Calibration method, system, device and medium based on radar view and plane view

Abstract

The present application provides a calibration method, system, device and medium based on radar view and plane view, the method comprising: calibrating a preset reference object in the real world according to a calibration device to obtain a first calibration position of a plane view; generating a radar signal according to the calibration device and the radar to obtain a second calibration position under the radar view; adjusting the position according to the radar view and the plane view until the second calibration position coincides with the first calibration position to achieve calibration of the radar view and the plane view. The present application achieves that the radar's own position is not involved in the calibration and calculation during the calibration process, so as to eliminate the calculation error and factory calibration error of the radar and improve the positioning accuracy.

Description

Technical Field

[0001] The present application belongs to the field of image processing technology, and relates to a calibration method based on radar view and plane view, and in particular to a calibration method, system, device and medium based on radar view and plane view. Background Art

[0002] In the office field, how to present personnel positioning and trajectory recognition on a flat diagram is a demand in the current smart home and smart office fields. It is relatively easy to implement algorithms that use camera machine vision to abstract images, but there are multiple problems such as huge computing power overhead, high equipment costs, and privacy leakage.

[0003] Using radar to detect personnel presence can reduce deployment costs and avoid privacy exposure. However, the radar view provides a coordinate system for moving targets. The radar coordinate system itself and the three-dimensional coordinate system of the building in the background are independent of each other and difficult to match.

[0004] Under current technical conditions, the radar coordinate system and the actual building three-dimensional coordinate system are calibrated together. On the one hand, the traditional calibration method uses active electromagnetic wave beacons for field measurement. This method requires multiple measurements and long-distance measurements. It is easy to be disturbed when moving in a small range, which is time-consuming and labor-intensive. On the other hand, by pre-calibrating the radar in space before leaving the factory, all radar coordinate systems have been spatially calibrated according to the radar body before leaving the factory. However, in the field of smart homes, due to cost constraints, the radar's return readings often only have distance parameters, without angle information, so there are serious calculation errors in the calibration process, resulting in low positioning accuracy. Summary of the invention

[0005] The present application provides a calibration method, system, device and medium based on radar view and plane view, which are used to solve the problem of low positioning accuracy caused by serious calculation errors of radar position during the calibration process in the radar-based calibration method in the prior art.

[0006] In a first aspect, the present application provides a calibration method based on a radar view and a plane view, the method comprising: calibrating a preset reference object in the real world according to a calibration device to obtain a first calibration position of a plane view; generating a radar signal according to the calibration device and a radar to obtain a second calibration position under the radar view; adjusting the position according to the radar view and the plane view until the second calibration position coincides with the first calibration position, so as to realize the calibration of the radar view and the plane view.

[0007] In an implementation of the first aspect, calibrating a preset reference object in the real world according to a calibration device to obtain a first calibration position of a plan view includes: calibrating a preset reference object in the real world according to the calibration device to obtain a real-world view; one end of the calibration device is aligned with a vertex of the calibration reference object; the direction of the axis of the calibration device is parallel to an edge of the calibration reference object; and obtaining a first calibration position corresponding to the plan view according to the real-world view.

[0008] In an implementation of the first aspect, generating a radar signal according to the calibration device and the radar to acquire a second calibration position under the radar view includes: acquiring a radar signal according to the calibration device and the radar; the radar signal is obtained by rotating the blades of the calibration device to reflect radar waves emitted by the radar; and acquiring the second calibration position under the radar view according to the radar signal.

[0009] In an implementation manner of the first aspect, performing position adjustment according to the radar view and the plane view until the second calibration position coincides with the first calibration position to achieve calibration of the radar view and the plane view includes: adjusting the position of the radar view by scaling based on the radar view so that the second calibration position coincides with the first calibration position to achieve calibration of the radar view and the plane view.

[0010] In a second aspect, the present application provides a calibration system based on a radar view and a plane view, the system comprising: a first calibration position acquisition module, used to calibrate a preset reference object in the real world according to a calibration device to obtain a first calibration position of a plane view; a second calibration position acquisition module, used to generate a radar signal according to the calibration device and the radar to obtain a second calibration position under the radar view; a calibration module, used to adjust the position according to the radar view and the plane view until the second calibration position coincides with the first calibration position, so as to realize the calibration of the radar view and the plane view.

[0011] In a third aspect, the present application provides a calibration device based on radar view and plane view, the device comprising a calibration device and a calibration system based on radar view and plane view as described in claim 5.

[0012] In an implementation of the third aspect, the calibration device includes a base, an axis and rotatable blades; the base is used to support the axis and the blades; the blades are arranged at both ends of the axis; and the calibration ruler emits a radar reflection source by rotating the blades.

[0013] In an implementation of the third aspect, the axial length of the calibration device is 1 m.

[0014] In a fourth aspect, the present application provides an electronic device, comprising: a memory storing a computer program; and a processor communicatively connected to the memory, for implementing the above-mentioned calibration method based on radar view and plane view when calling the computer program.

[0015] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by an electronic device, implements the above-mentioned calibration method based on radar view and plane view.

[0016] As described above, the calibration method, system, device and medium based on radar view and plane view described in the present application have the following beneficial effects:

[0017] The present application calibrates preset reference objects in the real world according to a calibration device to obtain a first calibration position of a plan view; generates a radar signal according to the calibration device and the radar to obtain a second calibration position under the radar view; adjusts the position according to the radar view and the plan view until the second calibration position coincides with the first calibration position to achieve calibration of the radar view and the plan view; and achieves that the radar's own position does not participate in the calibration and calculation during the calibration process, so as to eliminate the calculation error and factory calibration error of the radar and improve the positioning accuracy.

[0018] This application uses a calibration device, which contains a sophisticated and low-cost radar reflection source. The spatial coordinate system and the radar coordinate system are quickly associated through this calibration device. The operating cost is very low, and the calibration process and the view presentation process are both convenient and fast, which improves the calibration efficiency and brings a better user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Shown is a schematic diagram of the structure of the calibration device described in an embodiment of the present application.

[0020] Figure 2 Shown is a flowchart of a calibration method based on radar view and plane view described in an embodiment of the present application.

[0021] Figure 3 Shown is a calibration schematic diagram of the real-world calibration ruler described in an embodiment of the present application.

[0022] Figure 4 Shown is a schematic diagram of a plan view of an embodiment of the present application.

[0023] Figure 5 Shown is a schematic diagram of a real-world view described in an embodiment of the present application.

[0024] Figure 6 Shown is a schematic diagram of a radar view according to an embodiment of the present application.

[0025] Figure 7 Shown is a schematic diagram of adjusting the radar view and the plane view according to an embodiment of the present application.

[0026] Figure 8 Shown is a schematic diagram of calibration based on radar view and plane view as described in an embodiment of the present application.

[0027] Fig. 9 Shown is a schematic diagram of the structure of a calibration system based on radar view and plan view as described in an embodiment of the present application.

[0028] Fig.10 Shown is a schematic diagram of the structure of a calibration device based on radar view and plan view as described in an embodiment of the present application.

[0029] Fig.11 Shown is a schematic diagram of the structure of the calibration device described in an embodiment of the present application.

[0030] Fig.12 Shown is a schematic diagram of the structure of an electronic device described in an embodiment of the present application.

[0031] Component number description

[0032] 1 Calibration equipment

[0033] 11. Base

[0034] 12 Axis

[0035] 13 Fan Blades

[0036] 2 Calibration system based on radar view and plane view

[0037] 21. First calibration position acquisition module

[0038] 22. Second calibration position acquisition module

[0039] 23 Calibration module

[0040] 3 Calibration device based on radar view and plane view

[0041] 31 Calibration equipment

[0042] 311 Base

[0043] 312 Axis

[0044] 313 Fan Blade

[0045] 32 Calibration system based on radar view and plane view

[0046] 4 Electronic devices

[0047] 41 Processor / Processing Unit

[0048] 42 Memory

[0049] 421 RAM

[0050] 422 Cache memory

[0051] 423 Storage System

[0052] 424 Programs / Utilities

[0053] 4241 Program Module

[0054] 43 Bus

[0055] 44 Input / Output Interfaces

[0056] 45 Network Adapter

[0057] Steps S1 to Sn DETAILED DESCRIPTION

[0058] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0059] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0060] Under the existing technical conditions, the radar coordinate system and the actual three-dimensional coordinate system of the building are calibrated together. The traditional calibration method is: using an active electromagnetic wave beacon field measurement calibration method, that is, a series of radio beacons that emit electromagnetic waves are specially manufactured to move the radio in the actual space. On the radar view, record the number of pixels of the moving distance, and then record the moving distance of the beacon in reality. Divide the two to get the scale of the radar view. This solution requires multiple measurements and long-distance measurements. Moving in a small range is prone to interference, which is time-consuming and labor-intensive. The radar pre-spatial calibration method before leaving the factory, that is, all radar coordinate systems have been spatially calibrated according to the radar body before leaving the factory. In the spatial coordinate system, you only need to determine the radar position, and then you can directly apply the radar coordinate system to complete the calibration. This is the implementation of this type of solution for vehicle, aerospace, military and industrial radars. That is, the readings returned by the radar itself have clear distance and azimuth parameters. However, in the field of smart homes, due to cost constraints, the return readings of the radar often only have distance parameters, no angle information, so there are serious calculation errors. At the same time, the radar reading is based on the radar installation location as the origin coordinate. The origin of this installation location, the actual object and the plane map often have errors, resulting in the final radar position data cannot be used directly, or the accumulated error is too large to lose positioning accuracy.

[0061] The following embodiments of the present application provide a calibration method, system, device and medium based on radar view and plan view, which solves the problem of low positioning accuracy caused by serious calculation errors of radar position during the calibration process in the radar-based calibration method in the prior art.

[0062] like Figure 1 As shown, an embodiment of the present application provides a calibration device, wherein the calibration device 1 includes a base 11 , a shaft 12 and rotatable blades 13 .

[0063] The base 11 is used to support the shaft 12 and the blades 13; the blades 13 are arranged at both ends of the shaft 12; the calibration device transmits radar signals by rotating the blades 13 so that the rotating blades form two position points on the radar view, so that the position on the radar view can be visible. Among them, the blade length is 0.7 times the minimum resolution size of the radar, and the blades at both ends can rotate quickly to form an electromagnetic wave reflection source. The electromagnetic wave reflection source can see 2 visible points on the radar view. The base 11 allows the calibration device 1 to be placed horizontally, so as not to affect the rotation of the blades at both ends.

[0064] In one embodiment, the axial length of the calibration device is 1 m, that is, the axial distance between the blades at both ends is a standard 1 m.

[0065] The calibration device 1 is used to calibrate preset reference objects in the real world to provide a real-world view. At the same time, the calibration device generates a radar signal by rotating the fan blades to make the position of the radar view in the calibration system based on the radar view and the plane view visible.

[0066] The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application.

[0067] like Figure 2 As shown, this embodiment provides a calibration method based on radar view and plane view, and the method includes the following steps S1 to S3.

[0068] Step S1: Calibrate a preset reference object in the real world using a calibration device to obtain a first calibration position of a plan view.

[0069] Specifically, the calibration device is the calibration device 1 described above, and the preset reference object is a table or a corner. The present application calibrates the table or corner by the calibration device to obtain a real-world view, and obtains a corresponding two-dimensional plane view according to the real-world view. The first calibration position is the position of the blade of the calibration device in the plane view corresponding to the real-world view.

[0070] Step S2: Generate a radar signal according to the calibration device and the radar to obtain a second calibration position under the radar view.

[0071] Specifically, the present application rotates the blades of the calibration device, which are radar reflection sources, and the radar signal reflected by the radar reflection source through the radar wave emitted by the radar, so as to make the position of the blades in the real world view clearly visible on the radar view, that is, to obtain the second calibration position under the radar view. The second calibration position is the position of the blades of the calibration device in the radar view.

[0072] Step S3: perform position adjustment according to the radar view and the plane view until the second calibration position coincides with the first calibration position, so as to realize calibration of the radar view and the plane view.

[0073] In one implementation, the present application provides a method for quickly associating a spatial coordinate system with a radar coordinate system by using a calibration device. The calibration device is provided with two fans, i.e., radar wave reflection sources, through an axis, and the fixed distance between the two radar wave reflection sources is set to 1m, thereby realizing a "standard scale" on the radar view, hereinafter referred to as a "calibration scale". The calibration device provided by the present application is exquisite and low in cost.

[0074] In an embodiment of the present application, a calibration ruler is placed at a calibration position in real space, such as a table or a corner. Then in the computer's plan view, the corresponding position and size of the calibration ruler are marked on the plan view, that is, a two-dimensional plan view of the real world view. Then, a radar wave reflection source is formed by rotating the fan blades. Thereby, the position on the radar view is visible. Then, the radar view is made translucent, and the emission source positions of the two sections of the ruler in the radar view are aligned with the endpoints of the target object in the plan view by means of zooming in, zooming out, and translating. At this time, the three-in-one calibration of the real world, radar view, and plan view is realized, and the scale and position of the two-dimensional plan view and the radar view corresponding to the real world are the same. According to this setting in the future, it is convenient to locate the target detected by the radar on the plan view and present the motion trajectory.

[0075] It should be noted that an ordinary ruler can be marked on a plan view, but cannot be read on a radar view. The information read from the radar view, whether it is the moving position or the target size, lacks a reference. The calibration ruler in this application provides a "ruler" that can be seen by the radar, so that the view image read by the radar has a reference.

[0076] In an embodiment of the present application, calibrating a preset reference object in the real world according to a calibration device to obtain a first calibration position of a plan view includes the following steps S11 to S12.

[0077] Step S11, calibrating a preset reference object in the real world according to a calibration device to obtain a real world view; one end of the calibration device is aligned with a vertex of the calibration reference object; the direction of the axis of the calibration device is parallel to an edge of the calibration reference object.

[0078] Specifically, the present application places the calibration device (calibration ruler) at a characteristic position of a reference object (such as a wall corner or table corner), that is, the fan blade position at one end should be aligned with the vertex, such as (including but not limited to) a wall corner, table corner, etc. The axis of the calibration device should be parallel to the edge, such as a wall, table edge, etc.

[0079] Step S12: acquiring a first calibration position corresponding to the plane view according to the real world view. The first calibration position is the position of the fan blade of the calibration device in the plane view.

[0080] Figure 3 The diagram shows the calibration of the real-world calibration ruler described in the embodiment of the present application. Figure 3As shown, in the real world, find a corner (or a desk corner, as long as it is easy to determine the location and covered by the radar, this application is not limited to this). Then select a vertex and identify it as A1; mark A2 at a distance of 1 meter on an edge. In this way, in the real world view, the distance between A1 and A2 is exactly 1 meter.

[0081] Figure 4 Shown is a schematic diagram of a plan view of an embodiment of the present application. Figure 4 As shown, this application is realized through computer modeling and real-world vision Figure 1 A consistent plane diagram is created. On the plane diagram, the positions of the two ends of the calibration ruler are marked according to the position of the actual calibration ruler. At the same time, these two end points are also the locations of the radar reflection sources. For example, a plane diagram consistent with the real space is modeled in a computer, and the positions of the two points corresponding to the real-world views A1 and A2 are found in the plane diagram, and marked as B1 and B2. That is, A1 and A2 are the positions of the blades of the calibration device in the real-world view, and B1 and B2 are the first calibration positions, that is, the positions of the blades of the calibration device in the plane view.

[0082] In one embodiment of the present application, generating a radar signal according to the calibration device and the radar to obtain a second calibration position under the radar view includes the following steps S21 to S22.

[0083] Step S21, acquiring a radar signal according to the calibration device and the radar; the radar signal is obtained by rotating the blades of the calibration device to reflect the radar waves emitted by the radar.

[0084] Step S22: acquiring a second calibration position in the radar view according to the radar signal. The second calibration position is the position of the fan blade of the calibration device in the radar view.

[0085] Specifically, the present application forms a radar wave reflection source by adopting rotating fan blades. The electromagnetic wave reflection source can be seen as two visible points on the radar view, thereby achieving visibility of the position on the radar view.

[0086] This application hopes to accurately mark the radar coverage range and the personnel position P1 on the plane map. However, the radar coverage range is neither visible nor directly related on the plane map. Personnel position P1 is a point on the radar view. The coordinate parameters of this point are a three-axis coordinate system with the radar installation position as the origin. P1 (x, y, z), unit centimeters. Among them, the z range is 0-350cm. The x, y range is -600 to 600cm. However, this coordinate parameter cannot be used directly. This is because the radar origin is difficult to accurately mark on the plane map. The position of the point on the radar must correspond to the point on the plane map to determine the calibration point and scale. This application uses a calibration ruler to determine the calibration point on the radar view.

[0087] Figure 5 Shown is a schematic diagram of a real-world view described in an embodiment of the present application. Figure 5 As shown, place the calibration ruler at the previously marked corner position in the actual space, and the two end points of the calibration ruler cover the previously marked A1 and A2 respectively.

[0088] Figure 6 The schematic diagram of the radar view described in the embodiment of the present application is shown. Figure 6 As shown, when the blades at both ends of the calibration scale rotate, the radar waves are reflected and two points appear on the radar view, marked as C1 and C2, which correspond to the positions of A1 and A2 on the radar view.

[0089] In one embodiment of the present application, the position is adjusted according to the radar view and the plane view until the second calibration position coincides with the first calibration position to achieve calibration of the radar view and the plane view, including step S31, adjusting the position of the radar view by scaling based on the radar view so that the second calibration position coincides with the first calibration position to achieve calibration of the radar view and the plane view.

[0090] Specifically, the present application adjusts the position and scaling of the layer where the radar view is located so that the endpoints of the calibration rulers on the radar view and the plane view coincide with each other.

[0091] Figure 7 The diagram shows the adjustment of the radar view and the plane view described in the embodiment of the present application. Figure 7 As shown, the position and size of the radar view exist in the computer as a layer. Adjust the size and position of the layer so that C1C2 in the radar view and B1B2 in the plan view overlap, and the calibration is complete. At this time, the position of P1 personnel can also achieve the unity of actual position, radar coordinates and plan view position. This avoids a huge amount of tedious coordinate conversion. In the design of the plane space signboard, the workload can be greatly reduced.

[0092] Figure 8 The diagram shows a calibration diagram based on a radar view and a plane view according to another embodiment of the present application. Figure 8 As shown in the figure, A1 and A2 are the placement positions of the two endpoints of the calibration ruler in the plane view, and B1 and B2 are the positions of the emission source formed by the two endpoints of the calibration ruler in the radar view. A1, A2 and B1, B2 are the positions of the two endpoints of the calibration ruler in the real world corresponding to different views. When A1 and B1, A2 and B2 coincide, it means that the scales of the radar view and the plane view are the same and the positions are also the same.

[0093] In one implementation, the steps of the traditional view adjustment method include: first, drawing the spatial plan view on the billboard according to the scale; then calculating the coordinates O (x, y, z) of the radar body according to the radar installation position, and then adding the coordinates (X1, Y1, Z1) of the moving point P1 in the radar view to the coordinates of O to calculate the spatial coordinates A (X, Y, Z) of the real target; finally, presenting it on the plan view according to the scale coordinate system.

[0094] However, because the radar is being installed, it is difficult to determine the position O in the spatial coordinate system. Secondly, there will be deviations in the factory calibration of the radar, resulting in deviations between the radar reading parameters and the parameters of the actual target. For example, the radar determines that a moving point is at X=300cm, Y=300cm, and Z=260cm from point O. However, when actually measured with a laser ruler, it will be found that the data read by each radar is different. The actual reading may be X=320cm, Y=219cm, and Z=278cm. The errors caused by the installation and calibration of this type of radar not only lack the opportunity to be eliminated, but will also continue to accumulate, resulting in increasing error distortion. The Bn coordinates calculated at the end have a large deviation from the actual position on the radar view. Among them, n is 1 or 2, and Bn represents the calibration point on the radar view.

[0095] The calibration method based on the radar view and the plane view described in the embodiment of the present application realizes the calibration of the radar view and the plane view by adjusting the positions of the radar view and the plane view until the second calibration position coincides with the first calibration position, so that the final view can be viewed directly, thereby realizing that both the spatial coordinates and the radar coordinates can be calibrated with a set of physical solutions, eliminating the consistency problem. At the same time, the position of the radar itself does not participate in the calibration and calculation, so errors will not be introduced; the radar coordinate system has been recalibrated in kind and parameters. Therefore, the radar factory calibration error is eliminated. The operating cost of this application is very low, and both the calibration process and the view presentation process are very simple.

[0096] The protection scope of the calibration method based on radar view and plan view described in the embodiment of the present application is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present application are included in the protection scope of the present application.

[0097] The embodiment of the present application also provides a calibration system based on radar view and plane view, which can implement the calibration method based on radar view and plane view described in the present application. However, the implementation device of the calibration method based on radar view and plane view described in the present application includes but is not limited to the structure of the calibration system based on radar view and plane view listed in the present embodiment. All structural deformations and replacements of the prior art made according to the principles of the present application are included in the protection scope of the present application.

[0098] like Fig. 9 As shown, this embodiment provides a calibration system based on radar view and plane view, and the system 2 includes: a first calibration position acquisition module 21, a second calibration position acquisition module 22 and a calibration module 23.

[0099] The first calibration position acquisition module 21 is used to calibrate a preset reference object in the real world according to a calibration device to obtain a first calibration position of the plan view;

[0100] The second calibration position acquisition module 22 is used to generate a radar signal according to the calibration device and the radar to acquire a second calibration position under the radar view;

[0101] The calibration module 23 is used to adjust the position according to the radar view and the plane view until the second calibration position coincides with the first calibration position, so as to realize the calibration of the radar view and the plane view.

[0102] like Fig.10 As shown, this embodiment provides a calibration device based on radar view and plane view, and the device 3 includes a calibration device 31 and a calibration system 32 based on radar view and plane view as described above; the calibration device 31 is used to calibrate preset reference objects in the real world to provide a real-world view to the calibration system 32 based on radar view and plane view.

[0103] like Fig.11 As shown, the calibration device 31 includes a base 311, a shaft 312 and rotatable blades 313; the base 311 is used to support the shaft 312 and the blades 313; the blades 313 are arranged at both ends of the shaft 312; the calibration device 31 emits a radar reflection source by rotating the blades.

[0104] In one embodiment of the present application, the shaft 312 of the calibration device 31 is 1 meter long.

[0105] In the several embodiments provided in the present application, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules or units, which can be electrical, mechanical or other forms.

[0106] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0107] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0108] The embodiment of the present application further provides an electronic device, the electronic device comprising: a memory and a processor; wherein:

[0109] The memory is used to store computer programs;

[0110] The memory includes: ROM, RAM, disk, USB flash drive, memory card or CD and other media that can store program codes.

[0111] The processor is used to execute the computer program stored in the memory, so that the electronic device executes the dynamic surround view stitching method based on tire pressure monitoring as described above.

[0112] Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0113] like Fig.12 As shown, the electronic device 4 of the present application is in the form of a general computing device. The components of the control terminal may include but are not limited to: one or more processors or processing units 41, a memory 42, and a bus 43 connecting different system components (including the memory 42 and the processing unit 41).

[0114] Bus 43 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0115] The control terminal typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the control terminal, including volatile and non-volatile media, removable and non-removable media.

[0116] The memory 42 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 421 and / or cache memory 422. The control terminal may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the memory 42 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 43 via one or more data medium interfaces. The memory 42 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present disclosure.

[0117] A program / utility 424 having a set (at least one) of program modules 4241 may be stored, for example, in the memory 42, such program modules 4241 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 4241 generally perform the functions and / or methods of the embodiments described in the present disclosure.

[0118] The control terminal may also communicate with one or more external devices (e.g., keyboards, pointing devices, displays, etc.), one or more devices that enable a user to interact with the control terminal, and / or any device that enables the control terminal to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via input / output (I / O) interface 44. Furthermore, the control terminal may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via network adapter 45. Figure 6 As shown, the network adapter 45 communicates with other modules of the control terminal via the bus 43. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the control terminal, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0119] The present application embodiment also provides a computer-readable storage medium. A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above embodiment can be completed by a program to instruct the processor, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state hard disk (SSD)), etc.

[0120] The present application embodiment may also provide a computer program product, the computer program product including one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer or data center.

[0121] When the computer program product is executed by a computer, the computer executes the method described in the above method embodiment. The computer program product may be a software installation package, and when the above method is required, the computer program product may be downloaded and executed on a computer.

[0122] In summary, the calibration method, system, device and medium based on radar view and plane view described in the present application have the following beneficial effects:

[0123] The present application calibrates preset reference objects in the real world according to a calibration device to obtain a first calibration position of a plan view; generates a radar signal according to the calibration device and the radar to obtain a second calibration position under the radar view; adjusts the position according to the radar view and the plan view until the second calibration position coincides with the first calibration position to achieve calibration of the radar view and the plan view; and achieves that the radar's own position does not participate in the calibration and calculation during the calibration process, so as to eliminate the calculation error and factory calibration error of the radar and improve the positioning accuracy.

[0124] This application uses a calibration device, which contains a sophisticated and low-cost radar reflection source. The spatial coordinate system and the radar coordinate system are quickly associated through this calibration device. The operating cost is very low, and the calibration process and the view presentation process are both convenient and fast, which improves the calibration efficiency and brings a better user experience.

[0125] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0126] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A calibration method based on radar view and plane view, characterized in that: The method comprises: Calibrate a preset reference object in the real world according to a calibration device to obtain a first calibration position of the plan view; generating a radar signal according to the calibration device and the radar to obtain a second calibration position under the radar view; Position adjustment is performed according to the radar view and the plane view until the second calibration position coincides with the first calibration position, so as to realize calibration of the radar view and the plane view.

2. The calibration method based on radar view and plane view according to claim 1, characterized in that: Calibration of a preset reference object in the real world according to a calibration device to obtain a first calibration position of a plan view includes: Calibrate a preset reference object in the real world according to a calibration device to obtain a real world view; one end of the calibration device is aligned with a vertex of the calibration reference object; the direction of the axis of the calibration device is parallel to an edge of the calibration reference object; A first calibrated position corresponding to the plan view is acquired according to the real-world view.

3. The calibration method based on radar view and plane view according to claim 1, characterized in that: Generating a radar signal according to the calibration device and the radar to obtain a second calibration position under the radar view includes: Acquiring a radar signal according to the calibration device and the radar; the radar signal is obtained by rotating the blades of the calibration device to reflect the radar waves emitted by the radar; A second calibrated position in the radar view is acquired according to the radar signal.

4. The calibration method based on radar view and plane view according to claim 1, characterized in that: Adjusting the position according to the radar view and the plane view until the second calibration position coincides with the first calibration position to achieve calibration of the radar view and the plane view includes: The position of the radar view is adjusted by scaling based on the radar view so that the second calibration position coincides with the first calibration position, thereby achieving calibration of the radar view and the plane view.

5. A calibration system based on radar view and plane view, characterized in that: The system comprises: A first calibration position acquisition module, used to calibrate a preset reference object in the real world according to a calibration device to obtain a first calibration position of the plan view; A second calibration position acquisition module, used to generate a radar signal according to the calibration device and the radar to acquire a second calibration position under the radar view; The calibration module is used to adjust the position according to the radar view and the plane view until the second calibration position coincides with the first calibration position, so as to realize the calibration of the radar view and the plane view.

6. A calibration device based on radar view and plane view, characterized in that: The apparatus comprises a calibration device and a calibration system based on radar view and plane view as described in claim 5; the calibration device is used to calibrate preset reference objects in the real world to provide a real world view to the calibration system based on radar view and plane view.

7. The calibration device based on radar view and plane view according to claim 6, characterized in that: The calibration device includes a base, an axis and rotatable blades; the base is used to support the axis and the blades; the blades are arranged at both ends of the axis; the calibration device generates a radar signal by rotating the blades to achieve visibility of the position of the radar view in the calibration system based on the radar view and the plane view.

8. The calibration device based on radar view and plane view according to claim 7, characterized in that: The axial length of the calibration device is 1 m.

9. An electronic device, characterized in that: The electronic device comprises: a memory storing a computer program; A processor is communicatively connected to the memory, and implements the calibration method based on radar view and plane view according to any one of claims 1 to 4 when calling the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by an electronic device, the calibration method based on radar view and plane view described in any one of claims 1 to 4 is implemented.

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