Camera target calibration method and system

Abstract

The invention provides a camera calibration method and system, and belongs to the technical field of camera calibration. The method comprises the steps of performing internal reference calibration on a to-be-calibrated camera; arranging the to-be-calibrated camera according to the mode that the plane center normal of the target is perpendicular to the mounting plane of the to-be-calibrated camera; measuring the height deviation and the transverse deviation between the camera to be calibrated and the center of the target; calculating the pixel offset of the height deviation and the transverse deviation in imaging; obtaining a target imaging picture; extracting a target angular point in the target imaging image; calculating a transverse pixel coordinate variable quantity and a vertical pixel coordinate variable quantity corresponding to the course angle and the pitch angle according to the extracted target angular point coordinate and the pixel offset; and calculating a course angle and a pitch angle of the to-be-calibrated camera according to the transverse pixel coordinate variable quantity and the vertical pixel coordinate variable quantity, and performing external parameter calibration on the to-be-calibrated camera. The method can reduce the influence of manual placement precision and angular point extraction precision, and improves the camera calibration precision.

Description

Technical Field

[0001] The present invention relates to the technical field of camera calibration, and in particular to a camera target calibration method and system. Background Art

[0002] In the intelligent driving system, the final result of visual perception needs to be converted from pixels to the vehicle coordinate system, that is, the output target and lane line information are all information in the vehicle coordinate system. In order to obtain the mapping relationship between the camera and the physical world and obtain the rotation and translation matrix, it is necessary to calibrate the camera external parameters.

[0003] The external parameter calibration mainly designs the calibration of the translation matrix and the rotation matrix. The parameters involved in the translation matrix can be obtained through manual measurement, while the three rotation angles involved in the rotation matrix need to be obtained through camera calibration. The accuracy of the external parameters directly affects the accuracy of the camera's output distance and speed measurement in actual applications.

[0004] The current mainstream extrinsic calibration method is to use the PnP calibration algorithm. The core of the PnP calibration algorithm is to use the projection of some known 3D points in the image to infer the camera's extrinsic parameter matrix, namely the rotation matrix and translation matrix.

[0005] However, in practical applications, the traditional PnP calibration algorithm is easily affected by the artificial placement accuracy and corner point extraction accuracy, which in turn affects the camera calibration accuracy. Summary of the invention

[0006] The main purpose of the present invention is to provide a camera target calibration method and system to solve the problem that the traditional PnP calibration algorithm in the prior art is easily affected by the artificial placement accuracy state and corner point extraction accuracy in practical applications, thereby affecting the camera calibration accuracy.

[0007] In order to achieve the above object, according to one aspect of the present invention, a camera target calibration method is provided, comprising:

[0008] S1: perform internal calibration on the camera to be calibrated;

[0009] S2: Arranging the cameras to be calibrated in such a manner that the center normal of the target plane is perpendicular to the installation plane of the cameras to be calibrated;

[0010] S3: measuring the height deviation and lateral deviation between the camera to be calibrated and the center of the target;

[0011] S4: Calculate the pixel offset of the height deviation and the lateral deviation in the imaging according to the principle of similar triangles;

[0012] S5: Acquire target imaging picture;

[0013] S6: extracting target corner points in the target imaging image;

[0014] S7: Calculating the horizontal pixel coordinate change and the vertical pixel coordinate change corresponding to the heading angle and the pitch angle according to the extracted target corner point coordinates and the pixel offset;

[0015] S8: Calculate the heading angle and the pitch angle of the camera to be calibrated according to the horizontal pixel coordinate change and the vertical pixel coordinate change, and perform extrinsic calibration on the camera to be calibrated.

[0016] According to one aspect of the present invention, a camera target calibration system is provided, comprising:

[0017] The internal parameter calibration module is used to perform internal parameter calibration on the camera to be calibrated;

[0018] An arrangement module, used to arrange the cameras to be calibrated in a manner that the center normal of the target plane is perpendicular to the installation plane of the cameras to be calibrated;

[0019] A measuring module, used to measure the height deviation and lateral deviation between the camera to be calibrated and the center of the target;

[0020] A first calculation module, used for calculating the pixel offset of the height deviation and the lateral deviation in imaging according to the principle of similar triangles;

[0021] An acquisition module is used to acquire target imaging images;

[0022] An extraction module, used for extracting target corner points in the target imaging image;

[0023] A second calculation module is used to calculate the horizontal pixel coordinate change and the vertical pixel coordinate change corresponding to the heading angle and the pitch angle according to the extracted target corner point coordinates and the pixel offset;

[0024] The external parameter calibration module is used to calculate the heading angle and the pitch angle of the camera to be calibrated according to the horizontal pixel coordinate change and the vertical pixel coordinate change, and perform external parameter calibration on the camera to be calibrated.

[0025] By applying the technical solution of the present invention, the camera to be calibrated can be arranged in a manner that the normal of the center of the target plane is perpendicular to the installation plane of the camera to be calibrated, and the height deviation and lateral deviation between the camera to be calibrated and the center of the target caused by artificial placement can be measured. According to the principle of similar triangles, the pixel offset of the height deviation and the lateral deviation in the imaging can be calculated. Then, the pixel offset is integrated and the coordinates of the target corner points are extracted to calculate the heading angle and pitch angle of the camera to be calibrated. The camera to be calibrated is calibrated with external parameters, which can reduce the influence of artificial placement accuracy and corner point extraction accuracy, and improve the camera calibration accuracy.

[0026] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 A schematic diagram of a process of a camera target calibration method provided by an embodiment of the present invention is shown;

[0029] Figure 2 A schematic diagram of camera target calibration provided by an embodiment of the present invention is shown;

[0030] Figure 3 A schematic diagram of a target imaging screen provided by an embodiment of the present invention is shown;

[0031] Figure 4 A schematic structural diagram of a camera target calibration system provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] Reference Manual Attached Figure 1 , which shows a flow chart of a camera target calibration method provided by an embodiment of the present invention.

[0037] Reference Manual Attached Figure 2 , showing a schematic diagram of a camera target calibration provided by an embodiment of the present invention.

[0038] Reference Manual Attached Figure 3 , showing a schematic diagram of a target imaging screen provided by an embodiment of the present invention.

[0039] First, the principle of the present invention is introduced. Assume that the camera is installed at an angle of 0 and is aligned with the target height. Therefore, its center falls on the normal line passing through the center of the target plane (such as Figure 2 As shown in the figure, the vanishing line in the camera image passes through the center point of the camera and the center of the target in the picture. Each corner point on the midline of the left and right targets (such as Figure 3 When the camera is installed at an angle, that is, the pitch angle is not 0, the vanishing line moves up or down by Δv. When the heading angle yaw is not 0, all the detected corner points on the vanishing line move left or right by Δu (as shown in the dashed lines 1, 2, and 3 in the lower middle). Figure 3 The camera heading angle yaw and pitch angle pitch can be calculated by obtaining the offsets Δu and Δv from the assumed position.

[0040] An embodiment of the present invention provides a camera target calibration method, comprising:

[0041] S1: Perform internal calibration on the camera to be calibrated.

[0042] Specifically, the internal parameter calibration of the camera to be calibrated may be performed by manual measurement. This part is a very mature prior art and will not be described in detail in the present invention.

[0043] S2: Arrange the cameras to be calibrated in such a way that the center normal of the target plane is perpendicular to the installation plane of the cameras to be calibrated.

[0044] Specifically, it is assumed that the camera is installed at each angle of 0 and is aligned with the target height, so that its center falls on the normal passing through the center of the target plane.

[0045] It should be noted that when the center height of the camera and the target are consistent, the centers are aligned, and the camera is installed at an angle of 0, any height deviation and lateral deviation can be calculated by simple geometric relationships to calculate the pixel offset in the image. This method can reduce the system error caused by inaccurate corner point extraction and camera layout.

[0046] S3: Measure the height deviation and lateral deviation between the camera to be calibrated and the center of the target.

[0047] S4: According to the principle of similar triangles, the pixel offset of the height deviation and the lateral deviation in the imaging is calculated.

[0048] It should be noted that by calculating the pixel offset using the principle of similar triangles, the actual physical deviation can be accurately mapped to the image plane. This calculation method is simple and intuitive and can provide high calculation accuracy.

[0049] In a possible implementation manner, the pixel offsets of the height deviation and the lateral deviation in the image are specifically:

[0050]

[0051] Among them, u offset Indicates the pixel offset of the lateral deviation in the target imaging image, v offset Indicates the pixel offset of the height deviation in the target imaging image, f x Indicates the horizontal focal length of the camera, f y represents the vertical focal length of the camera, Δl represents the lateral deviation, Δh represents the height deviation, and d represents the longitudinal distance from the camera to be calibrated to the target.

[0052] It should be noted that the offset calculated by translation can make the target imaging meet the assumption that when the camera installation angles are 0, the vanishing line passes through the center point of the camera and the center of the target in the picture, and each corner point on the midline of the left and right targets. Making the target imaging meet the assumption that the vanishing line passes through the center point of the camera and the center of the target can ensure that the geometric relationship in the image meets expectations when the camera installation angle is 0. This is very important for subsequent image processing and analysis, especially in applications with high precision requirements such as autonomous driving, where accurate geometric calibration can significantly improve the overall performance of the perception system.

[0053] S5: Acquire target imaging images.

[0054] S6: Extract target corner points in the target imaging image.

[0055] Specifically, the corner detection function in OpenCV can be called to extract the target corner points in the target imaging image.

[0056] S7: Calculate the horizontal pixel coordinate change and the vertical pixel coordinate change corresponding to the heading angle and the pitch angle according to the extracted target corner point coordinates and pixel offset.

[0057] In a possible implementation manner, the horizontal pixel coordinate change amount and the vertical pixel coordinate change amount are specifically:

[0058]

[0059] Where Δu represents the horizontal pixel coordinate change, Δv represents the vertical pixel coordinate change, (c x ,c y ) represents the coordinates of the center point of the target imaging screen, (u i ,v i ) represents the coordinates of the i-th target corner point, n represents the total number of target corner points, u offset Indicates the pixel offset of the lateral deviation in the target imaging image, v offset Indicates the pixel offset of the height deviation in the target imaging image.

[0060] In the present invention, by calculating the average coordinates of all target corner points and combining the pre-calculated pixel offsets to calculate the horizontal and vertical pixel coordinate changes, the accuracy, robustness and efficiency of the external parameter calibration can be effectively improved, the impact of human errors can be reduced, and the consistency and reliability of the calibration results can be ensured, thereby improving the overall performance of the visual perception system in practical applications.

[0061] In a possible implementation, the target is a centrally symmetrical figure, and the target includes a left target and a right target, and the left target and the right target each have n / 2 target corner points, where n represents the total number of target corner points. Figure 3In the figure, the left target and the right target each have 10 target corner points.

[0062] S8: Calculate the heading angle and pitch angle of the camera to be calibrated according to the horizontal pixel coordinate change and the vertical pixel coordinate change, and perform external parameter calibration on the camera to be calibrated.

[0063] In a possible implementation, the heading angle and pitch angle of the camera to be calibrated are specifically:

[0064]

[0065] Among them, yaw represents the heading angle, pitch represents the pitch angle, Δu represents the horizontal pixel coordinate change, Δv represents the vertical pixel coordinate change, and f x Indicates the horizontal focal length of the camera, f y Indicates the vertical focal length of the camera.

[0066] In the present invention, by calculating the horizontal and vertical pixel coordinate changes and using the inverse tangent function to calculate the heading angle and pitch angle, high-precision and low-error camera extrinsic calibration can be achieved. This method is simple and easy to implement, suitable for a variety of practical application scenarios, and is an effective extrinsic calibration method.

[0067] From the above description, it can be seen that the camera target calibration method provided by the present invention can arrange the camera to be calibrated in a manner that the normal of the center of the target plane is perpendicular to the installation plane of the camera to be calibrated, measure the height deviation and lateral deviation between the camera to be calibrated and the center of the target due to artificial placement, and calculate the pixel offset of the height deviation and the lateral deviation in the imaging according to the principle of similar triangles. Then, the pixel offset is integrated and the coordinates of the target corner points are extracted to calculate the heading angle and pitch angle of the camera to be calibrated. The camera to be calibrated is calibrated with external parameters, which can reduce the influence of artificial placement accuracy and corner point extraction accuracy, and improve the camera calibration accuracy.

[0068] Reference Manual Attached Figure 4 , shows a structural schematic diagram of a camera target calibration system provided by an embodiment of the present invention.

[0069] The embodiment of the present invention provides a camera target calibration system 20, comprising:

[0070] An internal parameter calibration module 201 is used to perform internal parameter calibration on the camera to be calibrated;

[0071] Arrangement module 202, used to arrange the cameras to be calibrated in a manner that the center normal of the target plane passes through the center of the cameras to be calibrated;

[0072] A measuring module 203 is used to measure the height deviation and lateral deviation between the camera to be calibrated and the center of the target;

[0073] A first calculation module 204 is used to calculate the pixel offset of the height deviation and the lateral deviation in the imaging according to the principle of similar triangles;

[0074] An acquisition module 205 is used to acquire a target imaging picture;

[0075] An extraction module 206, used to extract target corner points in the target imaging image;

[0076] The second calculation module 207 is used to calculate the horizontal pixel coordinate change amount and the vertical pixel coordinate change amount corresponding to the heading angle and the pitch angle according to the extracted target corner point coordinates and the pixel offset;

[0077] The external parameter calibration module 208 is used to calculate the heading angle and the pitch angle of the camera to be calibrated according to the horizontal pixel coordinate change amount and the vertical pixel coordinate change amount, and perform external parameter calibration on the camera to be calibrated.

[0078] In a possible implementation manner, the pixel offsets of the height deviation and the lateral deviation in the image are specifically:

[0079]

[0080] Among them, u offset Indicates the pixel offset of the lateral deviation in the target imaging image, v offset Indicates the pixel offset of the height deviation in the target imaging image, f x Indicates the horizontal focal length of the camera, f y represents the vertical focal length of the camera, Δl represents the lateral deviation, Δh represents the height deviation, and d represents the longitudinal distance from the camera to be calibrated to the target.

[0081] In a possible implementation manner, the horizontal pixel coordinate change amount and the vertical pixel coordinate change amount are specifically:

[0082]

[0083] Where Δu represents the horizontal pixel coordinate change, Δv represents the vertical pixel coordinate change, (c x ,c y ) represents the coordinates of the center point of the target imaging screen, (u i ,v i ) represents the coordinates of the i-th target corner point, n represents the total number of target corner points, u offset Indicates the pixel offset of the lateral deviation in the target imaging image, v offset Indicates the pixel offset of the height deviation in the target imaging image.

[0084] In a possible implementation, the target is a centrally symmetrical figure, and the target includes a left target and a right target, and the left target and the right target each have n / 2 target corner points, where n represents the total number of target corner points.

[0085] In a possible implementation manner, the heading angle and pitch angle of the camera to be calibrated are specifically:

[0086]

[0087] Among them, yaw represents the heading angle, pitch represents the pitch angle, Δu represents the horizontal pixel coordinate change, Δv represents the vertical pixel coordinate change, and f x Indicates the horizontal focal length of the camera, f y Indicates the vertical focal length of the camera.

[0088] The camera target calibration system 20 provided in the embodiment of the present invention can implement each step in the above-mentioned camera target calibration method and can obtain the same technical effect. To avoid repetition, the present invention will not go into details.

[0089] From the above description, it can be seen that the camera target calibration system provided by the present invention can arrange the camera to be calibrated in a manner that the normal of the center of the target plane is perpendicular to the installation plane of the camera to be calibrated, measure the height deviation and lateral deviation between the camera to be calibrated and the center of the target caused by artificial placement, and calculate the pixel offset of the height deviation and the lateral deviation in the imaging according to the principle of similar triangles. Then, the pixel offset is integrated and the coordinates of the target corner points are extracted to calculate the heading angle and pitch angle of the camera to be calibrated. The camera to be calibrated is calibrated with external parameters, which can reduce the influence of artificial placement accuracy and corner point extraction accuracy, and improve the camera calibration accuracy.

[0090] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0091] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0092] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A camera target calibration method, characterized in that: include: S1: perform internal calibration on the camera to be calibrated; S2: Arranging the cameras to be calibrated in such a manner that the center normal of the target plane is perpendicular to the installation plane of the cameras to be calibrated; S3: measuring the height deviation and lateral deviation between the camera to be calibrated and the center of the target; S4: Calculate the pixel offset of the height deviation and the lateral deviation in the imaging according to the principle of similar triangles; S5: Acquire target imaging picture; S6: extracting target corner points in the target imaging image; S7: Calculating the horizontal pixel coordinate change and the vertical pixel coordinate change corresponding to the heading angle and the pitch angle according to the extracted target corner point coordinates and the pixel offset; S8: Calculate the heading angle and the pitch angle of the camera to be calibrated according to the horizontal pixel coordinate change and the vertical pixel coordinate change, and perform extrinsic calibration on the camera to be calibrated.

2. The camera target calibration method according to claim 1, characterized in that: The pixel offsets of the height deviation and the lateral deviation in the image are specifically: Among them, u offset Indicates the pixel offset of the lateral deviation in the target imaging image, v offset Indicates the pixel offset of the height deviation in the target imaging image, f x Indicates the horizontal focal length of the camera, f y represents the vertical focal length of the camera, Δl represents the lateral deviation, Δh represents the height deviation, and d represents the longitudinal distance from the camera to be calibrated to the target.

3. The camera target calibration method according to claim 2, characterized in that: The horizontal pixel coordinate variation and the vertical pixel coordinate variation are specifically: Where Δu represents the horizontal pixel coordinate change, Δv represents the vertical pixel coordinate change, (c x ,c y ) represents the center coordinate of the target imaging screen, (u i ,v i ) represents the coordinates of the i-th target corner point, n represents the total number of target corner points, u offset Indicates the pixel offset of the lateral deviation in the target imaging image, v offset Indicates the pixel offset of the height deviation in the target imaging image.

4. The camera target calibration method according to claim 3, characterized in that: The target is a centrally symmetrical figure, and the target includes a left target and a right target. The left target and the right target each have n / 2 target corner points, and n represents the total number of target corner points.

5. The camera target calibration method according to claim 3, characterized in that: The heading angle and pitch angle of the camera to be calibrated are specifically: Among them, yaw represents the heading angle, pitch represents the pitch angle, Δu represents the horizontal pixel coordinate change, Δv represents the vertical pixel coordinate change, and f x Indicates the horizontal focal length of the camera, f y Indicates the vertical focal length of the camera.

6. A camera target calibration system, characterized in that: include: The internal parameter calibration module is used to perform internal parameter calibration on the camera to be calibrated; An arrangement module, used to arrange the cameras to be calibrated in a manner that the center normal of the target plane is perpendicular to the installation plane of the cameras to be calibrated; A measuring module, used to measure the height deviation and lateral deviation between the camera to be calibrated and the center of the target; A first calculation module, used for calculating the pixel offset of the height deviation and the lateral deviation in imaging according to the principle of similar triangles; An acquisition module, used to acquire target imaging images; An extraction module, used for extracting target corner points in the target imaging image; A second calculation module is used to calculate the horizontal pixel coordinate change and the vertical pixel coordinate change corresponding to the heading angle and the pitch angle according to the extracted target corner point coordinates and the pixel offset; The external parameter calibration module is used to calculate the heading angle and the pitch angle of the camera to be calibrated according to the horizontal pixel coordinate change and the vertical pixel coordinate change, and perform external parameter calibration on the camera to be calibrated.

7. The camera target calibration system according to claim 6, characterized in that: The pixel offsets of the height deviation and the lateral deviation in the image are specifically: Among them, u offset Indicates the pixel offset of the lateral deviation in the target imaging image, v offset Indicates the pixel offset of the height deviation in the target imaging image, f x Indicates the horizontal focal length of the camera, f y represents the vertical focal length of the camera, Δl represents the lateral deviation, Δh represents the height deviation, and d represents the longitudinal distance from the camera to be calibrated to the target.

8. The camera target calibration system according to claim 7, characterized in that: The horizontal pixel coordinate variation and the vertical pixel coordinate variation are specifically: Where Δu represents the horizontal pixel coordinate change, Δv represents the vertical pixel coordinate change, (c x ,c y ) represents the center coordinate of the target imaging screen, (u i ,v i ) represents the coordinates of the i-th target corner point, n represents the total number of target corner points, u offset Indicates the pixel offset of the lateral deviation in the target imaging image, v offset Indicates the pixel offset of the height deviation in the target imaging image.

9. The camera target calibration system according to claim 8, characterized in that: The target is a centrally symmetrical figure, and the target includes a left target and a right target. The left target and the right target each have n / 2 target corner points, and n represents the total number of target corner points.

10. The camera target calibration system according to claim 8, characterized in that: The heading angle and pitch angle of the camera to be calibrated are specifically: Among them, yaw represents the heading angle, pitch represents the pitch angle, Δu represents the horizontal pixel coordinate change, Δv represents the vertical pixel coordinate change, and f x Indicates the horizontal focal length of the camera, f y Indicates the vertical focal length of the camera.

Images