executed by a processor, the calibration error evaluation method and / or the surround view system calibration error evaluation method proposed in the above embodiments of the present disclosure are executed.

[0175] Figure 7 A block diagram of an exemplary computer device suitable for implementing embodiments of the present disclosure is shown. Figure 7 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0176] like Figure 7 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0177] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnection (PCI) bus.

[0178] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0179] The memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 7 not shown, usually called a "hard drive"). Although Figure 7 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the various embodiments of the present disclosure.

[0180] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described in the present disclosure.

[0181] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed via an input / output (I / O) interface 22. In addition, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the computer device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0182] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the methods mentioned in the above embodiments.

[0183] The technical solution disclosed in the present invention first obtains the initial coordinates of multiple first reference points and multiple second reference points located on the same straight line in the first coordinate system, wherein the first reference point is located within the shooting range of the first camera, and the second reference point is located within the shooting range of the second camera; then, according to the initial coordinates of each first reference point and the calibration parameters of the first camera, the first fitting straight line corresponding to the multiple first reference points in the second coordinate system is determined, and according to the initial coordinates of each second reference point and the calibration parameters of the second camera, the second fitting straight line corresponding to the multiple second reference points in the second coordinate system is determined; finally, according to the slope of the first fitting straight line and the slope of the second fitting straight line, it is determined whether the calibration error meets the requirements. The present invention maps multiple reference points located on the same straight line in the first coordinate system to the second coordinate system according to the camera calibration parameters, and fits a straight line to the mapped coordinates, and determines the calibration error of the camera according to the slope of the fitting straight line, thereby realizing the evaluation of the calibration error of the camera parameters, and providing support for the accurate splicing of the surround view by the vehicle-mounted surround view system.

[0184] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0185] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0186] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present disclosure belong.

[0187] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0188] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0189] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0190] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0191] The storage medium mentioned above may be a read-only memory, a disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present disclosure. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present disclosure.

Claims

1. A method for evaluating calibration error, characterized in that: include: Acquire initial coordinates of a plurality of first reference points and a plurality of second reference points located on the same straight line in a first coordinate system, wherein the first reference points are located within a shooting range of a first camera, and the second reference points are located within a shooting range of a second camera; Determine first fitting straight lines corresponding to a plurality of first reference points in a second coordinate system according to the initial coordinates of each of the first reference points and the calibration parameters of the first camera; Determine second fitting straight lines corresponding to a plurality of second reference points in the second coordinate system according to the initial coordinates of each second reference point and the calibration parameters of the second camera; Determining whether a calibration error meets a requirement according to a slope of the first fitting straight line and a slope of the second fitting straight line; The determining, according to the slope of the first fitting straight line and the slope of the second fitting straight line, whether the calibration error meets the requirement includes: In response to a difference between the slope of the first fitting straight line and the slope of the second fitting straight line being greater than a first set threshold, determining that the calibration error does not meet a requirement; In response to the difference between the slope of the first fitting straight line and the slope of the second fitting straight line being less than or equal to a first set threshold, refitting the second fitting straight line according to the slope of the first fitting straight line to obtain a third fitting straight line parallel to the first fitting straight line; In response to a distance between the first fitting straight line and the third fitting straight line being greater than a second set threshold, determining that the calibration error does not meet the requirement; In response to the distance between the first fitting straight line and the third fitting straight line being less than or equal to a second set threshold, it is determined that the calibration error meets the requirement.

2. The method according to claim 1, characterized in that The determining, according to the initial coordinates of each of the first reference points and the calibration parameters of the first camera, first fitting lines corresponding to the plurality of first reference points in the second coordinate system comprises: Determine, according to the initial coordinates of each of the first reference points and the calibration parameters of the first camera, a first projection coordinate of each of the first reference points in the second coordinate system; A straight line fitting is performed on the plurality of first projection coordinates to obtain the first fitting straight line.

3. The method according to claim 2, characterized in that The determining, according to the initial coordinates of each of the first reference points and the calibration parameters of the first camera, the first projection coordinates of each of the first reference points in the second coordinate system comprises: Acquire a first original image captured by the first camera; Performing distortion correction on the first original image to obtain a first corrected image; Determining, according to the initial coordinates of each of the first reference points and the calibration parameters of the first camera, the calibration coordinates of each of the first reference points on the first rectified image, so as to mark each of the first reference points in the first rectified image according to the calibration coordinates; transforming the first rectified image into a first bird's-eye view in the second coordinate system according to calibration parameters of the first camera; The projection coordinates of each first reference point are determined according to the mark of each first reference point in the first bird's-eye view image.

4. The method according to any one of claims 1 to 3, characterized in that: The determining, according to the slope of the first fitting straight line and the slope of the second fitting straight line, whether the calibration error meets the requirement includes: In response to a difference between the slope of the first fitting straight line and the slope of the second fitting straight line being greater than a first set threshold, determining that the calibration error does not meet a requirement; In response to a difference between the slope of the first fitting straight line and the slope of the second fitting straight line being less than or equal to a first set threshold, it is determined that the calibration error meets the requirement.

5. A method for evaluating calibration error of a surround view system, characterized in that: include: Adopting the method as described in any one of claims 1 to 4, determining whether the calibration error of each camera in the surround view system meets the requirements; In response to any calibration error not meeting a requirement, determining that the surround view system calibration has failed; In response to each of the calibration errors satisfying the requirement, it is determined that the calibration of the surround view system is successful.

6. A calibration error evaluation device, characterized in that: include: A first acquisition module, used to acquire initial coordinates of a plurality of first reference points and a plurality of second reference points located on the same straight line in a first coordinate system, wherein the first reference points are located within the shooting range of the first camera, and the second reference points are located within the shooting range of the second camera; A first determination module, configured to determine first fitting straight lines corresponding to a plurality of first reference points in a second coordinate system according to an initial coordinate of each of the first reference points and a calibration parameter of the first camera; A second determination module, configured to determine second fitting straight lines corresponding to a plurality of second reference points in a second coordinate system according to the initial coordinates of each of the second reference points and the calibration parameters of the second camera; A third determination module, used to determine whether a calibration error meets a requirement according to a slope of the first fitting straight line and a slope of the second fitting straight line; The third determination module is specifically used to: In response to a difference between the slope of the first fitting straight line and the slope of the second fitting straight line being greater than a first set threshold, determining that the calibration error does not meet a requirement; In response to the difference between the slope of the first fitting straight line and the slope of the second fitting straight line being less than or equal to a first set threshold, refitting the second fitting straight line according to the slope of the first fitting straight line to obtain a third fitting straight line parallel to the first fitting straight line; In response to a distance between the first fitting straight line and the third fitting straight line being greater than a second set threshold, determining that the calibration error does not meet the requirement; In response to the distance between the first fitting straight line and the third fitting straight line being less than or equal to a second set threshold, it is determined that the calibration error meets the requirement.

7. The device according to claim 6, characterized in that The third determination module is used for: In response to a difference between the slope of the first fitting straight line and the slope of the second fitting straight line being greater than a first set threshold, determining that the calibration error does not meet a requirement; In response to a difference between the slope of the first fitting straight line and the slope of the second fitting straight line being less than or equal to a first set threshold, it is determined that the calibration error meets the requirement.

8. A device for evaluating calibration error of a surround view system, characterized in that: include: A first determination module, configured to determine whether a calibration error of each camera in the surround view system meets a requirement by using the method described in any one of claims 1 to 4; The second determination module is used for: In response to any calibration error not meeting a requirement, determining that the surround view system calibration has failed; as well as In response to each of the calibration errors satisfying the requirement, it is determined that the calibration of the surround view system is successful.

9. A computer device, characterized in that: The method comprises a memory, a processor and computer instructions stored in the memory and executable on the processor. When the processor executes the instructions, the method for evaluating the calibration error as claimed in any one of claims 1 to 5 is implemented.

10. A vehicle, characterized in that: Comprising the computer device as claimed in claim 9.

11. A computer-readable storage medium storing computer instructions, characterized in that: When the computer instructions are executed by a processor, the calibration error evaluation method as described in any one of claims 1-5 is implemented.

12. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the calibration error evaluation method according to any one of claims 1 to 5.

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