An AVM calibration method, a vehicle-mounted device and a storage medium

Abstract

The application provides an AVM calibration method, comprising the following steps: determining at least one original calibration pattern in which corner point detection fails in a plurality of original calibration patterns laid around a vehicle and an original calibration pattern arrangement in which the at least one original calibration pattern is located; acquiring a redundant calibration pattern arrangement arranged at intervals with the original calibration pattern arrangement; performing a corner point detection algorithm on the original calibration pattern arrangement and the redundant calibration pattern arrangement to obtain corner points of a calibration pattern arrangement in which corner point detection succeeds in the original calibration pattern arrangement and the redundant calibration pattern arrangement, so as to calibrate AVM by using the corner points. The application also discloses a vehicle-mounted device and a storage medium. The application realizes the following advantages: without repeatedly adjusting light, without a special material calibration pattern and without constructing a darkroom and arranging controllable light sources, the operation process of AVM calibration is simple.

Description

Technical Field

[0001] The disclosed embodiments of this application relate to the field of image processing, and more specifically, to an AVM calibration method, an in-vehicle device, and a storage medium. Background Technology

[0002] As the AVM (Around View Monitor, 360° panoramic surround view system) function in vehicles plays an increasingly important role in the automotive field, 4 to 8 cameras installed around the vehicle can cover the entire field of view around the vehicle. The multiple video images captured at the same time are processed into a 360° top view of the vehicle body around it, and finally displayed on the vehicle screen. This allows the driver to clearly see whether there are obstacles around the vehicle and understand the relative position and distance of the obstacles, helping the driver to park the vehicle easily.

[0003] The installation location and parameters of cameras vary slightly between different vehicles, so how to perform AVM calibration for each vehicle individually has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, this application provides an AVM calibration method, an in-vehicle device, and a storage medium to solve the above problems.

[0005] To address the aforementioned problems, a first aspect of this application provides an AVM calibration method. The AVM calibration utilizes a calibration layout laid out around a vehicle. The calibration layout includes multiple original calibration patterns laid out around the vehicle and multiple redundant calibration patterns corresponding to the original calibration patterns. The method includes: determining at least one original calibration pattern among the multiple original calibration patterns that failed corner detection, and an arrangement of original calibration patterns containing the at least one original calibration pattern; obtaining a redundant calibration pattern arrangement from the multiple redundant calibration patterns that is spaced apart from the original calibration pattern arrangement; and performing a corner detection algorithm on the original calibration pattern arrangement and the redundant calibration pattern arrangement to obtain corner points in the calibration pattern arrangements where corner detection was successful, thereby utilizing the corner points for AVM calibration.

[0006] In some embodiments, at least one original calibration pattern in the original calibration pattern arrangement is different from the corresponding redundant calibration pattern in the redundant calibration pattern arrangement.

[0007] In some embodiments, the at least one original calibration pattern includes a first original calibration pattern and a second original calibration pattern. The first original calibration pattern has a first style, and the second original calibration pattern has a second style. The number of original calibration patterns in the original calibration pattern arrangement is the same as the number of redundant calibration patterns in the redundant calibration pattern arrangement. The style of the redundant calibration patterns in the redundant calibration pattern arrangement is the same as the style of the original calibration patterns in the original calibration pattern arrangement, and the arrangement order of the redundant calibration patterns is different from that of the original calibration pattern arrangement. The first style is located at the i-th position in the original calibration pattern arrangement, and the second style is located at the j-th position in the original calibration pattern arrangement. The style of the redundant calibration pattern at the i-th position in the redundant calibration pattern arrangement is different from that of the first style, and the style of the redundant calibration pattern at the j-th position in the redundant calibration pattern arrangement is different from that of the second style. i and j are positive integers greater than 0 and less than the number. Therefore, the at least one original calibration pattern is different from the corresponding redundant calibration pattern.

[0008] In some embodiments, the number of original calibration patterns in the original calibration pattern arrangement is different from the number of redundant calibration patterns in the redundant calibration pattern arrangement, and the style of the redundant calibration patterns in the redundant calibration pattern arrangement is different from the style of the original calibration patterns in the original calibration pattern arrangement. Therefore, the at least one original calibration pattern is different from the corresponding redundant calibration pattern.

[0009] In some embodiments, obtaining a redundant calibration pattern arrangement spaced apart from the original calibration pattern arrangement includes: determining the redundant calibration pattern arrangement in response to at least one original calibration pattern in the original calibration pattern arrangement; obtaining the redundant calibration pattern arrangement in response to confirmation that the redundant calibration pattern arrangement is non-reflective; or obtaining another redundant calibration pattern arrangement spaced apart from the original calibration pattern arrangement in response to confirmation that the redundant calibration pattern arrangement is reflective, wherein the number of original calibration patterns in the original calibration pattern arrangement, the number of redundant calibration patterns in the redundant calibration pattern arrangement, and the number of redundant calibration patterns in the other redundant calibration pattern arrangement are the same, and the distance between the original calibration pattern arrangement and the other redundant calibration pattern arrangement is different from the distance between the original calibration pattern arrangement and the redundant calibration pattern arrangement; performing a corner detection algorithm on the original calibration pattern arrangement and the other redundant calibration pattern arrangement to obtain the corner points of the pattern arrangements in the original calibration pattern arrangement and the other redundant calibration pattern arrangement that have successfully detected corner points, thereby using the corner points for AVM calibration.

[0010] In some embodiments, the AVM calibration method further includes: adjusting the position of the redundant calibration pattern arrangement in response to the redundancy pattern arrangement being confirmed as reflective, so that the redundant calibration pattern arrangement is confirmed as non-reflective.

[0011] In some embodiments, obtaining a redundant calibration pattern arrangement spaced apart from the original calibration pattern arrangement includes: determining a reflective area around the vehicle to determine a reflective calibration pattern arrangement around the vehicle; obtaining a distance estimate between the original calibration pattern arrangement and the reflective calibration pattern arrangement based on the reflective calibration pattern arrangement; and obtaining the redundant calibration pattern arrangement based on the distance estimate.

[0012] In some embodiments, performing a corner detection algorithm on the original calibration pattern arrangement and the redundant calibration pattern arrangement includes: obtaining the distance between the original calibration pattern arrangement and the redundant calibration pattern arrangement, and generating object points of the redundant calibration pattern arrangement based on the distance; detecting the original calibration pattern arrangement and the redundant calibration pattern arrangement based on the object points of the original calibration pattern arrangement and the object points of the redundant calibration pattern arrangement. In response to successful corner detection of the original calibration pattern arrangement, the corner points of the original calibration pattern arrangement are obtained; in response to failed corner detection of the original calibration pattern arrangement, and successful corner detection of the redundant calibration pattern arrangement, the corner points of the redundant calibration pattern arrangement are obtained.

[0013] To address the aforementioned issues, a second aspect of this application provides an in-vehicle device including a memory and a processor coupled to each other. The memory stores program instructions, and the processor executes the program instructions to implement the AVM calibration method of the first aspect described above.

[0014] To address the aforementioned problems, a third aspect of this application provides a non-volatile computer-readable storage medium for storing program instructions, which, when executed by a processor, are used to implement the AVM calibration method of the first aspect described above.

[0015] The beneficial effects of this application are as follows: by determining at least one original calibration pattern that failed corner detection among multiple original calibration patterns laid around the vehicle, and the original calibration pattern arrangement in which at least one original calibration pattern is located, a redundant calibration pattern arrangement set at intervals with the original calibration pattern arrangement is obtained. A corner detection algorithm is executed on the original calibration pattern arrangement and the redundant calibration pattern arrangement to obtain the corner points of the calibration pattern arrangement in the original calibration pattern arrangement and the redundant calibration pattern arrangement where corner detection was successful. Thus, AVM calibration is performed using the corner points, realizing calibration patterns that do not require repeated manual adjustment of lighting, do not require special materials, and do not require the construction of a darkroom and the arrangement of controllable light sources. The operation process of AVM calibration is simple. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0017] Figure 1 This is a schematic diagram of the calibration layout involved in the embodiments of this application;

[0018] Figure 2 This is a flowchart illustrating the AVM calibration method according to an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the calibration layout used in the embodiments of this application;

[0020] Figure 4 This is a schematic diagram of a specific structure of the calibration layout used in the embodiments of this application;

[0021] Figure 5 This is another specific structural schematic diagram of the calibration layout used in the embodiments of this application;

[0022] Figure 6 This is a partial flowchart of the AVM calibration method according to an embodiment of this application;

[0023] Figure 7 This is another specific structural schematic diagram of the calibration layout used in the embodiments of this application;

[0024] Figure 8 This is a partial flowchart of the AVM calibration method according to an embodiment of this application;

[0025] Figure 9 This is another specific structural schematic diagram of the calibration layout used in the embodiments of this application;

[0026] Figure 10 This is a partial flowchart of the AVM calibration method according to an embodiment of this application;

[0027] Figure 11 This is a schematic diagram of the structure of the vehicle-mounted device according to an embodiment of this application;

[0028] Figure 12 This is a schematic diagram of the structure of a non-volatile computer-readable storage medium according to an embodiment of this application. Detailed Implementation

[0029] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, "many" in this application means two or more. Moreover, the term "at least one" in this application means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C. Furthermore, the terms "first," "second," and "third" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0031] To enable those skilled in the art to better understand the technical solution of this application, the technical solution of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] As mentioned above, four to eight cameras are installed around the vehicle to cover the entire field of view around the vehicle. Thus, when performing camera calibration in a panoramic view, i.e., when performing AVM calibration, it is necessary to detect the calibration layout laid out around the vehicle. To facilitate understanding of this application, the calibration layout used in the embodiments of this application will be described in detail first.

[0033] Please see reading Figure 1 , Figure 1 This is a schematic diagram of the calibration layout involved in the embodiments of this application. The calibration layout includes multiple original calibration patterns laid around the vehicle, wherein the vehicle is fixed and cannot be moved by horizontally mounted locators, the multiple original calibration patterns are laid according to preset specifications and cannot be changed, each original calibration pattern contains corner points that need to be detected, and corner point detection can be performed on each original calibration pattern.

[0034] Accordingly, Figure 1 The calibration layout also includes multiple redundant calibration patterns corresponding to multiple original calibration patterns, wherein, Figure 1 Redundant calibration patterns are not shown in the diagram, and will not be described in detail here. They only need to correspond to the original calibration patterns.

[0035] Corner detection is affected by lighting conditions; both excessively bright and dim lighting will cause corner detection to fail. If corner detection fails on a particular original calibration pattern, the entire AVM calibration operation will fail. In such cases, redundant calibration patterns can be used for corner detection. The algorithm used for corner detection is not limited here, as long as it can achieve corner detection.

[0036] For a vehicle, from a front-to-back view, original calibration patterns located in the same column can be called an original calibration pattern column; from a left-to-right view, original calibration patterns located in the same row can be called an original calibration pattern row. Conversely, from a front-to-back view, original calibration patterns located in the same row can be called an original calibration pattern row; from a left-to-right view, original calibration patterns located in the same column can be called an original calibration pattern column.

[0037] Both the original calibration pattern column and the original calibration pattern row are arrangements of original calibration patterns, and can also be called original calibration pattern groups, because they each include one or more original calibration patterns.

[0038] The preset specifications can include the style of the original calibration patterns and their arrangement order. The style of the original calibration patterns can include circles, ellipses, triangles, rectangles, squares, etc., and the original calibration patterns can be laid out according to a preset order, for example, as shown below. Figure 1 The arrangement order is shown.

[0039] It should be noted that this application is not limited to Figure 1 The original calibration pattern can be in the style and arrangement order, but other styles are also possible, such as irregular shapes. Similarly, this application is not limited to these styles. Figure 1 The number of original calibration patterns, such as the arrangement of original calibration patterns, can also include other numbers of original calibration patterns.

[0040] The above description of the original calibration pattern also applies to redundant calibration patterns. For example, from a front-to-back viewing perspective, redundant calibration patterns located in the same column can be called a redundant calibration pattern column, and from a left-to-right viewing perspective, redundant calibration patterns located in the same row can be called a redundant calibration pattern row. Other examples include the style of the redundant calibration patterns and their arrangement order.

[0041] Please see reading Figure 2 , Figure 2 This is a flowchart illustrating the AVM calibration method according to an embodiment of this application. This method can be used for in-vehicle devices, such as in-vehicle devices in vehicles that require AVM calibration. It should be noted that if substantially the same result is obtained, the method of this application does not necessarily require AVM calibration. Figure 2 The sequence of processes shown is limited.

[0042] Specifically, such as Figure 2 As shown, the method may include the following steps:

[0043] Step S21: Determine at least one original calibration pattern among multiple original calibration patterns that failed corner detection, and the arrangement of original calibration patterns containing at least one original calibration pattern.

[0044] The multiple original calibration patterns laid around the vehicle are as described above. Figure 1 Let's take an example to illustrate. Figure 1 After corner detection is performed on the calibration layout in the model, assuming Figure 1 Two original calibration patterns failed to detect the mid-corner point. For example... Figure 3 As shown, Figure 3 This is a schematic diagram of the calibration layout used in the embodiments of this application. Figure 1 The original calibration patterns that failed to detect the corner point are the first original calibration pattern 31 and the third original calibration pattern 32, which are marked with an "×" and located on the right. Therefore, at least one original calibration pattern that failed to detect the corner point is determined to be the first original calibration pattern 31 and the third original calibration pattern 32, which are marked with an "×". The arrangement of these two original calibration patterns 31 and 32 is the [missing information]. Figure 3 The arrangement marked by the dashed box is 30.

[0045] It should be noted that, Figure 3 The example is based on Figure 1 The layout is specified in the example, when Figure 1 When the calibration layout changes, Figure 3 The examples will also change accordingly. For example, the number of original calibration patterns in the original calibration pattern arrangement 30 is not limited to 4, but can also be 5 or other numbers.

[0046] Step S22: Obtain a redundant calibration pattern arrangement from multiple redundant calibration patterns with an interval set between the original calibration pattern arrangement and the original calibration pattern arrangement.

[0047] Continuing with the above Figure 3 Let's take an example to illustrate this, where we assume... Figure 1 The original calibration pattern for failed mid-corner detection is as follows: Figure 3 The two original calibration patterns 31 and 32 marked with an × are shown. (As shown...) Figure 3 As shown, the redundant calibration pattern arrangement is obtained, which is arrangement 30a marked by the dashed box.

[0048] The redundant calibration pattern arrangement 30a includes one or more redundant calibration patterns, which are the same as the original calibration patterns. Each redundant calibration pattern also includes corner points that need to be detected.

[0049] The redundant calibration pattern arrangement 30a is spaced apart from the original calibration pattern arrangement 30, meaning that the redundant calibration pattern arrangement 30a and the original calibration pattern arrangement 30 are parallel and spaced apart by a preset distance. When the redundant calibration pattern arrangement 30a and the original calibration pattern arrangement 30 are parallel, from a front-to-back viewing angle, the redundant calibration pattern arrangement 30a and the original calibration pattern arrangement 30 are vertically aligned, and the preset distance between them is a vertical distance. From a left-to-right viewing angle, the redundant calibration pattern arrangement 30a and the original calibration pattern arrangement 30 are horizontally aligned, and the preset distance between them is a horizontal distance.

[0050] Step S23: Perform a corner detection algorithm on the original calibration pattern arrangement and the redundant calibration pattern arrangement to obtain the corner points in the calibration pattern arrangement in which corner point detection was successfully performed, and then use the corner points for AVM calibration.

[0051] Continue with Figure 3 Taking this as an example, a corner detection algorithm is performed on the original calibration pattern arrangement 30 and the redundant calibration pattern arrangement 30a to obtain the corner points of the calibration pattern arrangements in the original calibration pattern arrangement 30 and the redundant calibration pattern arrangement 30a that have successfully detected corner points. In other words, the corner detection algorithm is used to detect the original calibration pattern in the original calibration pattern arrangement 30 and the redundant calibration pattern in the redundant original calibration pattern arrangement 30a, and the detection result is obtained. Based on the detection result, the corner points of the calibration pattern arrangements in the original calibration pattern arrangement 30 and the redundant calibration pattern arrangement 30a that have successfully detected corner points can be obtained. The corner points of the calibration pattern arrangement can be the corner points in the original calibration pattern in the original calibration pattern arrangement 30 or the corner points in the redundant calibration pattern in the redundant calibration pattern arrangement 30a.

[0052] Obtain the corner points in the calibration pattern arrangement and use these corner points for AVM calibration.

[0053] In this embodiment, by identifying at least one original calibration pattern that failed corner detection among multiple original calibration patterns laid around the vehicle, and the original calibration pattern arrangement containing at least one original calibration pattern, a redundant calibration pattern arrangement spaced apart from the original calibration pattern arrangement is obtained. A corner detection algorithm is then executed on the original calibration pattern arrangement and the redundant calibration pattern arrangement to obtain the corners in the calibration pattern arrangement where corner detection was successful. Thus, AVM calibration is performed using the corners, achieving calibration patterns that do not require repeated manual adjustment of lighting, do not require special materials, and do not require the construction of a darkroom or the arrangement of a controllable light source. The AVM calibration operation process is simple.

[0054] As described above, at least one original calibration pattern that failed corner detection is identified, and a redundant calibration pattern arrangement is obtained. In an exemplary embodiment, at least one original calibration pattern in the original calibration pattern arrangement is different from the corresponding redundant calibration pattern in the redundant calibration pattern arrangement.

[0055] Continuing with the above Figure 3 Let's take an example to illustrate, such as... Figure 3 As shown, the original calibration patterns that failed corner detection are the original calibration pattern 31 and the original calibration pattern 32 marked with ×. The original calibration pattern 31 corresponds to the redundant calibration pattern 31a in the redundant calibration pattern arrangement 30a, and the original calibration pattern 32 corresponds to the redundant calibration pattern 32a in the redundant calibration pattern arrangement 30a. The original calibration pattern 31 is different from the redundant calibration pattern 31a, and the original calibration pattern 32 is different from the redundant calibration pattern 32a.

[0056] It should be noted that the difference between the original calibration pattern 31 or 32 and the redundant calibration pattern 31a or 32a refers to the difference in style between the original calibration pattern 31 or 32 and the redundant calibration pattern 31a or 32a, while other aspects are the same, such as the same material. As described above, at least one original calibration pattern in the original calibration pattern arrangement that fails corner detection is different from the corresponding redundant calibration pattern in the redundant calibration pattern arrangement. In some exemplary embodiments, the number of original calibration patterns in the original calibration pattern arrangement is the same as the number of redundant calibration patterns in the redundant calibration pattern arrangement, the style of the redundant calibration pattern in the redundant calibration pattern arrangement is the same as the style of the original calibration pattern in the original calibration pattern arrangement, and the arrangement order of the redundant calibration pattern arrangement and the original calibration pattern arrangement is different, thereby the at least one original calibration pattern is different from the corresponding redundant calibration pattern.

[0057] like Figure 4 As shown, Figure 4 This is a schematic diagram of a specific structure of the calibration layout used in the embodiments of this application. The number of original calibration patterns in the original calibration pattern arrangement 40 is the same as the number of redundant calibration patterns in the redundant calibration pattern arrangement 40a. The style of the redundant calibration patterns in the redundant calibration pattern arrangement 40a is the same as the style of the original calibration patterns in the original calibration pattern arrangement 40. However, the arrangement order of the redundant calibration pattern arrangement 40a and the original calibration pattern arrangement 40 is different. Therefore, at least one original calibration pattern is different from the corresponding redundant calibration pattern.

[0058] The original calibration pattern arrangement 40 has four original calibration patterns, and the redundant calibration pattern arrangement 40a also has four redundant calibration patterns; that is, the number of original calibration patterns is the same as the number of redundant calibration patterns. The patterns of the original calibration pattern arrangement 40 include rectangles, triangles, squares, and circles, and the patterns of the redundant calibration pattern arrangement 40a also include rectangles, triangles, squares, and circles; that is, the patterns of the original calibration patterns are the same as the patterns of the redundant calibration patterns. If the number and style of the original calibration pattern arrangement 40 and the redundant calibration pattern arrangement 40a are the same, then the variety of styles of the redundant calibration pattern arrangement 40a has not increased. The arrangement order of the original calibration pattern arrangement 40 and the redundant calibration pattern arrangement 40a is different. The original calibration pattern 41 marked with × is rectangular, and the corresponding redundant calibration pattern 41a is circular. The original calibration pattern 42 marked with × is circular, and the redundant calibration pattern 42a with the dashed box is triangular. That is, the original calibration patterns 41 and 42 that failed the corner detection are different from the corresponding redundant calibration patterns 41a and 42a.

[0059] The original calibration pattern arrangement 40 and the redundant calibration pattern arrangement 40a have the same style and quantity, but different arrangement order. Therefore, the same detection algorithm code can be used for the original calibration pattern arrangement 40 and the redundant calibration pattern arrangement 40a. That is, the redundant calibration pattern arrangement 40a can use the detection algorithm code of the original calibration pattern arrangement 40, thereby improving the success rate of the detection algorithm, while the performance loss is relatively minor.

[0060] Wherein, at least one original calibration pattern includes a first original calibration pattern and a second original calibration pattern. The first original calibration pattern has a first style, and the second original calibration pattern has a second style. The first style is located at the i-th position in the arrangement of original calibration patterns, and the second style is located at the j-th position in the arrangement of original calibration patterns. The style of the redundant calibration pattern at the i-th position in the arrangement of redundant calibration patterns is different from the first style, and the style of the redundant calibration pattern at the j-th position in the arrangement of redundant calibration patterns is different from the second style. i and j are positive integers greater than 0, and the number of original calibration patterns and redundant calibration patterns is specified.

[0061] Continuing with the example of the original calibration pattern arrangement 40 and the redundant calibration pattern arrangement 40a, for instance, when i=1 and j=2, the first pattern is located in the first position in the original calibration pattern arrangement, i.e., the first pattern is a rectangle, and the second pattern is located in the second position in the original calibration pattern arrangement, i.e., the second pattern is a triangle. The redundant calibration pattern at the i-th position in the redundant calibration pattern arrangement differs from the first pattern. For example, the redundant calibration pattern at the first position in the redundant calibration pattern arrangement differs from the first pattern, i.e., the redundant calibration pattern at the first position in the redundant calibration pattern arrangement is a circle instead of a rectangle. The redundant calibration pattern at the j-th position in the redundant calibration pattern arrangement differs from the second pattern. For example, the redundant calibration pattern at the second position in the redundant calibration pattern arrangement differs from the second pattern, i.e., the redundant calibration pattern at the second position in the redundant calibration pattern arrangement is a rectangle instead of a triangle. In other words, at least one original calibration pattern differs from the corresponding redundant calibration pattern.

[0062] It should be noted that, Figure 4 The example is based on Figure 1 or Figure 3 The layout is specified in the example, when Figure 1 or Figure 3 When the calibration layout changes, Figure 4 The examples will also change accordingly. For example, the number of original calibration patterns in the original calibration pattern arrangement is not limited to 4, but can also be 5 or other numbers.

[0063] In other exemplary embodiments, such as Figure 5 As shown, Figure 5 This is another specific structural schematic diagram of the calibration layout used in the embodiments of this application. The number of original calibration patterns in the original calibration pattern arrangement 50 is different from the number of redundant calibration patterns in the redundant calibration pattern arrangement 50a. The style of the redundant calibration patterns in the redundant calibration pattern arrangement 50a is different from the style of the original calibration patterns in the original calibration pattern arrangement 50. Thus, at least one original calibration pattern is different from the corresponding redundant calibration pattern.

[0064] like Figure 5 As shown, the number of original calibration patterns in the original calibration pattern arrangement 50 is 4, and the number of redundant calibration patterns in the redundant calibration pattern arrangement 50a is 3. That is, the number of original calibration patterns and the number of redundant calibration patterns are different. In this application... Figure 5 Taking three redundant calibration patterns as an example, the number of redundant calibration patterns in the 50a arrangement depends on the actual situation.

[0065] The original calibration pattern arrangement 50 has the patterns of rectangles, triangles, circles and squares, while the redundant calibration pattern arrangement 50a has the patterns of rhombuses, hexagons and parallelograms. That is, the patterns of the original calibration patterns are different from the patterns of the redundant calibration patterns.

[0066] The original calibration pattern 51 marked with × is a rectangle, and the corresponding redundant calibration pattern 51a is a rhombus. The original calibration pattern 52 marked with × is a circle, and the corresponding redundant calibration pattern 52a is a hexagon. That is, the style of the redundant calibration pattern in the redundant calibration pattern arrangement 50a is different from the style of the original calibration pattern in the original calibration pattern arrangement 50.

[0067] It should be noted that, Figure 5 The example is based on Figure 1 or Figure 3 The layout is specified in the example, when Figure 1 or Figure 3 When the calibration layout changes, Figure 5 The examples will also change accordingly. For example, the number of original calibration patterns in the original calibration pattern arrangement is not limited to 4, but can also be 5 or other numbers.

[0068] As described above, a redundant calibration pattern arrangement with an interval set from the original calibration pattern arrangement is obtained. In some exemplary embodiments, such as... Figure 6 As shown, Figure 6 This is a partial flowchart illustrating the AVM calibration method according to an embodiment of this application. Specifically, as shown... Figure 6 As shown, obtaining a redundant calibration pattern arrangement with an interval set from the original calibration pattern arrangement includes the following steps.

[0069] Step S61: In response to at least one original calibration pattern in the original calibration pattern arrangement, determine the redundant calibration pattern arrangement.

[0070] Continuing with the above Figure 3 To illustrate with an example, in response to the original calibration patterns 31 and 32 in the original calibration pattern arrangement 30, that is, when the original calibration patterns 31 and 32 in the original calibration pattern arrangement 30 fail to perform corner detection, the original calibration pattern arrangement 30 sets up a redundant calibration pattern arrangement 30a at intervals. When the redundant calibration pattern arrangement 30a is parallel to the original calibration pattern arrangement 30, if from the front and back view angle, the redundant calibration pattern arrangement 30a is vertically aligned with the original calibration pattern arrangement 30, and the preset distance between the two is the vertical distance; if from the left and right view angle, the redundant calibration pattern arrangement 30a is horizontally aligned with the original calibration pattern arrangement 30, and the preset distance between the two is the horizontal distance. Thus, the redundant calibration pattern arrangement 30a is determined.

[0071] Step S62: Determine whether the redundant calibration pattern arrangement is reflective.

[0072] Continuing with the above Figure 3 The example illustrates this: determine whether the redundant calibration pattern arrangement 30a is reflective. If the redundant calibration pattern arrangement 30a is confirmed to be non-reflective, proceed to step S63. If the redundant calibration pattern arrangement 30a is confirmed to be reflective, proceed to step S64.

[0073] Step S63: In response to the confirmation that the redundant calibration pattern arrangement is non-reflective, acquire the redundant calibration pattern arrangement.

[0074] In response to the confirmation that the redundant calibration pattern arrangement 30a has no reflection, that is, when the redundant calibration pattern arrangement 30a is confirmed to have no reflection, the redundant calibration pattern arrangement 30a is acquired.

[0075] Furthermore, in some embodiments, such as Figure 6 As shown, the AVM calibration method further includes the following steps:

[0076] Step S64: In response to the confirmation of reflection of the redundant calibration pattern arrangement, another redundant calibration pattern arrangement with an interval set from the original calibration pattern arrangement is obtained.

[0077] Among them, the number of original calibration patterns in the original calibration pattern arrangement, the number of redundant calibration patterns in the redundant calibration pattern arrangement, and the number of redundant calibration patterns in another redundant calibration pattern arrangement are the same, and the distance between the original calibration pattern arrangement and the other redundant calibration pattern arrangement is different from the distance between the original calibration pattern arrangement and the redundant calibration pattern arrangement.

[0078] Continue with Figure 3 Taking the example of redundancy calibration pattern arrangement 30a being confirmed to reflect light, that is, when redundancy calibration pattern arrangement 30a is confirmed to reflect light, as... Figure 7 As shown, another redundant calibration pattern arrangement 30b is obtained, which is spaced apart from the original calibration pattern arrangement 30. When the redundant calibration pattern arrangement 30a is parallel to the original calibration pattern arrangement 30, from the front-to-back viewing angle, the redundant calibration pattern arrangement 30a and the original calibration pattern arrangement 30 are vertically aligned, and the preset distance between them is the vertical distance. From the left-to-right viewing angle, the redundant calibration pattern arrangement 30a and the original calibration pattern arrangement 30 are horizontally aligned, and the preset distance between them is the horizontal distance.

[0079] like Figure 7As shown, the number of original calibration patterns in the original calibration pattern arrangement 30 is 4, the number of redundant calibration patterns in the redundant calibration pattern arrangement 30a is 4, and the number of redundant calibration patterns in the other redundant calibration pattern arrangement 30b is 4. That is, the number of original calibration patterns in the original calibration pattern arrangement 30, the number of redundant calibration patterns in the redundant calibration pattern arrangement 30a, and the number of redundant calibration patterns in the other redundant calibration pattern arrangement 30b are the same.

[0080] like Figure 7 As shown, the distance between the original calibration pattern arrangement 30 and another redundant calibration pattern arrangement 30b is different from the distance between the original calibration pattern arrangement 30 and the redundant calibration pattern arrangement 30a. Specifically, the distance between the original calibration pattern arrangement 30 and the other redundant calibration pattern arrangement 30b is greater than the distance between the original calibration pattern arrangement 30 and the redundant calibration pattern arrangement 30a.

[0081] It should be noted that, Figure 7 Based on Figure 3 , Figure 7 and Figure 3 See above for details on the same parts. Figure 3 The description will not be repeated here.

[0082] Step S65: Perform a corner detection algorithm on the original calibration pattern arrangement and another redundant calibration pattern arrangement to obtain the corner points of the calibration pattern arrangement in the original calibration pattern arrangement and another redundant calibration pattern arrangement that have successfully detected corner points, and use the corner points to perform AVM calibration.

[0083] Continuing with the above Figure 7 Let's take an example. A corner detection algorithm is performed on the original calibration pattern arrangement 30 and another redundant calibration pattern arrangement 30b to obtain the corner points of the calibration pattern arrangements in both arrangements that have successfully undergone corner detection. In other words, the corner detection algorithm is used to detect the original calibration pattern in the original calibration pattern arrangement 30 and the redundant calibration pattern in the other redundant original calibration pattern arrangement 30b, obtaining the detection results. Based on these results, the corner points of the calibration pattern arrangements in both arrangements that have successfully undergone corner detection can be obtained. These corner points can be either the corner points of the original calibration pattern in the original calibration pattern arrangement 30 or the corner points of the redundant calibration pattern in the other redundant calibration pattern arrangement 30b.

[0084] Obtain the corner points in the calibration pattern arrangement and use these corner points for AVM calibration.

[0085] Furthermore, in other embodiments, such as Figure 8 As shown, Figure 8This is a partial flowchart of the AVM calibration method according to an embodiment of this application. The AVM calibration method further includes the following steps:

[0086] Step S81: In response to at least one original calibration pattern in the original calibration pattern arrangement, determine the redundant calibration pattern arrangement.

[0087] Step S81 is the same as step S61 above, and will not be repeated here.

[0088] Step S82: Determine whether the redundant calibration pattern arrangement is reflective.

[0089] Continuing with the above Figure 3 The example illustrates this: determine whether the redundant calibration pattern arrangement 30a is reflective. If the redundant calibration pattern arrangement 30a is confirmed to be non-reflective, proceed to step S83. If the redundant calibration pattern arrangement 30a is confirmed to be reflective, proceed to step S84.

[0090] Step S83: In response to the confirmation that the redundant calibration pattern arrangement is non-reflective, acquire the redundant calibration pattern arrangement.

[0091] Step S83 is the same as step S63 above, and will not be repeated here.

[0092] Step S84: In response to the confirmation that the redundant calibration pattern arrangement is reflective, adjust the position of the redundant calibration pattern arrangement so that the redundant calibration pattern arrangement is confirmed to be non-reflective.

[0093] Continue with Figure 3 Taking the example of redundancy calibration pattern arrangement 30a being confirmed to reflect light, that is, when the redundant calibration pattern in the redundant calibration pattern arrangement 30a reflects light, such as... Figure 9 As shown, adjust the position of the redundant calibration pattern arrangement 30a until the redundant calibration pattern no longer reflects light, so that the redundant calibration pattern arrangement 30a is confirmed to be non-reflective.

[0094] It should be noted that, Figure 9 Based on Figure 3 , Figure 9 and Figure 3 See above for details on the same parts. Figure 3 The description will not be repeated here.

[0095] In some other exemplary embodiments, obtaining a redundant calibration pattern arrangement with an interval set from the original calibration pattern arrangement includes: determining a reflective area around the vehicle to determine a reflective calibration pattern arrangement around the vehicle; obtaining a distance estimate between the original calibration pattern arrangement and the reflective calibration pattern arrangement based on the reflective calibration pattern arrangement; and obtaining the redundant calibration pattern arrangement based on the distance estimate.

[0096] by Figure 3Taking this as an example, reflective areas are automatically located around a vehicle using technology such as image processing. Based on these reflective areas, the arrangement of reflective marking patterns around the vehicle is determined, and the reflective marking patterns include reflective marking patterns.

[0097] Based on the reflective calibration pattern arrangement, obtain the distance estimate between the original calibration pattern arrangement 30 and the reflective calibration pattern arrangement.

[0098] Based on the distance estimate, a redundant calibration pattern arrangement 30a is obtained. The distance from the redundant calibration pattern arrangement 30a to the original calibration pattern arrangement 30 can be greater than or less than the distance estimate.

[0099] As described above, a corner detection algorithm is performed on the original calibration pattern arrangement and the redundant calibration pattern arrangement. Specifically, in some embodiments, such as... Figure 10 As shown, Figure 10 This is a partial flowchart of the AVM calibration method according to an embodiment of this application, which performs a corner detection algorithm on the original calibration pattern arrangement and the redundant calibration pattern arrangement, including:

[0100] Step S101: Obtain the distance between the original calibration pattern arrangement and the redundant calibration pattern arrangement, and generate the object points of the redundant calibration pattern arrangement based on the distance;

[0101] Continue with Figure 3 Taking this as an example, the distance between the original calibration pattern arrangement 30 and the redundant calibration pattern arrangement 30a is obtained, i.e. Figure 3 As shown, the distance between the original calibration pattern arrangement 30 in the dashed box marked with × and the redundant calibration pattern arrangement 30b in another dashed box is used to generate the object point of the redundant calibration pattern arrangement 30a in the corner detection algorithm based on the distance between the original calibration pattern arrangement 30 and the redundant calibration pattern arrangement 30a.

[0102] Step S102: Based on the object points of the original calibration pattern arrangement and the object points of the redundant calibration pattern arrangement, detect the original calibration pattern arrangement and the redundant calibration pattern arrangement.

[0103] Continue with Figure 3 Taking the example of the object points of the original calibration pattern arrangement 30 and the redundant calibration pattern arrangement 30a, the object points are used to detect the original calibration pattern arrangement 30 and the redundant calibration pattern arrangement 30a.

[0104] The detection method is not limited by application; it is sufficient to simply identify the object's location.

[0105] Step S103: In response to the successful detection of corner points in the original calibration pattern arrangement, the corner points of the original calibration pattern arrangement are obtained.

[0106] Continue with Figure 3 Taking this example, in response to the successful detection of the corner points of the original calibration pattern arrangement 30, that is, when the original calibration pattern of the original calibration pattern arrangement 30 does not reflect light, the corner point detection of the original calibration pattern arrangement 30 is successful, and the corner points of the original calibration pattern arrangement 30 are obtained.

[0107] Furthermore, such as Figure 10 As shown, the corner detection algorithm is performed on the original calibration pattern arrangement and the redundant calibration pattern arrangement, further including the following steps:

[0108] Step S104: In response to the failure of corner detection of the original calibration pattern arrangement and the success of corner detection of the redundant calibration pattern arrangement, obtain the corners of the redundant calibration pattern arrangement.

[0109] Continue with Figure 3 Taking this example, in response to the failure of corner detection of the original calibration pattern arrangement 30 and the success of corner detection of the redundant calibration pattern arrangement 30a, that is, when the corner detection algorithm is performed on the corners of the original calibration pattern arrangement 30 and the corners of the redundant calibration pattern arrangement 30a, the original calibration pattern reflects light, causing the detection to fail, while the redundant calibration pattern does not reflect light and the detection is successful. Thus, the corners of the redundant calibration pattern arrangement 30a are obtained, and AVM calibration is performed using the corners of the redundant calibration pattern arrangement 30a.

[0110] In this embodiment, when the corner detection of the original calibration pattern arrangement fails and the corner detection of the redundant calibration pattern arrangement succeeds, the corners of the redundant calibration pattern arrangement are obtained. AVM calibration is performed using the corners of the redundant calibration pattern arrangement, thereby achieving complementarity between the original calibration pattern arrangement and the redundant calibration pattern arrangement when performing corner detection and improving the calibration success rate.

[0111] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0112] Please see Figure 11 , Figure 11 This is a schematic diagram of the structure of an in-vehicle device according to an embodiment of this application. The in-vehicle device 110 includes a memory 1101 and a processor 1102 coupled to each other. The processor 1102 is used to execute program instructions stored in the memory 1101 to implement the steps of the embodiment of the AVM calibration method described above.

[0113] Specifically, processor 1102 controls itself and memory 1101 to implement the steps of the embodiments of the AVM calibration method described above. Processor 1102 may also be referred to as a CPU (Central Processing Unit), and may be an integrated circuit chip with signal processing capabilities. Processor 1102 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor. Furthermore, processor 1102 may be implemented using integrated circuit chips.

[0114] Please see Figure 12 , Figure 12 This is a schematic diagram of the structure of a non-volatile computer-readable storage medium according to an embodiment of this application. The non-volatile computer-readable storage medium 120 is used to store program instructions 1201. When the program instructions 1201 are executed by a processor, for example, when executed by the processor 1102 in the above embodiment, they are used to implement the steps in the embodiment of the AVM calibration method described above.

[0115] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed methods and related devices can be implemented in other ways. For example, the related device implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication disconnection shown or discussed may be indirect coupling or communication disconnection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0117] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0118] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0119] Although this application has been described in conjunction with certain specific embodiments for illustrative purposes, it is not limited thereto. Therefore, various modifications, adaptations, and combinations of features can be made to the described embodiments without departing from the scope of the invention as set forth in the claims.

Claims

1. An AVM calibration method, characterized by, An AVM calibration uses a calibration layout laid around a vehicle, the calibration layout comprising a plurality of original calibration patterns laid around the vehicle and a plurality of redundant calibration patterns corresponding to the plurality of original calibration patterns, the method comprising: determining at least one original calibration pattern in the plurality of original calibration patterns in which corner point detection fails and an original calibration pattern arrangement in which the at least one original calibration pattern is located; acquiring a redundant calibration pattern arrangement from the plurality of redundant calibration patterns, the redundant calibration pattern arrangement being arranged apart from the original calibration pattern arrangement; performing a corner point detection algorithm on the original calibration pattern arrangement and the redundant calibration pattern arrangement to obtain corner points in calibration pattern arrangements in which corner point detection succeeds in the original calibration pattern arrangement and the redundant calibration pattern arrangement, so as to calibrate the AVM using the corner points.

2. The method of claim 1, wherein, The at least one original calibration pattern in the original calibration pattern arrangement is different from a corresponding redundant calibration pattern in the redundant calibration pattern arrangement.

3. The method of claim 1 or 2, wherein, The at least one original calibration pattern comprises a first original calibration pattern and a second original calibration pattern, the first original calibration pattern having a first pattern and the second original calibration pattern having a second pattern; The number of original calibration patterns in the original calibration pattern arrangement is the same as the number of redundant calibration patterns in the redundant calibration pattern arrangement, the pattern of the redundant calibration patterns in the redundant calibration pattern arrangement is the same as the pattern of the original calibration patterns in the original calibration pattern arrangement, and the arrangement order of the redundant calibration pattern arrangement is different from that of the original calibration pattern arrangement, wherein the first pattern is located at an i-th position in the original calibration pattern arrangement, the second pattern is located at a j-th position in the original calibration pattern arrangement, the pattern of a redundant calibration pattern at the i-th position in the redundant calibration pattern arrangement is different from the first pattern, the pattern of a redundant calibration pattern at the j-th position in the redundant calibration pattern arrangement is different from the second pattern, i and j are positive integers greater than 0 and smaller than the number, so that the at least one original calibration pattern is different from the corresponding redundant calibration pattern.

4. The method of claim 2, wherein, The number of original calibration patterns in the original calibration pattern arrangement is different from the number of redundant calibration patterns in the redundant calibration pattern arrangement, the pattern of the redundant calibration patterns in the redundant calibration pattern arrangement is different from the pattern of the original calibration patterns in the original calibration pattern arrangement, so that the at least one original calibration pattern is different from the corresponding redundant calibration pattern.

5. The method of claim 1, wherein, The acquiring the redundant calibration pattern arrangement arranged apart from the original calibration pattern arrangement comprises: determining the redundant calibration pattern arrangement in response to the at least one original calibration pattern in the original calibration pattern arrangement; acquiring the redundant calibration pattern arrangement in response to the redundant calibration pattern arrangement being confirmed to have no reflection.

6. The method of claim 5, wherein, Further comprising: In response to the redundant calibration pattern arrangement being confirmed to reflect light, another redundant calibration pattern arrangement is obtained, which is arranged at a distance from the original calibration pattern arrangement, wherein the number of original calibration patterns in the original calibration pattern arrangement, the number of redundant calibration patterns in the redundant calibration pattern arrangement, and the number of redundant calibration patterns in the other redundant calibration pattern arrangement are the same, and the distance between the original calibration pattern arrangement and the other redundant calibration pattern arrangement is different from the distance between the original calibration pattern arrangement and the redundant calibration pattern arrangement; an angle point detection algorithm is performed on the original calibration pattern arrangement and the other redundant calibration pattern arrangement to obtain angle points of calibration pattern arrangements in which angle point detection is successful in the original calibration pattern arrangement and the other redundant calibration pattern arrangement, so that the angle points are used for AVM calibration; or In response to the redundant calibration pattern arrangement being confirmed to reflect light, the position of the redundant calibration pattern arrangement is adjusted so that the redundant calibration pattern arrangement is confirmed not to reflect light.

7. The method of claim 1, wherein, The redundant calibration pattern arrangement obtained at a distance from the original calibration pattern arrangement comprises: A light-reflecting area around the vehicle is determined to determine a light-reflecting calibration pattern arrangement around the vehicle; According to the light-reflecting calibration pattern arrangement, a distance estimation value between the original calibration pattern arrangement and the light-reflecting calibration pattern arrangement is obtained; According to the distance estimation value, the redundant calibration pattern arrangement is obtained.

8. The method of claim 1, wherein, The angle point detection algorithm performed on the original calibration pattern arrangement and the redundant calibration pattern arrangement comprises: The distance between the original calibration pattern arrangement and the redundant calibration pattern arrangement is obtained, and according to the distance, a point of the redundant calibration pattern arrangement is generated; According to the point of the original calibration pattern arrangement and the point of the redundant calibration pattern arrangement, the original calibration pattern arrangement and the redundant calibration pattern arrangement are detected; In response to successful angle point detection of the original calibration pattern arrangement, angle points of the original calibration pattern arrangement are obtained; In response to failed angle point detection of the original calibration pattern arrangement and successful angle point detection of the redundant calibration pattern arrangement, angle points of the redundant calibration pattern arrangement are obtained.

9. An in-vehicle device characterized by comprising: The program instructions, when executed by the processor, are used to implement the AVM calibration method of any one of claims 1 to 8.

10. A non-transitory computer readable storage medium storing program instructions, the program instructions comprising instructions for: The program instructions, when executed by the processor, are used to implement the AVM calibration method of any one of claims 1 to 8.

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