A method and device for estimating the posture of a commercial vehicle electronic exterior rearview mirror camera

Abstract

The present invention discloses a posture estimation method and device for a commercial vehicle electronic exterior rearview mirror camera, which belongs to the field of vehicle networking technology, obtains a calibration image, uses the Harris corner point detection method to identify the pixel coordinate data of the corresponding corner point according to the calibration image; uses the Kannala-Brant model to obtain the coordinate data of the corresponding corner point after distortion correction according to the pixel coordinate data of the corresponding corner point; uses the direct linear transformation method to obtain the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera according to the coordinate data after distortion correction of the corresponding corner point; uses the SVD singular value decomposition according to the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera to obtain the corresponding data, and completes the calibration. The present invention can accurately calibrate the rotation matrix and translation vector of the commercial vehicle electronic exterior rearview mirror camera.

Description

Technical Field

[0001] The invention discloses a posture estimation method and device for a commercial vehicle electronic exterior rearview mirror camera, belonging to the technical field of vehicle networking. Background Art

[0002] Commercial vehicle electronic exterior mirror systems are usually equipped with two cameras mounted on the front of the vehicle body. These cameras are able to capture real-time images of the rear and sides of the vehicle. Commercial vehicle electronic exterior mirrors are also equipped with safety assistance functions such as lane change assistance, so it is necessary to perform pose estimation on the camera of the electronic exterior mirror. Camera pose estimation is a key problem in computer vision, which involves determining the position and orientation of a camera in three-dimensional space. Pose estimation is usually used to infer the three-dimensional pose information of a camera from a two-dimensional image. The camera pose is usually represented by the position and orientation of the camera in three-dimensional space, such as the camera's transformation matrix. However, there is currently no accurate pose estimation solution for commercial vehicle electronic exterior mirror cameras that can accurately calibrate the transformation matrix of commercial vehicle electronic exterior mirror cameras. Summary of the invention

[0003] In view of the defects of the prior art, the present invention proposes a posture estimation method and device for an electronic exterior rearview mirror camera of a commercial vehicle, which can accurately calibrate the rotation matrix and translation vector of the electronic exterior rearview mirror camera of the commercial vehicle.

[0004] The technical solution of the present invention is as follows:

[0005] According to a first aspect of an embodiment of the present invention, a method for estimating a posture of an electronic exterior rearview mirror camera of a commercial vehicle is provided, comprising:

[0006] Acquire a calibration image, and identify pixel coordinate data of corresponding corner points using Harris corner point detection method according to the calibration image;

[0007] Obtaining the coordinate data of the corresponding corner point after distortion correction using the Kannala-Brant model according to the pixel coordinate data of the corresponding corner point;

[0008] Obtaining a transformation matrix of the commercial vehicle electronic exterior rearview mirror camera using a direct linear transformation method according to the coordinate data after the corresponding corner point distortion correction;

[0009] According to the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera, SVD singular value decomposition is used to obtain corresponding data to complete the calibration.

[0010] Preferably, the top edge of the calibration image is 3 m away from the front of the vehicle, and the side edge close to one side of the vehicle is 0.5 m away from the vehicle.

[0011] Preferably, the calibration image is a rectangle consisting of four rows and three columns of black and white grids with a length of 4.6 m and a width of 2.5 m, wherein:

[0012] The first row includes: a first white rectangle with a length of 2m and a width of 0.3m and an identical first black rectangle with a length of 0.3m and a width of 0.25m symmetrically arranged on both sides thereof;

[0013] The second row includes: a second black rectangle with a length and width of 2 m and an identical second white rectangle with a length of 2 m and a width of 0.25 m arranged symmetrically on both sides thereof;

[0014] The third row includes: a third white rectangle with a length and width of 2 m and an identical third black rectangle with a length of 2 m and a width of 0.25 m arranged symmetrically on both sides thereof;

[0015] The fourth row includes: a fourth black rectangle with a length of 2 m and a width of 0.3 m and an identical fourth white rectangle with a length of 0.3 m and a width of 0.25 m symmetrically arranged on both sides thereof.

[0016] According to a second aspect of an embodiment of the present invention, a posture estimation device for a commercial vehicle electronic exterior rearview mirror camera is provided, comprising:

[0017] A recognition module is used to obtain a calibration image and use the Harris corner point detection method to identify pixel coordinate data of corresponding corner points according to the calibration image;

[0018] A correction module, used for obtaining the coordinate data of the corresponding corner point after distortion correction using a Kannala-Brant model according to the pixel coordinate data of the corresponding corner point;

[0019] A transformation module, used for obtaining a transformation matrix of a commercial vehicle electronic exterior rearview mirror camera by using a direct linear transformation method according to the coordinate data after the corresponding corner point distortion correction;

[0020] The decomposition module is used to obtain corresponding data using SVD singular value decomposition according to the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera to complete the calibration.

[0021] According to a third aspect of an embodiment of the present invention, a terminal is provided, including:

[0022] one or more processors;

[0023] a memory for storing the one or more processor-executable instructions;

[0024] Wherein, the one or more processors are configured to:

[0025] Execute the method described in the first aspect of the embodiment of the present invention.

[0026] According to a fourth aspect of an embodiment of the present invention, a non-temporary computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor of a terminal, the terminal is enabled to execute the method described in the first aspect of the embodiment of the present invention.

[0027] According to a fifth aspect of an embodiment of the present invention, an application product is provided. When the application product is running on a terminal, the terminal executes the method described in the first aspect of the embodiment of the present invention.

[0028] The beneficial effects of the present invention are:

[0029] The present invention provides a method for estimating the posture of a camera of an electronic exterior rearview mirror for a commercial vehicle. The method obtains a calibration image, uses a Harris corner point detection method to identify pixel coordinate data of corresponding corner points according to the calibration image, uses a Kannala-Brant model to obtain coordinate data of corresponding corner points after distortion correction according to the pixel coordinate data of corresponding corner points, uses a direct linear transformation method to obtain a transformation matrix of the camera of the electronic exterior rearview mirror for the commercial vehicle according to the coordinate data after distortion correction of corresponding corner points, uses SVD singular value decomposition to obtain corresponding data according to the transformation matrix of the camera of the electronic exterior rearview mirror for the commercial vehicle, completes the calibration, and thus completes the camera posture estimation of the electronic exterior rearview mirror for the commercial vehicle. The method has simple operation, high production efficiency, reduced worker training costs, simple site layout, and low maintenance costs.

[0030] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The present invention is a flow chart of a method for estimating the posture of an electronic exterior rearview mirror camera of a commercial vehicle according to an exemplary embodiment.

[0032] Figure 2 The present invention is a schematic diagram of a calibration site layout in a method for estimating a posture of an electronic exterior rearview mirror camera of a commercial vehicle according to an exemplary embodiment.

[0033] Figure 3 The figure is a schematic diagram of a calibration image in a posture estimation method of an electronic exterior rearview mirror camera of a commercial vehicle according to an exemplary embodiment.

[0034] Figure 4 The figure is a schematic diagram of a calibration image in a posture estimation method of an electronic exterior rearview mirror camera of a commercial vehicle according to an exemplary embodiment.

[0035] Figure 5 The figure is a schematic diagram of a calibration image in a posture estimation method of an electronic exterior rearview mirror camera of a commercial vehicle according to an exemplary embodiment.

[0036] Figure 6 The present invention is a schematic block diagram of a posture estimation device for an electronic exterior rearview mirror camera of a commercial vehicle according to an exemplary embodiment.

[0037] Figure 7 The present invention is a schematic block diagram of a terminal structure according to an exemplary embodiment. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0039] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] An embodiment of the present invention provides a posture estimation method for a commercial vehicle electronic exterior rearview mirror camera. The method is implemented by a terminal, which may be a desktop computer or a laptop computer, etc. The terminal at least includes a CPU, etc.

[0042] Embodiment 1

[0043] Figure 1 The present invention is a flow chart of a method for estimating the posture of an electronic exterior rearview mirror camera of a commercial vehicle according to an exemplary embodiment. The method is used in a terminal and comprises the following steps:

[0044] Step 101, obtain a calibration image, and use the Harris corner point detection method to identify the pixel coordinate data of the corresponding corner points according to the calibration image. The specific content is as follows:

[0045] Before obtaining the calibration image, Figure 2 As shown in the figure, a commercial vehicle enters the calibration site and fixes the vehicle at the calibration position by clamping the wheels. The left and right are calibration images. The top edge of the calibration image is 3m away from the front of the vehicle, and the side edge close to the vehicle is 0.5m away from the vehicle. Figure 3-5 As shown, the calibration image consists of a rectangle with a length of 4.6 m and a width of 2.5 m composed of four rows and three columns of black and white grids, wherein: the first row includes: a first white rectangle 1 with a length of 2 m and a width of 0.3 m and an identical first black rectangle 2 with a length of 0.3 m and a width of 0.25 m symmetrically arranged on both sides thereof; the second row includes: a second black rectangle 3 with a length and a width of 2 m and an identical second white rectangle 4 with a length of 2 m and a width of 0.25 m symmetrically arranged on both sides thereof; the third row includes: a third white rectangle 5 with a length and a width of 2 m and an identical third black rectangle 6 with a length of 2 m and a width of 0.25 m symmetrically arranged on both sides thereof; the fourth row includes: a fourth black rectangle 7 with a length of 2 m and a width of 0.3 m and an identical fourth white rectangle 8 with a length of 0.3 m and a width of 0.25 m symmetrically arranged on both sides thereof.

[0046] According to the calibration image, the Harris corner detection method is used to identify the pixel coordinate data of the corresponding corner points, which are the first corner point pixel coordinate A, the second corner point pixel coordinate B, the third corner point pixel coordinate C, the fourth corner point pixel coordinate D, the fifth corner point pixel coordinate E and the second corner point pixel coordinate F, a total of 6 corner points.

[0047] Step 102, using the Kannala-Brant model according to the pixel coordinate data of the corresponding corner point to obtain the coordinate data of the corresponding corner point after distortion correction, the specific content is as follows:

[0048] According to the pixel coordinate data of the corresponding corner points, the Kannala-Brant model is used to calculate the pixel coordinates of the six corner points after distortion correction: (u1, v1), (u2, v2), (u3, v3), (u4, v4), (u5, v5), and (u6, v6).

[0049] Step 103, using a direct linear transformation method according to the coordinate data after the corresponding corner point distortion correction, obtain the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera, the specific content is as follows:

[0050] The transformation matrix has a total of 12 values ​​that need to be calculated, as shown below:

[0051]

[0052] The coordinates of these six corner points on the ground are (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4), (X5, Y5, Z5), (X6, Y6, Z6), and the transformation matrix formula (1) of the commercial vehicle electronic exterior rearview mirror camera is calculated using the direct linear transformation method as follows:

[0053]

[0054] The above formula is written in matrix form: AF = 0

[0055] Step 104, according to the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera, SVD singular value decomposition is used to obtain corresponding data and complete calibration, and the specific contents are as follows:

[0056] According to the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera, all values ​​in the transformation matrix can be calculated by solving the SVD. After the transformation matrix is ​​calculated, it is automatically saved in the non-volatile memory. The entire calibration process is fully automatically executed. Once the calibration of the transformation matrix is ​​completed, the camera posture estimation of the commercial vehicle electronic exterior rearview mirror is completed.

[0057] Embodiment 2

[0058] Figure 6 The present invention is a schematic block diagram of a posture estimation device for a commercial vehicle electronic exterior rearview mirror camera according to an exemplary embodiment, the device comprising:

[0059] The recognition module 210 is used to obtain a calibration image and use the Harris corner point detection method to identify the pixel coordinate data of the corresponding corner points according to the calibration image;

[0060] A correction module 220, configured to obtain the coordinate data of the corresponding corner point after distortion correction using a Kannala-Brant model according to the pixel coordinate data of the corresponding corner point;

[0061] A transformation module 230, configured to obtain a transformation matrix of the commercial vehicle electronic exterior rearview mirror camera by using a direct linear transformation method according to the coordinate data after the corresponding corner point distortion correction;

[0062] The decomposition module 240 is used to obtain corresponding data using SVD singular value decomposition according to the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera to complete calibration.

[0063] The present application obtains a calibration image, uses the Harris corner detection method to identify the pixel coordinate data of the corresponding corner points based on the calibration image, uses the Kannala-Brant model to obtain the coordinate data of the corresponding corner points after distortion correction based on the pixel coordinate data of the corresponding corner points, uses the direct linear transformation method to obtain the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera based on the coordinate data after distortion correction of the corresponding corner points, uses SVD singular value decomposition based on the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera to obtain corresponding data, and completes the calibration, that is, completes the camera posture estimation of the commercial vehicle electronic exterior rearview mirror. The application has simple operation, high production efficiency, and reduces the cost of worker training. The application also has simple site layout and low maintenance cost.

[0064] Embodiment 3

[0065] Figure 7 300 is a block diagram of a terminal provided in an embodiment of the present application, and the terminal may be a terminal in the above embodiment. The terminal 300 may be a portable mobile terminal, such as a smart phone or a tablet computer. The terminal 300 may also be referred to as a user equipment, a portable terminal, or other names.

[0066] Typically, the terminal 300 includes a processor 301 and a memory 302 .

[0067] The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 301 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0068] The memory 302 may include one or more computer-readable storage media, which may be tangible and non-transitory. The memory 302 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 302 is used to store at least one instruction, which is used to be executed by the processor 301 to implement a posture estimation method for a commercial vehicle electronic exterior rearview mirror camera provided in this application.

[0069] In some embodiments, the terminal 300 may further include: a peripheral device interface 303 and at least one peripheral device. Specifically, the peripheral device includes: at least one of a radio frequency circuit 304 , a touch screen 305 , a camera 306 , an audio circuit 307 , a positioning component 308 and a power supply 309 .

[0070] The peripheral device interface 303 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 301 and the memory 302. In some embodiments, the processor 301, the memory 302, and the peripheral device interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302, and the peripheral device interface 303 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0071] The radio frequency circuit 304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 304 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The radio frequency circuit 304 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 304 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0072] The touch display screen 305 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos and any combination thereof. The touch display screen 305 also has the ability to collect touch signals on the surface or above the surface of the touch display screen 305. The touch signal can be input to the processor 301 as a control signal for processing. The touch display screen 305 is used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the touch display screen 305 can be one, and the front panel of the terminal 300 is set; in other embodiments, the touch display screen 305 can be at least two, which are respectively set on different surfaces of the terminal 300 or are folded; in some other embodiments, the touch display screen 305 can be a flexible display screen, which is set on the curved surface or folded surface of the terminal 300. Even, the touch display screen 305 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The touch display screen 305 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0073] The camera assembly 306 is used to capture images or videos. Optionally, the camera assembly 306 includes a front camera and a rear camera. Typically, the front camera is used to realize video calls or selfies, and the rear camera is used to realize the shooting of photos or videos. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, and a wide-angle camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, and the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting functions. In some embodiments, the camera assembly 306 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0074] The audio circuit 307 is used to provide an audio interface between the user and the terminal 300. The audio circuit 307 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 301 for processing, or input them into the radio frequency circuit 304 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the terminal 300. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 301 or the radio frequency circuit 304 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 307 may also include a headphone jack.

[0075] The positioning component 308 is used to locate the current geographical location of the terminal 300 to implement navigation or LBS (Location Based Service). The positioning component 308 can be a positioning component based on the US GPS (Global Positioning System), China's Beidou system or Russia's Galileo system.

[0076] The power supply 309 is used to power various components in the terminal 300. The power supply 309 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 309 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0077] In some embodiments, the terminal 300 further includes one or more sensors 310 , including but not limited to: an acceleration sensor 311 , a gyroscope sensor 312 , a pressure sensor 313 , a fingerprint sensor 314 , an optical sensor 315 , and a proximity sensor 316 .

[0078] The acceleration sensor 311 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the terminal 300. For example, the acceleration sensor 311 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 301 can control the touch display screen 305 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 311. The acceleration sensor 311 can also be used for collecting game or user motion data.

[0079] The gyro sensor 312 can detect the body direction and rotation angle of the terminal 300. The gyro sensor 312 can cooperate with the acceleration sensor 311 to collect the user's 3D (3 Dimensions) action on the terminal 300. The processor 301 can implement the following functions based on the data collected by the gyro sensor 312: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0080] The pressure sensor 313 can be set on the side frame of the terminal 300 and / or the lower layer of the touch display screen 305. When the pressure sensor 313 is set on the side frame of the terminal 300, it can detect the user's holding signal of the terminal 300, and perform left and right hand recognition or shortcut operation according to the holding signal. When the pressure sensor 313 is set on the lower layer of the touch display screen 305, it can control the operability control on the UI interface according to the user's pressure operation on the touch display screen 305. The operability control includes at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0081] The fingerprint sensor 314 is used to collect the user's fingerprint to identify the user's identity based on the collected fingerprint. When the user's identity is identified as a trusted identity, the processor 301 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings. The fingerprint sensor 314 can be set on the front, back, or side of the terminal 300. When a physical button or a manufacturer logo is set on the terminal 300, the fingerprint sensor 314 can be integrated with the physical button or the manufacturer logo.

[0082] The optical sensor 315 is used to collect the ambient light intensity. In one embodiment, the processor 301 can control the display brightness of the touch display screen 305 according to the ambient light intensity collected by the optical sensor 315. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 305 is increased; when the ambient light intensity is low, the display brightness of the touch display screen 305 is reduced. In another embodiment, the processor 301 can also dynamically adjust the shooting parameters of the camera assembly 306 according to the ambient light intensity collected by the optical sensor 315.

[0083] The proximity sensor 316, also called a distance sensor, is usually arranged on the front of the terminal 300. The proximity sensor 316 is used to collect the distance between the user and the front of the terminal 300. In one embodiment, when the proximity sensor 316 detects that the distance between the user and the front of the terminal 300 is gradually decreasing, the processor 301 controls the touch display screen 305 to switch from the screen-on state to the screen-off state; when the proximity sensor 316 detects that the distance between the user and the front of the terminal 300 is gradually increasing, the processor 301 controls the touch display screen 305 to switch from the screen-off state to the screen-on state.

[0084] Those skilled in the art will understand that Figure 7 The structure shown in the figure does not constitute a limitation on the terminal 300, and the terminal 300 may include more or less components than those shown in the figure, or combine some components, or adopt a different component arrangement.

[0085] Embodiment 4

[0086] In an exemplary embodiment, a computer-readable storage medium is also provided, on which a computer program is stored. When the program is executed by a processor, a posture estimation method for a commercial vehicle electronic exterior rearview mirror camera as provided in all the inventive embodiments of the present application is implemented.

[0087] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0088] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0089] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0090] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0091] Embodiment 5

[0092] In an exemplary embodiment, an application product is also provided, including one or more instructions, which can be executed by the processor 301 of the above-mentioned device to complete the above-mentioned method for estimating the posture of the electronic exterior rearview mirror camera of a commercial vehicle.

[0093] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A method for estimating the posture of a commercial vehicle electronic exterior rearview mirror camera, characterized in that: include: Acquire a calibration image, and identify pixel coordinate data of corresponding corner points using Harris corner point detection method according to the calibration image; Obtaining the coordinate data of the corresponding corner point after distortion correction using the Kannala-Brant model according to the pixel coordinate data of the corresponding corner point; Obtaining a transformation matrix of the commercial vehicle electronic exterior rearview mirror camera using a direct linear transformation method according to the coordinate data after the corresponding corner point distortion correction; According to the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera, SVD singular value decomposition is used to obtain corresponding data to complete the calibration.

2. The method for estimating the posture of a commercial vehicle electronic exterior rearview mirror camera according to claim 1, characterized in that: The top edge of the calibration image is 3 m away from the front of the vehicle, and the side edge close to one side of the vehicle is 0.5 m away from the vehicle.

3. The method for estimating the posture of a commercial vehicle electronic exterior rearview mirror camera according to claim 1, characterized in that: The calibration image is a rectangle with a length of 4.6m and a width of 2.5m, consisting of four rows and three columns of black and white grids, where: The first row includes: a first white rectangle (1) with a length of 2 m and a width of 0.3 m and an identical first black rectangle (2) with a length of 0.3 m and a width of 0.25 m arranged symmetrically on both sides thereof; The second row includes: a second black rectangle (3) with a length and width of 2 m and an identical second white rectangle (4) with a length of 2 m and a width of 0.25 m arranged symmetrically on both sides thereof; The third row includes: a third white rectangle (5) with a length and width of 2 m and an identical third black rectangle (6) with a length of 2 m and a width of 0.25 m arranged symmetrically on both sides thereof; The fourth row includes: a fourth black rectangle (7) with a length of 2 m and a width of 0.3 m and an identical fourth white rectangle (8) with a length of 0.3 m and a width of 0.25 m arranged symmetrically on both sides thereof.

4. A posture estimation device for a commercial vehicle electronic exterior rearview mirror camera, characterized in that: include: A recognition module is used to obtain a calibration image and use the Harris corner point detection method to identify pixel coordinate data of corresponding corner points according to the calibration image; A correction module, used for obtaining the coordinate data of the corresponding corner point after distortion correction using a Kannala-Brant model according to the pixel coordinate data of the corresponding corner point; A transformation module, used for obtaining a transformation matrix of a commercial vehicle electronic exterior rearview mirror camera by using a direct linear transformation method according to the coordinate data after the corresponding corner point distortion correction; The decomposition module is used to obtain corresponding data using SVD singular value decomposition according to the transformation matrix of the commercial vehicle electronic exterior rearview mirror camera to complete the calibration.

5. A terminal, characterized in that: include: one or more processors; a memory for storing the one or more processor-executable instructions; Wherein, the one or more processors are configured to: Execute a posture estimation method for a commercial vehicle electronic exterior rearview mirror camera as described in any one of claims 1 to 3.

6. A non-transitory computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by the processor of the terminal, the terminal is enabled to execute the posture estimation method for a commercial vehicle electronic exterior rearview mirror camera as described in any one of claims 1 to 3.

Images