A calibration system and method for installing a vehicle-mounted camera sensor

Abstract

The present invention provides a calibration system and method for mounting a vehicle-mounted camera sensor, comprising mounting a plurality of cameras on a control arm above a test seat, controlling the test seat to move along a preset route, allowing the camera to capture an image on a calibration plate when facing the calibration plate in the route, and determining the camera position parameters based on the position of the camera on the control arm; acquiring the image captured by the camera, calculating the calibration parameters of the current camera according to the image and the camera position parameters, and completing the calibration of the current camera. The present invention is based on a calibration system for mounting a vehicle-mounted camera sensor, and a similar image can be obtained each time the camera rotates around the calibration plate at a certain angle, and another type or multiple types of images are also present within the angle interval, so that the camera has more image acquisition data for angle value transformation that can be compared when rotating around the calibration plate for one circle, thereby increasing the range of camera angle adjustment, and further making the subsequent calibration of external parameters more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of camera calibration, and in particular to a calibration system and method for installing a vehicle-mounted camera sensor. Background Art

[0002] With the development of the vehicle industry, more and more vehicles are equipped with advanced driver assistance systems or autonomous driving systems, or even autonomous driving. In order to ensure the normal operation of these driving systems, the internal and external parameters of the camera must be calibrated when assembling the vehicle camera.

[0003] At present, when calibrating external parameters, they are adjusted during the driving process of the vehicle, which causes the adjustment of the camera to change with the movement state of the vehicle, resulting in a small adjustable range, a small amount of data that can be collected, and multiple adjustments are required. Therefore, the external parameter calibration is very inconvenient and has poor accuracy. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides a calibration system and method for installing a vehicle-mounted camera sensor to solve the problems raised in the above-mentioned background technology.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a calibration method for installing a vehicle-mounted camera sensor, comprising:

[0008] Installing a plurality of cameras on a control arm above the test seat, controlling the test seat to move along a preset route, allowing the camera to capture an image on the calibration plate when facing the calibration plate in the route, and determining the camera position parameters based on the position of the camera on the control arm;

[0009] Acquire the image captured by the camera, calculate the calibration parameters of the current camera according to the image and the camera position parameters, and complete the calibration of the current camera;

[0010] After the calibration of the current camera is completed, the test seat is replaced with the camera facing the calibration board, and the test seat is moved along a preset route so that the camera facing the calibration board completes the calibration step.

[0011] As a preferred embodiment of this embodiment, the preset line includes a straight line segment and a circular segment, the straight line segment of the preset line is used to complete the calibration of the camera intrinsic parameters, and the circular segment of the preset line is used to complete the calibration of the camera extrinsic parameters.

[0012] As a preferred embodiment of this invention, the circular segment of the preset line is used to complete the calibration of the camera external parameters, and the external parameter calibration process includes:

[0013] Based on the calculated internal parameters, height and distance of the current camera, continuously changing the angle value of the camera when the camera rotates around the calibration plate;

[0014] Based on the calibration plate images taken by the camera at different positions of the circular segment;

[0015] The calibration plate images taken at different positions of the circular segment are classified into the same category if the dispersed sub-calibration plates in different areas of the camera field of view are the same;

[0016] Constructing a camera coordinate system and a world coordinate system, and based on the rigid body transformation between the camera coordinate system and the world coordinate system and the obtained internal parameters of the current camera, calibrating the external parameters of the camera through all images of the same type in the first group of images to obtain a first external parameter;

[0017] Based on the rigid body transformation between the camera coordinate system and the world coordinate system, as well as the obtained internal parameters of the current camera and all images of the same type at the next moment, a secondary calibration of the camera external parameters is performed to obtain a second external parameter;

[0018] The external parameter is optimized based on the first external parameter and the second external parameter.

[0019] As a preference of this embodiment, the angle values ​​of the camera include a yaw angle, a pitch angle and a rotation angle.

[0020] As a preferred embodiment of this embodiment, the rigid body transformation based on the camera coordinate system and the world coordinate system, and the internal parameters of the current camera obtained, calibrate the camera external parameters through all images of the same type of the first group of images, and obtain the first external parameters including:

[0021] Perform feature extraction on all images of the same category in the first group of images to obtain translation vectors and rotation matrices;

[0022] Based on the translation vector and the rotation matrix, an extrinsic parameter matrix is ​​determined, and based on the extrinsic parameter matrix, the extrinsic parameters of the camera are calibrated to obtain a first extrinsic parameter.

[0023] This embodiment also provides a calibration system for installing a vehicle-mounted camera sensor, including a vehicle-mounted camera calibration platform and a calibration subsystem, wherein the calibration subsystem includes a control unit, an acquisition unit, and an analysis and calculation unit;

[0024] The vehicle-mounted camera calibration platform includes a test platform, a calibration board and a test seat, wherein a preset line is arranged on the test platform, a calibration pattern is arranged on the outside of the calibration board, the test seat is used to move along the preset line, a plurality of control arms are arranged on the test seat, the control arms are used to install the camera, the control arms can adjust the height and horizontal position of the camera, the test seat is rotatable, and the control unit is used to control the test seat to move along the predicted line;

[0025] The acquisition unit is used to acquire images collected by the camera currently facing the calibration board during its movement along a preset route, and to acquire parameters of the camera after installation;

[0026] The analysis unit calculates the internal parameters and external parameters of the camera currently facing the calibration board based on the parameters of the camera after installation and the image collected by the camera currently facing the calibration board.

[0027] As a preferred embodiment of this embodiment, the calibration plate is spherical, and a plurality of sub-calibration plates are provided on the outside of the calibration plate. The plurality of sub-calibration plates are combined and arranged in a vertical direction outside the calibration plate. When the camera faces the calibration plate, the plurality of sub-calibration plates are distributed in different areas of the current field of view of the camera, and the plurality of sub-calibration plates are in a W shape or a R shape in the current field of view of the camera.

[0028] As a preferred embodiment of this embodiment, the preset line includes a straight line segment and a circular segment, the straight line segment of the preset line is used to complete the calibration of the camera intrinsic parameters, and the circular segment of the preset line is used to complete the calibration of the camera extrinsic parameters.

[0029] As a preferred embodiment of this embodiment, the analysis unit calculates the external parameters of the camera currently facing the calibration board based on the parameters of the camera after installation and the image collected by the camera currently facing the calibration board, including:

[0030] Based on the calculated internal parameters, height and distance of the current camera, continuously changing the angle value of the camera when the camera rotates around the calibration plate, the angle value of the camera includes a yaw angle, a pitch angle and a rotation angle;

[0031] Based on the calibration plate images taken by the camera at different positions of the circular segment;

[0032] The calibration plate images taken at different positions of the circular segment are classified into the same category if the dispersed sub-calibration plates in different areas of the camera field of view are the same;

[0033] Constructing a camera coordinate system and a world coordinate system, and based on the rigid body transformation between the camera coordinate system and the world coordinate system and the obtained internal parameters of the current camera, calibrating the external parameters of the camera through all images of the same type in the first group of images to obtain a first external parameter;

[0034] Based on the rigid body transformation between the camera coordinate system and the world coordinate system, as well as the obtained internal parameters of the current camera and all images of the same type at the next moment, a secondary calibration of the camera external parameters is performed to obtain a second external parameter;

[0035] The external parameter is optimized based on the first external parameter and the second external parameter.

[0036] As a preferred embodiment of this embodiment, the rigid body transformation based on the camera coordinate system and the world coordinate system, and the internal parameters of the current camera obtained, calibrate the camera external parameters through all images of the same type of the first group of images, and obtain the first external parameters including:

[0037] Perform feature extraction on all images of the same category in the first group of images to obtain translation vectors and rotation matrices;

[0038] Based on the translation vector and the rotation matrix, an extrinsic parameter matrix is ​​determined, and based on the extrinsic parameter matrix, the extrinsic parameters of the camera are calibrated to obtain a first extrinsic parameter.

[0039] (III) Beneficial effects

[0040] The present invention provides a calibration system and method for the installation of a vehicle-mounted camera sensor, which has the following beneficial effects: taking the camera installation position on the required vehicle as a reference, maintaining the camera installation position consistent with that on the vehicle through a test seat and a control arm, and at the same time, a preset line includes a straight line segment and a circular segment, wherein the straight line segment and the circular segment of the set line are respectively used to calibrate the internal parameters and external parameters of the camera. When calibrating the external parameters, the camera will rotate around a calibration plate. During the rotation process, the camera will generate different or the same images due to displacement. At the same time, the angle value of the camera is continuously changed during the rotation process. Based on the collected calibration plate images taken by the camera at different positions of the circular segment, and using dispersed particles in different areas of the camera field of view The calibration plate images taken at different positions of the circular segment are classified in the same way as the same type of calibration plate. At the same time, by constructing a camera coordinate system and a world coordinate system, based on the rigid body transformation of the camera coordinate system and the world coordinate system, and the internal parameters of the current camera obtained, the classified groups of images complete the calibration of the camera and the optimization of the external parameters, and complete the calibration of the car camera before installation. Since the camera is in motion during the calibration process, the driving process of the vehicle can be simulated, and since the calibration plate has multiple viewing angles, and the position of the sub-calibration plate in the camera field of view is the same under different viewing angles, it is conducive to tracking the feature points during the calibration process and maintaining the image consistency of the camera relative to the calibration plate at different positions. The present invention is based on a calibration system installed on a vehicle camera sensor. During the calibration process, a similar image can be obtained every time the camera rotates around the calibration plate at a certain angle. Since the rotation angle takes time, and there are also another type or multiple types of images in the angle interval, the camera has more image acquisition data that can be compared with the angle value transformation when it rotates around the calibration plate for one circle, thereby making the range of camera angle adjustment larger, and then making the subsequent calibration of external parameters more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A flow chart of a calibration method for installing a vehicle-mounted camera sensor according to the present invention;

[0042] Figure 2 This is a schematic diagram of the structure of a vehicle camera calibration platform according to an embodiment of the present invention;

[0043] Figure 3 It is a front view of the calibration plate according to an embodiment of the present invention.

[0044] In the figure: 100 test platform, 200 calibration board, 201 sub-calibration board, 300 preset line, 400 test socket, 500 control arm, 600 camera. DETAILED DESCRIPTION

[0045] The embodiments of the present invention 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0046] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0047] like Figure 1 As shown, an embodiment of the present invention provides a calibration method for installing a vehicle-mounted camera sensor, comprising:

[0048] A plurality of cameras 600 are mounted on the control arm 500 above the test seat 400, and the test seat 400 is controlled to move along a preset line 300, so that the cameras 600 capture images on the calibration plate 200 when facing the calibration plate 200 in the line, and position parameters of the cameras 600 are determined based on the positions of the cameras 600 on the control arm 500;

[0049] The height of the camera 600 on the control arm 500 is equal to the center plane height of the calibration plate 200. Based on the position of the camera 600, the distance between the camera 600 and the calibration plate 200 and the height of the camera 600 are collected. The preset line 300 includes a straight line segment and a circular segment.

[0050] Acquire an image captured by the camera 600, calculate the calibration parameters of the current camera 600 according to the image and the position parameters of the camera 600, and complete the calibration of the current camera 600;

[0051] After completing the calibration of the current camera 600 , the test socket 400 replaces the camera 600 facing the calibration board 200 , and the test socket 400 moves along the preset route 300 , so that the camera 600 facing the calibration board 200 completes the calibration step.

[0052] The internal parameter calibration of the camera 600 is completed in the horizontal section of the preset line 300, including:

[0053] Control the camera 600 to move and take an image of the calibration plate 200;

[0054] Based on Zhang Zhengyou's calibration method and the collected data, i.e., the image, the internal parameters of the camera 600 are calculated and saved.

[0055] The external parameters of the camera 600 are calibrated in the circular segment, including:

[0056] Based on the calculated internal parameters, height and distance of the current camera 600, the angle value of the camera 600 is continuously changed when the camera 600 rotates around the calibration plate 200;

[0057] Based on the images of the calibration plate 200 taken by the camera 600 at different positions of the circular segment;

[0058] Classify the images of the calibration plate 200 taken at different positions of the circular segment, and classify the dispersed sub-calibration plates 201 in different areas of the camera 600 field of view as the same class;

[0059] Constructing the camera 600 coordinate system and the world coordinate system, based on the rigid body transformation between the camera 600 coordinate system and the world coordinate system and the obtained internal parameters of the current camera 600, calibrating the external parameters of the camera 600 through all images of the same type in the first group of images to obtain the first external parameters;

[0060] Based on the rigid body transformation between the camera 600 coordinate system and the world coordinate system, as well as the obtained internal parameters of the current camera 600 and all images of the same type at the next moment, a secondary calibration of the external parameters of the camera 600 is performed to obtain a second external parameter;

[0061] The external parameter is optimized based on the first external parameter and the second external parameter.

[0062] The angle values ​​of the camera 600 include a yaw angle, a pitch angle, and a rotation angle.

[0063] It is understandable that the initial angle value of the camera 600 is recorded as 0.

[0064] Based on the rigid body transformation between the camera 600 coordinate system and the world coordinate system, and the internal parameters of the current camera 600 obtained, the external parameters of the camera 600 are calibrated through all images of the same type in the first group of images, and the first external parameters include:

[0065] Perform feature extraction on all images of the same category in the first group of images to obtain translation vectors and rotation matrices;

[0066] Based on the translation vector and the rotation matrix, an extrinsic parameter matrix is ​​determined, and based on the extrinsic parameter matrix, an extrinsic parameter of the camera 600 is calibrated to obtain a first extrinsic parameter;

[0067] Similarly, based on the rigid body transformation between the camera 600 coordinate system and the world coordinate system, the acquired internal parameters of the current camera 600 and all images of the same type at the next moment are used to perform a secondary calibration of the external parameters of the camera 600, and the method for obtaining the second external parameters is the same as the method for obtaining the first external parameters.

[0068] Visible in Figure 1 In the method flow shown, the present invention takes the installation position of the camera 600 on the required car as a reference, maintains the installation position of the camera 600 consistent with that on the car through the test seat 400 and the control arm 500, and the preset line includes a straight line segment and a circular segment, wherein the straight line segment and the circular segment of the set line are respectively used to calibrate the internal parameters and external parameters of the camera 600. When calibrating the external parameters, the camera 600 will rotate around the calibration plate 200. During the rotation, the camera 600 will generate different or the same images due to the displacement, and continuously change the angle value of the camera 600 during the rotation. Based on the collected images of the calibration plate 200 taken by the camera 600 at different positions of the circular segment, the dispersed sub-calibration plates 201 in different areas of the camera 600 field of view are the same as the same type. The images of the calibration plate 200 taken at different positions of the circular segment are classified in a manner, and at the same time, by constructing the camera 600 coordinate system and the world coordinate system, based on the rigid body transformation between the camera 600 coordinate system and the world coordinate system, and the internal parameters of the current camera 600 are obtained, the calibration of the camera 600 and the optimization of the external parameters are completed through the classified groups of images, and the calibration of the automotive camera 600 before installation is completed. Since the camera 600 is in motion during the calibration process, the driving process of the vehicle can be simulated, and since the calibration plate 200 has multiple viewing angles, and the position of the sub-calibration plate 201 in the field of view of the camera 600 is the same at different viewing angles, it is beneficial to track the feature points during the calibration process and maintain the image consistency of the camera 600 relative to the calibration plate 200 at different positions.

[0069] This embodiment also provides a calibration system for installing a vehicle-mounted camera sensor, including a vehicle-mounted camera calibration platform and a calibration subsystem, wherein the calibration subsystem includes a control unit, an acquisition unit, and an analysis and calculation unit;

[0070] like Figure 2 As shown, the vehicle camera calibration platform includes a test platform 100, a calibration plate 200 and a test seat 400. A preset line 300 is set on the test platform 100, a calibration pattern is set on the outside of the calibration plate 200, and the test seat 400 is used to move along the preset line 300. A plurality of control arms 500 are provided on the test seat 400, and the control arms 500 are used to install a camera 600. The control arms 500 can adjust the height and horizontal position of the camera 600. The test seat 400 is rotatable, and the control unit is used to control the test seat 400 to move along the predicted line.

[0071] The acquisition unit is used to acquire the images collected during the movement of the camera 600 facing the calibration board 200 along the preset line 300, and to acquire the parameters after the camera 600 is installed;

[0072] The analysis unit analyzes and calculates the internal parameters and external parameters of the camera 600 facing the calibration board 200 based on the parameters after the camera 600 is installed and the images collected by the camera 600 facing the calibration board 200.

[0073] Among them, the control arm 500 can adjust the height and horizontal position of the camera 600.

[0074] It should be noted that the control arm 500 is detachably installed above the test seat 400, and by rotating the test seat 400, it can be adjusted which group of cameras faces the calibration board 200.

[0075] In this embodiment, the calibration board 200 is spherical, and a plurality of sub-calibration boards 201 are provided outside the calibration board 200. The plurality of sub-calibration boards 201 are arranged in a vertical combination outside the calibration board 200. When the camera 600 faces the calibration board 200, the plurality of sub-calibration boards 201 are distributed in different regions of the field of view of the current camera 600, and the plurality of sub-calibration boards 201 are in the shape of a king character or a sun character in the field of view of the current camera 600.

[0076] As Figure 3 shown, it is a schematic diagram of a calibration board 200 provided in this embodiment. A plurality of sub-calibration boards 201 are provided outside the calibration board 200. When the camera 600 moves according to the preset line 300, the plurality of sub-calibration boards 201 will be distributed in various regions of the field of view of the camera 600.

[0077] Exemplarily, Figure 3 The positions of the external sub-calibration boards 201 from top to bottom can be successively represented as L1, L2, L3, L4, and L5. When the horizontal center line of the field of view of the camera 600 is aligned with the horizontal center line of L3, during the rotation of the camera 600 around the calibration board 200, the sub-calibration boards 201 in its field of view will change between the shape of a sun character and a king character.

[0078] Among them, there are a total of five groups of sub-calibration boards 201, namely L1-L5. Each group of sub-calibration boards 201 can also be represented as L11, L12......L1n, where n is an integer, and n represents the last group of the highest layer of sub-calibration boards 201. The representation of the remaining sub-calibration boards 201 is the same.

[0079] Based on the above embodiment, the camera 600 can obtain a similar image every time it rotates a certain angle around the calibration plate 200. Since the rotation angle takes time and there are also another type or multiple types of images within the angle interval, the camera 600 has more image acquisition data for comparison of angle value transformations when it rotates around the calibration plate 200 for one circle, thereby making the angle adjustment range of the camera 600 larger, and making the subsequent calibration of external parameters more accurate.

[0080] Exemplarily, the inspiration image of each type of image can be used as the initial point of the camera 600 (the angle value is recorded as 0). In the interval between the repeated appearances of each type of image, the camera angle value can be adjusted multiple times according to the number of image types, thereby increasing the span of the angle value adjustment of the camera 600.

[0081] In this embodiment, the preset line 300 includes a straight line segment and a circular segment. The straight line segment of the preset line 300 is used to complete the calibration of the internal parameters of the camera 600, and the circular segment of the preset line 300 is used to complete the calibration of the external parameters of the camera 600.

[0082] The analysis unit calculates the external parameters of the camera 600 currently facing the calibration board 200 based on the parameters of the camera 600 after installation and the image collected by the camera 600 currently facing the calibration board 200, including:

[0083] Based on the calculated internal parameters, height and distance of the current camera 600, the angle value of the camera 600 is continuously changed when the camera 600 rotates around the calibration plate 200, and the angle value of the camera 600 includes a yaw angle, a pitch angle and a rotation angle;

[0084] Based on the images of the calibration plate 200 taken by the camera 600 at different positions of the circular segment;

[0085] Classify the images of the calibration plate 200 taken at different positions of the circular segment, and classify the dispersed sub-calibration plates 201 in different areas of the camera 600 field of view as the same class;

[0086] Constructing the camera 600 coordinate system and the world coordinate system, based on the rigid body transformation between the camera 600 coordinate system and the world coordinate system and the obtained internal parameters of the current camera 600, calibrating the external parameters of the camera 600 through all images of the same type in the first group of images to obtain the first external parameters;

[0087] Based on the rigid body transformation between the camera 600 coordinate system and the world coordinate system, as well as the obtained internal parameters of the current camera 600 and all images of the same type at the next moment, a secondary calibration of the external parameters of the camera 600 is performed to obtain a second external parameter;

[0088] The external parameter is optimized based on the first external parameter and the second external parameter.

[0089] In this embodiment, based on the rigid body transformation between the camera 600 coordinate system and the world coordinate system, and the internal parameters of the current camera 600 obtained, the external parameters of the camera 600 are calibrated through all images of the same type in the first group of images, and the first external parameters include:

[0090] Perform feature extraction on all images of the same category in the first group of images to obtain translation vectors and rotation matrices;

[0091] Based on the translation vector and the rotation matrix, an extrinsic parameter matrix is ​​determined, and based on the extrinsic parameter matrix, the extrinsic parameters of the camera 600 are calibrated to obtain the first extrinsic parameters.

[0092] It can be understood that based on the rigid body transformation between the camera 600 coordinate system and the world coordinate system, the secondary calibration of the camera 600 external parameters is performed on all images of the same type at the next moment, and the method of obtaining the second external parameters is the same as the method of obtaining the first external parameters.

[0093] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A calibration method for a vehicle-mounted camera sensor installation, characterized in that: including Install a number of cameras on the control arm above the test stand, control the test stand to move along a preset route, so that the cameras capture images on the calibration board when facing the calibration board in the route, and determine the camera position parameters based on the positions of the cameras on the control arm; Obtain the images captured by the cameras, calculate the calibration parameters of the current cameras according to the images and the camera position parameters, and complete the calibration of the current cameras; After completing the calibration of the current cameras, make the test stand replace the cameras facing the calibration board, and execute the step of moving the test stand along a preset route so that the cameras facing the calibration board complete the calibration; The preset route includes a straight line segment and a circular segment. The straight line segment of the preset route is used to complete the calibration of the camera internal parameters, and the circular segment of the preset route is used to complete the calibration of the camera external parameters; The circular segment of the preset route is used to complete the calibration of the camera external parameters. The external parameter calibration process includes: Based on the calculated internal parameters, height measurement, and distance measurement of the current cameras, continuously change the angle values of the cameras when the cameras rotate around the calibration board; Based on the calibration board images captured by the cameras at different positions on the circular segment; Classify the calibration board images captured at different positions on the circular segment, and regard the same scattered sub-calibration boards in different regions of the camera field of view as the same class; Construct a camera coordinate system and a world coordinate system. Based on the rigid body transformation between the camera coordinate system and the world coordinate system, and the obtained current internal parameters of the cameras, calibrate the external parameters of the cameras through all the images of the same class in the first group of images to obtain the first external parameters; Based on the rigid body transformation between the camera coordinate system and the world coordinate system, and the obtained current internal parameters of the cameras and all the images of the same class at the next moment, perform secondary calibration of the external parameters of the cameras to obtain the second external parameters; Optimize the external parameters based on the first external parameters and the second external parameters; The calibration board is spherical, and a number of sub-calibration boards are arranged on the outside of the calibration board. The number of sub-calibration boards are arranged in combination along the vertical direction on the outside of the calibration board. When the cameras face the calibration board, the number of sub-calibration boards are distributed in different regions of the current camera field of view, and the number of sub-calibration boards are in a king shape or a sun shape in the current camera field of view.

2. The calibration method for mounting a vehicle camera sensor according to claim 1, characterized in that: The angle values of the cameras include yaw angle, pitch angle, and roll angle.

3. The calibration method for mounting a vehicle camera sensor according to claim 2, characterized in that: The calibration of the external parameters of the cameras through all the images of the same class in the first group of images based on the rigid body transformation between the camera coordinate system and the world coordinate system, and the obtained current internal parameters of the cameras to obtain the first external parameters includes: Perform feature extraction on all the images of the same class in the first group of images to obtain a translation vector and a rotation matrix; Based on the translation vector and the rotation matrix, determine the external parameter matrix, and calibrate the external parameters of the cameras based on the external parameter matrix to obtain the first external parameters.

4. A calibration system for a vehicle-mounted camera sensor installation, comprising a vehicle-mounted camera calibration platform and a calibration subsystem, characterized in that: The calibration subsystem includes a control unit, an acquisition unit, and an analysis and calculation unit; The in-vehicle camera calibration platform includes a test platform, a calibration board, and a test seat. A preset line is provided on the test platform. A calibration pattern is provided outside the calibration board. The test seat is used to move along the preset line. A number of control arms are provided on the test seat. The control arms are used to mount the camera. The control arms can adjust the height and horizontal position of the camera. The test seat is rotatable. The control unit is used to control the test seat to move along the predicted line; The acquisition unit is used to acquire the images collected during the movement of the camera facing the calibration board along the preset line, and to acquire the parameters after the camera is installed; The analysis unit analyzes and calculates the internal parameters and external parameters of the camera facing the calibration board based on the parameters after the camera is installed and the images collected by the camera facing the calibration board; The preset line includes a straight segment and a circular segment. The straight segment of the preset line is used to complete the calibration of the internal parameters of the camera. The circular segment of the preset line is used to complete the calibration of the external parameters of the camera; The analysis unit analyzes and calculates the external parameters of the camera facing the calibration board based on the parameters after the camera is installed and the images collected by the camera facing the calibration board, including: Based on the calculated internal parameters, height measurement, and distance measurement of the current camera, continuously change the angle value of the camera when the camera rotates around the calibration board. The angle value of the camera includes yaw angle, pitch angle, and roll angle; Based on the calibration board images taken by the camera at different positions on the circular segment; Classify the calibration board images taken at different positions on the circular segment, and regard the same scattered sub-calibration boards in different regions of the camera's field of view as the same class; Construct a camera coordinate system and a world coordinate system. Based on the rigid body transformation between the camera coordinate system and the world coordinate system, and the currently obtained internal parameters of the camera, calibrate the external parameters of the camera through all images of the same class in the first group of images to obtain the first external parameters; Based on the rigid body transformation between the camera coordinate system and the world coordinate system, and the currently obtained internal parameters of the camera and all images of the same class at the next moment, perform secondary calibration of the external parameters of the camera to obtain the second external parameters; Optimize the external parameters based on the first external parameters and the second external parameters; The calibration board is spherical. A number of sub-calibration boards are provided outside the calibration board. The number of sub-calibration boards are arranged in combination in the vertical direction outside the calibration board. When the camera faces the calibration board, the number of sub-calibration boards are distributed in different regions of the current camera's field of view, and the number of sub-calibration boards are in a king shape or a sun shape in the current camera's field of view.

5. The calibration system for mounting a vehicle camera sensor according to claim 4, characterized in that: Based on the rigid body transformation between the camera coordinate system and the world coordinate system, and the currently obtained internal parameters of the camera, calibrate the external parameters of the camera through all images of the same class in the first group of images to obtain the first external parameters, including: Extract features from all images of the same class in the first group of images to obtain a translation vector and a rotation matrix; Based on the translation vector and the rotation matrix, determine the external parameter matrix, and calibrate the external parameters of the camera based on the external parameter matrix to obtain the first external parameters.

Images