Visual perception area calibration method and system

Abstract

The invention provides a visual perception area calibration method and system, and the system multiplexes an optical port and an optical sensing module, judges whether the vibration state of a camera affects a visual recognition function or not through an optical signal, and specifically determines the visual angle deviation information of the camera according to polarized light information. The visual perception area of the camera is calibrated according to the offset state, and whether the camera generates visual offset due to vibration or not is judged through system integration, so that the visual perception area is automatically reset, field operation of operation and maintenance personnel is not needed, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to visual perception technology, and in particular to a visual perception area calibration method and system. Background Art

[0002] In the fields of modern intelligent monitoring, autonomous driving, industrial automation, etc., cameras, as core perception devices, undertake important tasks such as real-time collection of environmental information, target recognition and tracking. However, the visual perception area of ​​the camera will be affected by many factors, such as the device installation position, angle changes, lens distortion, etc. These factors may cause the camera's perception area to deviate from the predetermined position, thereby affecting image quality and recognition accuracy.

[0003] Calibration of the visual perception area of ​​the camera is a key step to ensure the stable and accurate operation of the visual system. As cameras are increasingly used in complex environments, the area they need to cover usually has large dynamic changes. Especially when they need to run for a long time or face physical shocks (such as collisions, vibrations, etc.), the camera's installation angle, focal length and field of view may shift. Therefore, in order to restore and optimize the camera's perception accuracy, effective visual perception area calibration is necessary.

[0004] Although some cameras can currently refocus the image within a certain range, they are still unable to automatically complete the reset when unattended and are more dependent on on-site operations by operation and maintenance personnel. Summary of the invention

[0005] Based on this, the present invention aims to propose a visual perception area calibration method and system, which utilizes the optical transmission port of an intelligent camera to sense the collision vibration of the visual perception area of ​​the camera, automatically refocus, and reset the visual perception area of ​​the camera.

[0006] In a first aspect, the present invention provides a visual perception area calibration system, including an optical access and sensing module, an offset analysis module, and an optical calibration module;

[0007] The optical access and sensing module is used to obtain polarized light information;

[0008] The offset analysis module is used to determine the viewing angle offset information of the camera according to the polarized light information;

[0009] The optical calibration module is used to calibrate the visual perception area of ​​the camera according to the viewing angle offset information.

[0010] In a second aspect, the present invention provides a visual perception area calibration method, comprising:

[0011] Obtain polarization information;

[0012] Determining the offset state of the camera based on the polarization information;

[0013] The visual perception area of ​​the camera is calibrated according to the offset state.

[0014] Furthermore, obtaining polarization information includes:

[0015] Obtain real-time optical signals;

[0016] Extract the polarization characteristics of the optical signal.

[0017] Further, determining the offset state of the camera according to the polarization information includes:

[0018] Performing time-frequency transformation on the polarization characteristics of the optical signal to calculate the characteristic conversion value;

[0019] Compare the feature conversion value with the preset threshold value to generate a vibration state result;

[0020] The offset state of the camera is determined based on the vibration state result.

[0021] Further, calibrating the visual perception area of ​​the camera according to the offset state includes:

[0022] When the offset state indicates that vibration affects the visual perception of the camera, the following visual perception area calibration process is performed:

[0023] Obtaining pre-configuration information of the visual perception area;

[0024] Re-focus the optics according to pre-configured information;

[0025] Reset the visual perception area so that the visual image of the camera meets the preset perception conditions.

[0026] Further, resetting the visual perception area so that the visual picture of the camera meets the preset perception condition includes:

[0027] Reset the visual offset angle of the visual perception area;

[0028] Compare the reset visual offset angle with the preset offset allowable value. If the reset visual offset angle does not exceed the preset offset allowable value, store the configuration information of the current visual perception area. Otherwise, repeat the steps of resetting the visual offset angle of the visual perception area until the number of resets reaches the preset value.

[0029] Furthermore, the polarization characteristics of the optical signal include light attenuation, phase, wavelength, polarization, mode field distribution and propagation time.

[0030] In a third aspect, the present invention provides a visual perception area calibration device, comprising:

[0031] A light information acquisition module, used for acquiring polarized light information;

[0032] An offset analysis module, used to determine the offset state of the camera based on polarized light information;

[0033] The calibration module is used to calibrate the visual perception area of ​​the camera according to the offset state.

[0034] In a fourth aspect, the present invention further provides an optical camera, which is equipped with the visual perception area calibration device as described in the third aspect.

[0035] In a fifth aspect, the present invention provides an electronic device, comprising a memory storing computer executable instructions and a processor, wherein when the computer executable instructions are executed by the processor, the device executes the various steps of the visual perception area calibration method provided in the second aspect.

[0036] The present invention also provides a readable storage medium storing a computer executable program, which, when executed, can implement the various steps of the visual perception area calibration method provided in the first aspect.

[0037] It can be seen from the above technical solutions that the present invention has the following beneficial effects:

[0038] The present invention provides a visual perception area calibration method and system, wherein the system multiplexes optical ports and optical sensor modules, determines whether the vibration state of a camera affects a visual recognition function through optical signals, specifically determines the viewing angle offset information of the camera based on polarized light information, calibrates the visual perception area of ​​the camera based on the offset state, and through system integration, determines whether the camera has visual offset due to vibration, thereby automatically resetting the visual perception area, eliminating the need for on-site operations by operation and maintenance personnel, and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0040] Figure 1 It is a visual perception area calibration system architecture provided by an embodiment of the present invention;

[0041] Figure 2 is a flow chart of a method for implementing a visual perception area calibration method provided by an embodiment of the present invention;

[0042] Figure 3 is a structural schematic diagram of a visual perception area calibration device provided by an embodiment of the present invention;

[0043] Figure 4 This is a diagram of the electronic device architecture provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0045] See also Figure 1 An embodiment of the present invention provides a visual perception area calibration system, including a light access and sensing module 102, an offset analysis module 104 and an optical calibration module 106.

[0046] The optical access and sensing module 102 is used to obtain polarized light information;

[0047] The offset analysis module 104 is used to determine the camera's viewing angle offset information according to the polarized light information;

[0048] The optical calibration module 106 is used to calibrate the visual perception area of ​​the camera according to the viewing angle offset information.

[0049] Specifically, the optical access and sensing module 102 is responsible for collecting optical signals from the environment and passing them to subsequent analysis and processing modules, obtaining polarized light information through optical sensors, and providing image or data input for further analysis by the system. Exemplarily, light intensity information in different directions is obtained through a polarization filter or a polarization array, and polarization characteristics in the image are recorded; or, environmental information such as light intensity and reflectivity within the camera's field of view is collected to construct the optical characteristics of the image. In addition, it can also be combined with a traditional image acquisition module to obtain ordinary or multi-channel image data. The polarized light information obtained by the optical access and sensing module 102 may include optical parameters such as the degree of polarization and polarization angle of the optical signal.

[0050] The offset analysis module 104 receives the optical signal data from the optical access and sensing module 102, and performs offset analysis to detect the camera's viewing angle change or the offset of the sensing area. Its goal is to identify the camera's angle deviation and calculate the visual area change caused by it. In a specific embodiment, it is responsible for connecting the camera to the visual networking platform, receiving the pre-configured information of the visual networking platform on vibration perception, and performing the viewing angle offset calculation on the polarized light information fed back by the optical access and sensing module 102 according to the pre-configured information.

[0051] The optical calibration module 106 performs automatic calibration of the camera according to the detection results of the offset analysis module 104 to ensure that its visual perception area is restored to normal. The module can adjust the position and angle of the camera based on error feedback, or compensate in image processing. Specifically, it can restore the normal visual perception area through visual adjustment at the physical position, such as adjusting the physical position or angle of the camera; or compensate from the image, such as correcting the visual deviation caused by the angle change through image processing algorithms (such as perspective transformation, distortion correction, etc.).

[0052] See also Figure 2 An embodiment of the present invention provides a visual perception area calibration method, comprising the following steps:

[0053] Step S210: Obtain polarization information.

[0054] The polarization information obtained in this step includes the polarization state of the light signal, which is used to help analyze changes in the camera's viewing angle and perception area. Polarization filters or polarization arrays can be used to capture the light intensity distribution in different directions (horizontal, vertical, or 45 degrees, etc.), collect the degree of polarization (DoP) and angle of polarization (AoP) in the scene, and convert them into image data to generate a degree of polarization image.

[0055] In a further embodiment, step S210 includes the following steps:

[0056] Step S211: Acquire real-time optical signals.

[0057] In this step, the light signals in the scene can be collected in real time by sensors or camera systems, especially the optical phenomena caused by reflection and scattering. These light signals contain key information about the scene objects and their surface characteristics. For the detection of polarized light, it is first necessary to obtain light signals in different directions and different polarization states.

[0058] Step S212: Extract polarization characteristics of the optical signal.

[0059] Specifically, the polarization characteristics of the optical signal include light attenuation, phase, wavelength, polarization, mode field distribution and propagation time. A more preferred implementation method can perform some preprocessing on the optical signal, such as signal amplification, noise reduction, etc., and then extract the polarization characteristics of the optical signal.

[0060] Step S220: Determine the offset state of the camera according to the polarization information.

[0061] This step can obtain the time series data of the polarization characteristics of the optical signal, perform time-frequency transformation on it to calculate the characteristic conversion value, compare the characteristic conversion value with a preset threshold, generate a vibration state result, and determine the offset state of the camera according to the vibration state result.

[0062] Specifically, by performing a time-frequency transformation on the polarization characteristics of the collected optical signal, the time-varying characteristics and frequency characteristics of the signal are extracted. These characteristics help reveal the changes of the optical signal in different time scales and frequency ranges, so as to respond to whether the camera is vibrating or other dynamic changes. The preset vibration threshold is usually based on the normal working conditions of the experimental data or the scene, and is set to a boundary that can distinguish between vibration and static state, such as frequency fluctuation threshold, energy change threshold, amplitude change threshold, etc. The calculated feature conversion value is compared with the preset threshold to determine whether it exceeds the vibration threshold. If the threshold is exceeded, the camera is considered to be in a vibration state, otherwise the camera is considered to be in a static state. The vibration state can indicate whether the camera has shifted, and the shift state describes the angle change of the camera or the shift of the visual area. The vibration state of the camera is usually related to its physical shift. For example, strong vibration may cause the camera's viewing angle to shift, while slight vibration may only affect the image quality, but may not necessarily cause obvious shift.

[0063] In terms of examples, the vibration status is represented by True and False. If the result is True, it means that the camera is vibrating and has affected normal visual perception. If the result is False, it means that the camera is vibrating but has not affected normal visual recognition. You can continue to monitor the light signal without adjusting the camera's viewing angle offset for the time being.

[0064] Step S230: Calibrate the visual perception area of ​​the camera according to the offset state.

[0065] After determining the offset state, calibrate the visual perception area of ​​the camera based on the analysis results. This process may include adjusting the position and angle of the camera, or correcting the visual perception area through image compensation technology. For example, if the camera is adjustable (such as a PTZ camera), adjust the pitch angle, horizontal angle, etc. of the camera according to the offset to restore the correct viewing angle; if the camera cannot be physically adjusted, the deviation in the image can be corrected through image processing algorithms, such as perspective transformation, image correction, etc. Use the internal and external parameter information of the camera and combine it with the offset state for geometric correction. If there are continuous dynamic changes in the environment (such as vibration and collision), the real-time polarized light information can be used to continuously calibrate and correct the camera to ensure that the perception area is always accurate.

[0066] Specifically, when the offset state indicates that the vibration affects the visual perception of the camera, the following visual perception area calibration is performed:

[0067] Obtaining pre-configuration information of the visual perception area;

[0068] Re-focus the optics according to pre-configured information;

[0069] Reset the visual perception area so that the visual image of the camera meets the preset perception conditions.

[0070] Before any calibration operation, you need to obtain the pre-configuration information of the camera in normal state, which includes the parameters of the camera's visual perception area and the setting values ​​that can meet the perception requirements under standard working conditions, such as field of view, focal length, resolution, sensitivity, lens distortion correction parameters, etc. After obtaining the pre-configuration information,

[0071] Re-focus the camera optically according to the pre-configured information to restore the best imaging effect of the camera. Vibration or offset may cause the focus of the camera to shift, so the lens must be readjusted. Optical focus can be achieved by using an autofocus system, manual focus, or a focus algorithm.

[0072] After completing the optical focus, the visual perception area of ​​the camera needs to be reset to ensure that the camera's viewing angle, focus, exposure and other settings are restored to normal working conditions and meet the preset perception conditions. Specifically, the camera's field of view is reset through mechanical adjustment or digital zoom to ensure that the camera can capture the predetermined area. For example, if the camera's field of view is offset due to vibration, resetting the field of view can ensure that the camera refocuses on the important area; the camera's lens may be offset or lose stability due to vibration, so it is necessary to adjust the stability of the lens through sensor feedback to restore the original perception area; if the vibration causes the image to be distorted, the camera needs to use the built-in image processing algorithm to correct the image distortion to ensure that the image meets the expected geometric shape.

[0073] In a further embodiment, resetting the visual perception area so that the visual picture of the camera meets the preset perception condition includes:

[0074] Reset the visual offset angle of the visual perception area;

[0075] Compare the reset visual offset angle with the preset offset allowable value. If the reset visual offset angle does not exceed the preset offset allowable value, store the configuration information of the current visual perception area. Otherwise, repeat the steps of resetting the visual offset angle of the visual perception area until the number of resets reaches the preset value.

[0076] The deviation angle of the camera's visual area often has a standard value. Through a large amount of data, a curve of polarization characteristic frequency and viewing angle offset can be obtained. By comparing the reset visual offset angle with the preset offset allowable value, the camera's adjusted offset angle is within the allowable range to obtain an ideal visual area.

[0077] Specifically, after the reset process, the camera angle will be compared with the initial angle or the predetermined target angle, the actual offset will be calculated, and the current reset visual offset angle will be compared with the preset offset allowable value. For example, if the offset angle is greater than the preset value, the reset is considered unsuccessful and needs to be readjusted. When the reset visual offset angle meets the preset offset allowable value, the system will save the current visual perception area configuration for subsequent use; if it is found during the comparison process that the reset visual offset angle exceeds the preset offset allowable value, it is necessary to perform a repeated reset process until the preset maximum number of resets is reached. The system usually sets a maximum number of resets to prevent the system from entering an infinite loop. This number is set according to the actual needs of the application and the characteristics of the device, such as 3 times, 5 times, 10 times, etc. After each adjustment, the angle comparison is performed again until the condition is met or the reset limit is reached. If the reset number reaches the preset value, the system can take other measures, such as reminding the user to check the hardware of the camera or perform manual intervention, or enter the fault handling mode.

[0078] The above-mentioned embodiments provide a method for calibrating a visual perception area, which determines whether the vibration state of the camera affects the visual recognition function through an optical signal, and specifically determines the viewing angle offset information of the camera based on the polarized light information. The visual perception area of ​​the camera is calibrated according to the offset state. Through system integration, it is possible to determine whether the camera has visual offset due to vibration, thereby automatically resetting the visual perception area. This eliminates the need for on-site operations by operation and maintenance personnel, thereby improving user experience.

[0079] The above-disclosed method can be implemented by using various forms of equipment, so the present invention also discloses a visual perception area calibration device corresponding to the above-disclosed method, and a specific embodiment is given below for detailed description.

[0080] like Figure 3 As shown, one embodiment of the present invention provides a visual perception area calibration device, comprising:

[0081] The light information acquisition module 302 is used to acquire polarized light information;

[0082] The offset analysis module 304 is used to determine the offset state of the camera according to the polarization information;

[0083] The calibration module 306 is used to calibrate the visual perception area of ​​the camera according to the offset state.

[0084] The implementation principle and technical effects of the device provided in the embodiments of the present application are the same as those of the aforementioned method embodiments. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiments.

[0085] An embodiment of the present invention further provides an optical camera, which is equipped with the visual perception area calibration device provided in the above-mentioned embodiment.

[0086] The methods and related devices mentioned in the above embodiments are described with reference to the method flow charts and / or structural diagrams provided in the embodiments of the present application. Specifically, each process and / or block in the method flow charts and / or structural diagrams, as well as the combination of processes and / or blocks in the flow charts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the process. Figure 1 A process or multiple processes and / or structures Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or structures Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A flow or multiple flows and / or structures illustrate the steps of the functions specified in one block or multiple blocks.

[0087] The following embodiments are described by taking the method applied to a computer device as an example. It can be understood that the computer device can be any device with computing and processing functions, and can be but not limited to a server or a personal laptop computer, etc. In one embodiment, the computer device can be an application server, and the application server can be a server for running an application to be tested.

[0088] See also Figure 4, which shows a hardware block diagram of an electronic device, the electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0089] like Figure 4 As shown, the electronic device includes: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0090] In the embodiment of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 communicate with each other through the communication bus 4;

[0091] The processor 1 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0092] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), etc., such as at least one disk memory;

[0093] The memory stores a program, and the processor can call the program stored in the memory, wherein the program is used to: implement each processing flow of the aforementioned visual perception area calibration.

[0094] An embodiment of the present invention also provides a readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the various processing flows of the visual perception area calibration solution provided in the above embodiment and / or any possible implementation method in combination with the embodiment are implemented.

[0095] The above-mentioned embodiments have described the present invention in particular detail with respect to possible scenarios, and those skilled in the art will recognize that the present invention can be practiced through other embodiments. The specific naming of components, the capitalization of terms, attributes, data structures, or any other programming or structural aspects are not mandatory or important, and the mechanisms or features of the present invention may have different names, forms, or procedures. The system may be implemented by a combination of hardware and software (as described), entirely by hardware elements, or entirely by software elements. The specific division of functions between the various system components described herein is exemplary only and not mandatory; on the contrary, the functions performed by a single system component may be performed by multiple components, or the functions performed by multiple components may be performed by a single component.

[0096] Those skilled in the art should understand that the various steps of the above disclosed method can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented with program codes executable by the computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0097] These computing device executable programs (also referred to as programs, software, software applications, or code) include machine instructions for programmable processors, and these computing programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0098] Certain aspects of the present invention include process steps and instructions described herein in the form of algorithms. It should be noted that the process steps and instructions of the present invention can be implemented in software, firmware and / or hardware, and when implemented by software, it can be downloaded, stored on different platforms used by various operating systems and operated from the platforms.

[0099] Those skilled in the art will understand that the structures shown in the accompanying drawings are merely block diagrams of partial structures related to the scheme of the present application, and do not constitute a limitation on the terminal device to which the scheme of the present application is applied. The specific terminal device may include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

[0100] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "possible design" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0101] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A visual perception area calibration system, characterized in that: Including optical access and sensing module, offset analysis module and optical calibration module; The optical access and sensing module is used to obtain polarized light information; The offset analysis module is used to determine the viewing angle offset information of the camera according to the polarized light information; The optical calibration module is used to calibrate the visual perception area of ​​the camera according to the viewing angle offset information.

2. A visual perception area calibration method, characterized in that: include: Obtain polarization information; Determining the offset state of the camera based on the polarization information; The visual perception area of ​​the camera is calibrated according to the offset state.

3. The method according to claim 2, characterized in that The obtaining of polarization information comprises: Obtain real-time optical signals; Extract the polarization characteristics of the optical signal.

4. The method according to claim 3, characterized in that The polarization characteristics of the optical signal include light attenuation, phase, wavelength, polarization, mode field distribution and propagation time.

5. The method according to claim 2, characterized in that: Determining the offset state of the camera according to the polarization information includes: Performing time-frequency transformation on the polarization characteristics of the optical signal to calculate the characteristic conversion value; Compare the feature conversion value with the preset threshold value to generate a vibration state result; The offset state of the camera is determined based on the vibration state result.

6. The method according to claim 2, characterized in that The calibrating the visual perception area of ​​the camera according to the offset state includes: When the offset state indicates that vibration affects the visual perception of the camera, the following visual perception area calibration process is performed: Obtaining pre-configuration information of the visual perception area; Re-focus the optics according to pre-configured information; Reset the visual perception area so that the visual image of the camera meets the preset perception conditions.

7. The method according to claim 6, characterized in that The resetting of the visual perception area so that the visual image of the camera meets the preset perception condition includes: Reset the visual offset angle of the visual perception area; Compare the reset visual offset angle with the preset offset allowable value. If the reset visual offset angle does not exceed the preset offset allowable value, store the configuration information of the current visual perception area. Otherwise, repeat the steps of resetting the visual offset angle of the visual perception area until the number of resets reaches the preset value.

8. A visual perception area calibration device, characterized in that: include: A light information acquisition module, used for acquiring polarized light information; An offset analysis module, used to determine the offset state of the camera based on polarized light information; The calibration module is used to calibrate the visual perception area of ​​the camera according to the offset state.

9. An electronic device, characterized in that: The device comprises a memory storing computer executable instructions and a processor, and when the computer executable instructions are executed by the processor, the device executes the visual perception area calibration method as described in any one of claims 2 to 7.

10. A readable storage medium, characterized in that: A computer executable program is stored, and when the program is executed, the visual perception area calibration method as described in any one of claims 2 to 7 can be implemented.

Images