Camera calibration device and system, parameter determination method and related equipment

Abstract

The invention relates to a camera calibration device and system, a parameter determination method and related equipment, and the camera calibration device comprises a calibration board which is provided with a calibration icon, and the calibration icon is used for calibrating a camera; and the multi-plane mirror is used for reflecting the calibration icon of the calibration plate to the camera through multiple reflections. Through the principle that the distance between a virtual image and a real image of the plane mirror is multiplied, the calibration icon of the calibration plate is reflected to the camera through the multi-plane mirror, the distance between the camera and the calibration plate is increased, the requirement for the distance between the camera and the calibration plate can be met, and therefore the problem that the calibration site of the camera is limited is solved; and the camera can perform long-distance calibration in a calibration field with a limited calibration distance.

Description

Technical Field

[0001] The present application relates to the technical field of camera calibration, and in particular to a camera calibration device, system, parameter determination method and related equipment. Background Art

[0002] In order to achieve better accuracy, the camera on the target device usually needs to be calibrated when the target device is shipped off the factory. In the process of camera calibration, the calibration plate is usually set in front of the camera. For example, a 2M preview camera basically requires the distance between the camera and the calibration plate to be 10m to 15m. In this way, the requirements for the calibration site are relatively high, and the general target equipment production line site is difficult to meet the calibration requirements. Summary of the invention

[0003] The embodiments of the present application provide a camera calibration device, system, parameter determination method and related equipment, which can meet the requirements of the distance between the camera and the calibration plate, solve the problem of limited calibration site due to the need to occupy a large area for camera calibration, and at least partially solve the above technical problems.

[0004] In order to achieve the above object, according to a first aspect of the present application, a camera calibration device is provided, the device comprising:

[0005] A calibration plate, on which a calibration icon is provided, and the calibration icon is used to calibrate the camera;

[0006] The multi-faceted plane mirror is used to reflect the calibration icon of the calibration plate into the camera through multiple reflections.

[0007] According to a second aspect of the present application, a camera calibration system is provided, the system comprising:

[0008] The camera calibration device as described in the first aspect; and

[0009] A calibration component is electrically connected to the camera and is used to receive an image of a calibration icon taken by the camera to complete parameter calibration of the camera.

[0010] According to a third aspect of the present application, a method for determining parameters of a camera calibration device is provided, the method comprising:

[0011] The parameters of the calibration plate and the multi-faceted plane mirror are adjusted so that the calibration distance between the calibration plate and the camera is greater than or equal to a preset calibration distance.

[0012] According to a fourth aspect of the present application, a computer device is provided, including a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps of the parameter determination method of the camera calibration device as described in the first aspect.

[0013] According to a fifth aspect of the present application, a computer-readable storage medium is provided, which stores a plurality of instructions suitable for loading by a processor to execute the steps of the parameter determination method of the camera calibration device as described in the first aspect.

[0014] According to a sixth aspect of the present application, a computer program product is provided, comprising a computer program or instructions, which, when executed by a processor, implements the steps of the parameter determination method of the camera calibration device as described in the first aspect.

[0015] The camera calibration device, system, parameter determination method and related equipment of the embodiment of the present application, wherein the camera calibration device includes a calibration plate, on which a calibration icon is provided, and the calibration icon is used to calibrate the camera; a multi-faceted plane mirror is used to reflect the calibration icon of the calibration plate to the camera through multiple reflections. By using the principle of multiplying the distance between the virtual image and the real image of the plane mirror, the calibration icon of the calibration plate is reflected to the camera by using a multi-faceted plane mirror, and the distance between the camera and the calibration plate is increased, which can meet the distance requirement between the camera and the calibration plate, thereby solving the problem of limited calibration site of the camera, and enabling the camera to be calibrated over a long distance in a calibration site with limited calibration distance.

[0016] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0018] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0019] Figure 1 is a schematic diagram of the structure of a camera calibration device provided in some embodiments of the present application;

[0020] Figure 2 is a schematic structural diagram of a camera calibration device provided in some other embodiments of the present application;

[0021] Figure 3 is a schematic diagram of a path of a calibration icon of a calibration plate in a calibration device for a camera with three plane mirrors provided in some embodiments of the present application after multiple reflections and reaching the camera;

[0022] Figure 4 is a schematic diagram of a path of a calibration icon of a calibration plate in a calibration device for a camera with five plane mirrors provided in some embodiments of the present application after multiple reflections and reaching the camera;

[0023] Figure 5 is a schematic diagram of parameters of a calibration plate and a multi-faceted plane mirror in a calibration device for a camera with three plane mirrors provided in some embodiments of the present application;

[0024] Figure 6 is a flow chart of a method for determining parameters of a camera calibration device provided in some embodiments of the present application;

[0025] Figure 7 is a schematic diagram of the structure of a parameter determination device of a camera calibration device provided in some embodiments of the present application;

[0026] Figure 8 It is a schematic diagram of the structure of a computer device provided in some embodiments of the present application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0028] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0029] The cameras on the target devices, such as vehicle-mounted preview cameras, smart cameras on medical equipment, and smart cameras on access control, all need to be calibrated when the target devices are offline to improve the accuracy of the cameras. Taking the vehicle-mounted preview camera as an example, the current mainstream car manufacturers have increasingly stringent requirements for the accuracy of smart driving cameras, especially the vehicle-mounted preview camera, which requires an error of millimeters. In order to achieve better accuracy, the camera must be calibrated when the vehicle is offline. At present, the 2M preview camera basically requires the distance between the camera and the calibration plate to be between 10m and 15m. Unless a new production line is built, the general production line site can no longer meet the calibration requirements.

[0030] In view of this, the embodiment of the present application provides a camera calibration device including a calibration plate, on which a calibration icon is provided, and the calibration icon is used to calibrate the camera; a multi-faceted plane mirror is used to reflect the calibration icon of the calibration plate to the camera through multiple reflections. By using the principle of multiplying the distance between the virtual image and the real image of the plane mirror, the calibration icon of the calibration plate is reflected to the camera using a multi-faceted plane mirror, and the distance between the camera and the calibration plate is increased, which can meet the distance requirement between the camera and the calibration plate, thereby solving the problem of limited calibration site for the camera of the production line, and enabling the camera to be calibrated over a long distance in a site with limited calibration distance.

[0031] See also Figure 1 and Figure 2 , which is a structural diagram of a camera calibration device. Figure 1 The schematic diagram of the structure of a camera calibration device is shown in FIG. 1 , which takes a plane mirror with 3 surfaces as an example. Figure 2 The schematic diagram is a structural diagram of a camera calibration device taking a plane mirror with 5 surfaces as an example.

[0032] The camera calibration device in the embodiment of the present application includes a calibration plate n, a multi-faceted plane mirror m1...m n , the i-th plane mirror m i , where i∈[1,n], n is the total number of plane mirrors, and n>1.

[0033] A calibration plate n is provided with a calibration icon, and the calibration icon is used to calibrate the camera c.

[0034] The camera may be a camera on the target device, and the camera is a component of the target device. Figure 1 and Figure 2 The on-board preview camera on the vehicle.

[0035] Polygonal mirror m1...m n , used to reflect the calibration icon of the calibration plate n to the camera c through multiple reflections.

[0036] Specifically, through the multi-faceted plane mirrors m1...m n Project the calibration icon of the calibration plate onto the plane mirror opposite the camera, i.e., the last plane mirror. For example, Figure 1 Medium plane mirror m3, Figure 2 Then, the plane mirror opposite to the camera reflects the calibration icon to the camera c. It can be understood that in this embodiment, the path for the camera to obtain the calibration icon is changed by using the multi-faceted plane mirror, and the distance from the camera to the calibration plate is increased by using the principle of doubling the distance between the virtual image and the real image of the plane mirror, thereby solving the problem of limited calibration site for the camera, and enabling the camera to be calibrated over a long distance in a calibration site with limited calibration distance.

[0037] In some embodiments, the calibration distance between the calibration plate and the camera is the sum of the paths of the calibration icon of the calibration plate after multiple reflections and reaching the camera, and the calibration distance is greater than or equal to a preset calibration distance.

[0038] The preset calibration distance is the minimum calibration distance required for the camera to be calibrated. The preset calibration distance is greater than the maximum straight-line distance of the plane where the calibration site is located, that is, the maximum actual calibration distance between the calibration plate and the camera.

[0039] Specifically, the calibration distance between the calibration plate and the camera is changed from the actual calibration distance originally limited by the calibration site to the sum of the projection distance between the calibration plate and the first plane mirror, the projection distance between the multiple intermediate plane mirrors and the distance from the last plane mirror to the camera through the multi-faceted plane mirrors. Therefore, the calibration distance is greater than the preset calibration distance, so that the camera can be calibrated over a long distance in a calibration site with limited calibration distance.

[0040] In one example, Figure 1 Take the calibration device of a camera with 3 plane mirrors as an example. Figure 3 The figure is a schematic diagram of the path that the calibration icon of the calibration plate in the calibration device of the camera with three plane mirrors takes after multiple reflections and reaches the camera.

[0041] The calibration distance is the sum of the projection distance between the calibration plate and the first plane mirror, the projection distance between the multi-faceted intermediate plane mirrors, and the distance from the last plane mirror to the camera. The path of the calibration icon of the calibration plate after multiple reflections and reaching the camera is respectively the projection distance l1 of the calibration pattern of the calibration plate n refracted to the plane mirror m1, the projection distance l2 of the plane mirror m1 reflected to the plane mirror m2, the projection distance l3 of the plane mirror m2 reflected to the plane mirror m3, and the distance l4 of the calibration icon reflected by the plane mirror m3 to the camera c, and the calibration distance l = l1 + l2 + l3 + l4.

[0042] In another example, Figure 1 Take the calibration device of a camera with 5 plane mirrors as an example. Figure 4 As shown, it is a schematic diagram of the path that the calibration icon of the calibration plate in the calibration device of the camera with 5 plane mirrors reaches the camera after multiple reflections.

[0043] The calibration icon of the calibration plate is reflected multiple times and reaches the camera along the path where the calibration pattern of the calibration plate n is refracted to the projection distance l1 of the plane mirror m1, the projection distance l2 of the plane mirror m1 reflected to the plane mirror m2, the projection distance l3 of the plane mirror m2 reflected to the plane mirror m3, the projection distance l5 of the plane mirror m3 reflected to the plane mirror m4, the projection distance l6 of the plane mirror m4 reflected to the plane mirror m5, and the distance l4 of the calibration icon reflected by the plane mirror m5 to the camera c. The calibration distance l=l1+l2+l3+l4+l5+l6.

[0044] from Figure 3 and Figure 4 As can be seen from the two examples, the calibration distance is increased by using multi-faceted plane mirrors. And as the number of plane mirrors increases, such as adding plane mirrors on the ceiling and the ground of the calibration site, the calibration distance between the camera and the calibration icon can be further increased, meeting the calibration distance requirements of cameras with higher pixels.

[0045] It should be noted that the increase in the number of plane mirrors will lead to an increase in the length of the calibration site. Therefore, an appropriate number of plane mirrors can be selected according to the actual scenario.

[0046] In some embodiments, the camera calibration device further includes: a controller, configured to adjust parameters of the calibration plate and the multi-faceted plane mirror so that a calibration distance between the calibration plate and the camera is greater than or equal to a preset calibration distance.

[0047] The parameters of the calibration plate refer to the position parameters of the calibration plate set at the calibration site and the size parameters of the calibration plate. The parameters of the plane mirror refer to the position parameters of the calibration plate set at the calibration site and the size parameters corresponding to the plane mirror.

[0048] In one specific embodiment, continue with Figure 1 Take the calibration device of a camera with 3 plane mirrors as an example. Figure 5 As shown in FIG. 1 , it is a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device of the camera with three plane mirrors. Among them, the camera is a vehicle-mounted preview camera. In order to ensure that the reference line of the vehicle-mounted preview camera on the vehicle can be perpendicular to the imaging of the plane mirror, which is convenient for calibration calculation, the front of the vehicle can be lifted up by a certain angle, and this requirement can be met by driving a triangular platform with a fixed angle β in front of the vehicle, where β is greater than 0 degrees and less than 90 degrees.

[0049] To facilitate the calibration site layout, a plane mirror m0 is installed horizontally on the ground between the preview camera and the plane mirror. The calibration plate n is fixedly suspended from the ceiling at a certain angle α, and can be fully imaged in the plane mirror m1. At the same time, the plane mirror m2 is fixedly suspended from the ceiling at a certain angle γ, which can fully project the image in the plane mirror m1 to the plane mirror m3, where α and γ are both greater than 0 degrees and less than 90 degrees. α is the angle between the calibration plate n and the horizontal plane. γ is the angle between the plane mirror m2 and the horizontal plane.

[0050] The posture parameters of the camera are predetermined, and the multi-faceted plane mirror includes a first plane mirror and at least one plane mirror group, and the plane mirror group includes a second plane mirror and a third plane mirror.

[0051] Specifically, since the calibration of the camera requires an appropriate distance between the camera and the calibration plate, if the calibration distance is too close, the calibration accuracy of the camera will decrease, and if the calibration distance is too long, the calibration meaning will be lost. Therefore, in this embodiment, by adjusting the parameters of the calibration plate and the multi-faceted plane mirror, not only can the calibration distance between the calibration plate and the camera be made greater than the preset calibration distance, but also the camera can be calibrated in a limited calibration site, and the calibration distance can be precisely controlled to improve the calibration effect of the camera.

[0052] In some embodiments, the controller is specifically used to: determine the calibration distance between the calibration plate and the camera; determine the constraints between the multi-faceted plane mirrors and between the multi-faceted plane mirrors and the calibration site; determine the parameters of the multi-faceted plane mirrors and the parameters of the calibration plate according to the calibration distance and the constraints.

[0053] The calibration distance between the calibration plate and the camera is the sum of the paths that the calibration icon of the calibration plate takes to reach the camera after multiple reflections. It can be determined based on the camera's position data, the size data of the calibration site, the parameters of the multi-faceted plane mirror, and the parameters of the calibration plate. In order to achieve accurate calibration of the camera, each camera corresponds to a standard calibration distance. For example, the standard calibration distance of the vehicle-mounted preview camera is 14m.

[0054] Specifically, the controller can set the calibration distance to the standard calibration distance corresponding to the camera. After determining that the calibration distance is the standard calibration distance, the parameters of the multi-faceted plane mirror and the parameters of the calibration plate are adjusted according to the camera's posture data, the constraints between the multi-faceted plane mirrors, and the constraints between the multi-faceted plane mirrors and the calibration site, thereby achieving precise adjustment of the parameters of the calibration plate and the parameters of the multi-faceted plane mirror, so that the calibration distance is the standard calibration distance corresponding to the camera, thereby improving the calibration effect of the camera.

[0055] In some embodiments, the controller is specifically used to: determine a first constraint condition of the multi-faceted plane mirror; determine a second constraint condition between the multi-faceted plane mirror and the calibration site, wherein the constraint condition includes the first constraint condition and the second constraint condition.

[0056] The first constraint condition is a constraint condition for ensuring that the multi-faceted plane mirror can form a complete image, and the second constraint condition is a constraint condition for ensuring that the multi-faceted plane mirror can be placed in the calibration site.

[0057] In some embodiments, a first association relationship between the first plane mirror and the calibration plate is determined; a second association relationship between the middle plane mirror and the calibration plate and the camera is determined; a third association relationship between the last plane mirror and the calibration plate and the camera is determined, and the first constraint condition includes the first association relationship, the second association relationship and the third association relationship.

[0058] The first constraint condition includes a first association relationship between the first plane mirror and the calibration plate, a second association relationship between the middle plane mirror and the calibration plate and the camera, and a third association relationship between the last plane mirror and the calibration plate and the camera.

[0059] In some embodiments, the controller is specifically used to: determine according to the first size data of the first plane mirror, the second size data of the calibration plate, and the first position data of the calibration plate.

[0060] This embodiment continues with Figure 5 The following is an explanation using a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device for a camera with three plane mirrors.

[0061] Among them, the first dimension data of the first plane mirror can be the length of the first plane mirror, such as x1. The second dimension data of the calibration plate can be the length data of the calibration plate, such as x. In an actual scenario, the second dimension data can be predetermined. The first position data of the calibration plate can be the angle between the calibration plate and the horizontal plane, such as α, and the vertical distance from the highest point of the calibration plate to the highest point (ceiling) of the calibration site, such as h. The corresponding expression of the first association relationship is:

[0062] x1≥xsecα (1)

[0063] In some embodiments, the controller is specifically used to determine the second association relationship based on the third size data of the intermediate plane mirror, the second position data of the camera, the second size data of the calibration plate, and the first position data of the calibration plate.

[0064] This embodiment continues with Figure 5 The following is an explanation using a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device for a camera with three plane mirrors.

[0065] Among them, the second size data of the calibration plate can be the length data of the calibration plate, such as x. In an actual scenario, the second size data can be predetermined. The intermediate plane mirror refers to the plane mirror remaining after removing the first plane mirror and the last plane mirror from the multi-faceted plane mirror. The third size data of the intermediate plane mirror can be the length of the intermediate plane mirror, such as x2. The second position data of the camera can be the lifting angle on the vehicle, such as β, the lifting height when the lifting angle on the vehicle is β, such as h1, the height of the camera in the vertical direction from the horizontal ground, such as h2, and the horizontal length of the camera from the front end of the vehicle, such as len. The second position data of the camera is predetermined, and h1=sinβ×h3, h3 is the body length of the vehicle. The first position data of the calibration plate can be the angle between the calibration plate and the horizontal plane, such as α. The corresponding expression of the second association relationship is:

[0066]

[0067] In some embodiments, the controller is specifically used to determine the third association relationship based on the third size data of the last plane mirror, the second size data of the calibration plate, and the second position data (β) of the camera.

[0068] This embodiment continues with Figure 5 The following is an explanation using a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device for a camera with three plane mirrors.

[0069] Among them, the third dimension data of the last plane mirror can be the length of the last plane mirror, such as x0. The second dimension data of the calibration plate can be the length data of the calibration plate, such as x. In an actual scenario, the second dimension data can be predetermined. The second position data of the camera can be the lifting angle on the vehicle, such as β, the lifting height when the lifting angle on the vehicle is β, such as h1, the height of the camera in the vertical direction from the horizontal ground, such as h2, and the horizontal length of the camera from the front end of the vehicle, such as len. The second position data of the camera is predetermined. The corresponding expression of the third association relationship is:

[0070] x0≥xsecβ (3)

[0071] Combining the above expressions (1), (2) and (3), we can know that the expression of the first constraint is as follows:

[0072]

[0073] In some embodiments, the controller is specifically used to: determine the fourth association relationship between the first plane mirror and the calibration plate, the camera, and the calibration site; determine the fifth association relationship between the last plane mirror and the calibration plate, the camera, and the calibration site, and the second constraint condition includes the fourth association relationship and the fifth association relationship.

[0074] This embodiment continues with Figure 5 The following is an explanation using a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device for a camera with three plane mirrors.

[0075] The second constraint condition includes a fourth association relationship between the first plane mirror and the calibration plate, the camera, and the calibration site, and a fifth association relationship between the last plane mirror and the calibration plate, the camera, and the calibration site.

[0076] In some embodiments, the controller is specifically used to determine the fourth association relationship based on the first size data of the first plane mirror, the second size data of the calibration plate, the first position data of the calibration plate, the second position data of the camera, and the fourth size data of the calibration site.

[0077] This embodiment continues with Figure 5 The following is an explanation using a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device for a camera with three plane mirrors.

[0078] Among them, the fourth dimension data of the calibration site can be the width of the calibration site, such as L, and the height of the calibration site, such as H, and the fourth dimension data can be predetermined. The first dimension data of the first plane mirror can be the length of the first plane mirror, such as x1. The first position data of the calibration plate can be the angle between the calibration plate and the horizontal plane, such as α, and the vertical distance from the highest point of the calibration plate to the highest point (ceiling) of the calibration site, such as h. The corresponding expression of the fourth association relationship is:

[0079]

[0080] In some embodiments, the controller is specifically used to determine the fifth association relationship based on the second position data of the camera, the third size data of the last plane mirror, and the fourth size data of the calibration site.

[0081] This embodiment continues with Figure 5 The following is an explanation using a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device for a camera with three plane mirrors.

[0082] Among them, the third dimension data of the last plane mirror can be the length of the last plane mirror, such as x0. The fourth dimension data of the calibration site can be the width of the calibration site, such as L, and the height of the calibration site, such as H. The fourth dimension data can be predetermined. The second position data of the camera can be the lifting angle on the vehicle, such as β, the lifting height when the lifting angle on the vehicle is β, such as h1, the height of the camera in the vertical direction from the horizontal ground, such as h2, and the horizontal length of the camera from the front end of the vehicle, such as len. The second position data of the camera is predetermined. The corresponding expression of the fifth association relationship is:

[0083]

[0084] Combining the above expressions (5) and (6), we can know that the expression of the second constraint is as follows:

[0085]

[0086] In some embodiments, the controller is specifically used to: determine a first projection distance from the calibration plate to the first plane mirror; determine a second projection distance between the first plane mirror and the last plane mirror in the multi-faceted plane mirror; and determine a third distance from the camera to the last plane mirror; the calibration distance includes the first projection distance, the second projection distance and the third distance.

[0087] Among them, the first projection distance refers to the projection distance between the index plate and the first plane mirror, such as Figure 3 l1 in Figure 4 The second projection distance is the projection distance between the multi-plane mirrors. In the case of two plane mirrors, the second projection distance is the projection distance between the first plane mirror and the last plane mirror. In the case of more than two plane mirrors, the second projection distance is the sum of the projection distance between the first plane mirror and the middle plane mirror, the projection distance between the middle plane mirrors, and the projection distance between the middle plane mirror and the last plane mirror. Figure 3 In l2+l3, Figure 4 The third distance refers to the distance from the camera to the last plane mirror, such as Figure 3 and Figure 4 In l4.

[0088] The calibration distance can be determined based on the first projection distance, the second projection distance, and the third distance. In some embodiments, the controller is specifically configured to: determine the sum of the first projection distance, the second projection distance, and the third distance as the calibration distance. That is, the calibration distance is the sum of the first projection distance, the second projection distance, and the third distance. Figure 3 The calibration distance l=l1+l2+l3+l4, Figure 4 The calibration distance l=l1+l2+l3+l4+l5+l6.

[0089] In some embodiments, the controller is specifically used to determine the first projection distance according to fourth size data of the calibration site, second size data of the calibration plate, and first position data of the calibration plate.

[0090] This embodiment continues with Figure 5 The following is an explanation using a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device for a camera with three plane mirrors.

[0091] Among them, the fourth dimension data of the calibration site can be the width of the calibration site, such as L, and the height of the calibration site, such as H, and the fourth dimension data can be predetermined. The first position data of the calibration plate can be the angle between the calibration plate and the horizontal plane, such as α, and the vertical distance from the highest point of the calibration plate to the highest point (ceiling) of the calibration site, such as h. The second dimension data of the calibration plate can be the length data of the calibration plate, such as x. In an actual scene, the second dimension data can be predetermined. The calculation formula of the first projection distance l1 is:

[0092]

[0093] In some embodiments, the controller is specifically used to determine the second projection distance based on the fourth size data of the calibration site, the second size data of the calibration plate, the first position data of the calibration plate, the third size data of the intermediate plane mirror, the first size data of the first plane mirror, the third position data of the intermediate plane mirror and the second position data of the camera.

[0094] This embodiment continues with Figure 5 The following is an explanation using a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device for a camera with three plane mirrors.

[0095] The second projection distance is the sum of the projection distance l2 between the first plane mirror m1 and the second plane mirror m2 and the projection distance l3 between the second plane mirror m2 and the last plane mirror m3.

[0096] Among them, the fourth dimension data of the calibration site can be the width of the calibration site, such as L, and the height of the calibration site, such as H, and the fourth dimension data can be predetermined. The first position data of the calibration plate can be the angle between the calibration plate and the horizontal plane, such as α, and the vertical distance from the highest point of the calibration plate to the highest point (ceiling) of the calibration site, such as h. The second dimension data of the calibration plate can be the length data of the calibration plate, such as x. In an actual scenario, the second dimension data can be predetermined. The second position data of the camera can be the lifting angle on the vehicle, such as β, the lifting height when the lifting angle on the vehicle is β, such as h1, the height of the camera in the vertical direction from the horizontal ground, such as h2, and the horizontal length of the camera from the front end of the vehicle, such as len. The second position data of the camera is predetermined. The third dimension data of the intermediate plane mirror can be the length of the intermediate plane mirror, such as x2. The third position data of the intermediate plane mirror can be the angle between the intermediate plane mirror and the horizontal plane, such as γ, and γ=(π-2α-2β).

[0097] The calculation formula of the projection distance l2 between the first plane mirror m1 and the second plane mirror m2 is:

[0098]

[0099] The calculation formula for the projection distance l3 between the second plane mirror m2 and the last plane mirror m3 is:

[0100]

[0101] In some embodiments, the controller is specifically used to determine the third distance according to the fourth size data of the calibration site and the second position data of the camera.

[0102] This embodiment continues with Figure 5 The following is an explanation using a schematic diagram of the parameters of the calibration plate and the multi-faceted plane mirror in the calibration device for a camera with three plane mirrors.

[0103] Among them, the fourth dimension data of the calibration site can be the width of the calibration site, such as L, and the height of the calibration site, such as H, and the fourth dimension data can be predetermined. The second position data of the camera can be the lifting angle on the vehicle, such as β, the lifting height when the lifting angle on the vehicle is β, such as h1, the height of the camera in the vertical direction from the horizontal ground, such as h2, and the horizontal length of the camera from the front end of the vehicle, such as len. The second position data of the camera is predetermined. The calculation formula of the third distance l4 is:

[0104] l4=Lsecβ+h2tanβ+len (11)

[0105] Specifically, after determining the calibration distance, the controller substitutes the preset standard calibration distance into l=l1+l2+l3+l4, and according to the above calculation expressions (4) and (7), and calculation formulas (8), (9), (10) and (11), the parameters of the calibration plate and the parameters of the multi-faceted plane mirror can be solved. The parameters of the calibration plate and the parameters of the multi-faceted plane mirror are sent to the user end, and the calibration plate and the multi-faceted plane mirror are placed according to the parameters of the calibration plate and the parameters of the multi-faceted plane mirror, so that the camera can be calibrated according to the standard calibration distance, thereby improving the calibration effect of the camera.

[0106] It can be understood that in the above embodiment, the controller adjusts the parameters of the calibration plate and the multi-faceted plane mirror to achieve precise control of the calibration distance and improve the accuracy of the calibration distance.

[0107] In one embodiment, a camera calibration system is proposed, including the camera calibration device and calibration component in the above embodiment, the calibration component is electrically connected to the camera, and is used to receive an image of a calibration icon taken by the camera to complete the parameter calibration of the camera.

[0108] Specifically, after determining the calibration device of the camera, since the calibration device of the camera solves the problem of limited calibration site of the camera, the camera can be calibrated over a long distance in a calibration site with limited calibration distance. Therefore, the calibration component can be used to complete the calibration of the camera parameters according to the image of the calibration icon taken by the camera, thereby realizing the calibration of the camera parameters. Furthermore, the parameters of the calibration plate and the multi-faceted plane mirror can be adjusted to realize the precise control of the calibration distance, improve the accuracy of the calibration distance, and thus improve the calibration effect of the camera parameters.

[0109] In some embodiments, a calibration component is used to calibrate a camera on a vehicle.

[0110] Specifically, the calibration component can be used to calibrate cameras on the vehicle, such as a vehicle-mounted preview camera, thereby solving the problem of limited calibration sites on the vehicle production line.

[0111] The cameras on the target equipment, such as vehicle-mounted preview cameras, smart cameras on medical equipment, and smart cameras on access control, all need to be calibrated when the target equipment is offline. The production line calibration is also applicable to the production line calibration of cameras in other industries as a component. For example, the camera is a vehicle-mounted preview camera. At present, mainstream car manufacturers have increasingly stringent requirements on the accuracy of smart driving cameras, especially vehicle-mounted preview cameras. The error is required to reach the millimeter level. In order to achieve better accuracy, the camera must be calibrated when the vehicle is offline. This requires that the distance between the camera and the calibration plate is appropriate. If the calibration distance is too close, the calibration accuracy will decrease, and if it is too far, the calibration meaning will be lost. To this end, the embodiment of the present application provides a parameter determination method for a camera calibration device. By adjusting the parameters of the calibration plate and the multi-faceted plane mirror, so that the calibration distance between the calibration plate and the camera is greater than or equal to the preset calibration distance, the calibration distance can be precisely controlled, thereby improving the calibration effect of the camera.

[0112] like Figure 6 As shown, in one embodiment, a method for determining parameters of a camera calibration device is proposed. The calibration device includes a calibration plate and a multi-faceted plane mirror. The method for determining parameters of the camera calibration device is applied to Figure 1 , Figure 2 The calibration device of the camera shown in the figure. The parameter determination method of the calibration device of the camera specifically includes the following steps. Specifically includes the following steps.

[0113] Step S10, adjusting the parameters of the calibration plate and the multi-faceted plane mirror so that the calibration distance between the calibration plate and the camera is greater than or equal to a preset calibration distance.

[0114] The parameters of the calibration plate refer to the position parameters of the calibration plate set at the calibration site and the size parameters of the calibration plate. The parameters of the plane mirror refer to the position parameters of the calibration plate set at the calibration site and the size parameters corresponding to the plane mirror.

[0115] Specifically, by adjusting the parameters of the calibration plate and the multi-faceted plane mirror, not only can the calibration distance between the calibration plate and the camera be made greater than the preset calibration distance, so that the camera can be calibrated in a restricted calibration site, but the calibration distance can also be precisely controlled, thereby improving the calibration effect of the camera.

[0116] In some embodiments, the parameters of the calibration plate and the multi-faceted plane mirror are adjusted so that the calibration distance between the calibration plate and the camera is greater than or equal to a preset calibration distance, including: determining the calibration distance between the calibration plate and the camera; determining the constraints between the multi-faceted plane mirrors and between the multi-faceted plane mirrors and the calibration site; and determining the parameters of the multi-faceted plane mirror and the calibration plate according to the calibration distance and the constraints.

[0117] In some embodiments, a calibration distance between the calibration plate and the camera is determined; constraints between the multi-faceted plane mirrors and between the multi-faceted plane mirrors and the calibration site are determined, including: determining a first constraint between the multi-faceted plane mirrors; determining a second constraint between the multi-faceted plane mirrors and the calibration site, wherein the constraint includes a first constraint and a second constraint.

[0118] In some embodiments, determining a first constraint condition of a multi-faceted plane mirror includes: determining a first association relationship between a first plane mirror and the calibration plate; determining a second association relationship between an intermediate plane mirror and the calibration plate and the camera; and determining a third association relationship between a last plane mirror and the calibration plate and the camera, wherein the first constraint condition includes the first association relationship, the second association relationship, and the third association relationship.

[0119] In some embodiments, determining a first association relationship between the first plane mirror and the calibration plate includes: determining the first association relationship according to first size data of the first plane mirror, second size data of the calibration plate, and first position data of the calibration plate.

[0120] In some embodiments, determining a second association relationship between the intermediate plane mirror and the calibration plate and the camera includes: determining the second association relationship based on third size data of the intermediate plane mirror, second position data of the camera, second size data of the calibration plate, and first position data of the calibration plate.

[0121] In some embodiments, determining the third association relationship between the last plane mirror and the calibration plate and the camera includes: determining the third association relationship based on third size data of the last plane mirror, second size data of the calibration plate, and second position data of the camera.

[0122] In some embodiments, a second constraint condition between the multi-faceted plane mirror and the calibration site is determined, and the constraint condition includes the first constraint condition and the second constraint condition, including: determining a fourth association relationship between the first plane mirror and the calibration plate, the camera, and the calibration site; determining a fifth association relationship between the last plane mirror and the calibration plate, the camera, and the calibration site, and the second constraint condition includes the fourth association relationship and the fifth association relationship.

[0123] In some embodiments, determining a fourth association relationship between the first plane mirror and the calibration plate, the camera, and the calibration site includes: determining the fourth association relationship based on first size data of the first plane mirror, second size data of the calibration plate, first position data of the calibration plate, second position data of the camera, and fourth size data of the calibration site.

[0124] In some embodiments, determining the fifth association relationship between the last plane mirror and the calibration plate, the camera, and the calibration site includes: determining the fifth association relationship based on the second position data of the camera, the third size data of the last plane mirror, and the fourth size data of the calibration site.

[0125] In some embodiments, determining the calibration distance between the calibration plate and the camera includes: determining a first projection distance from the calibration plate to a first plane mirror; determining a second projection distance between multiple plane mirrors; and determining a third distance from the camera to the last plane mirror; the calibration distance is the sum of the first projection distance, the second projection distance, and the third distance.

[0126] In some embodiments, determining a first projection distance from the calibration plate to the first plane mirror includes: determining the first projection distance based on fourth size data of the calibration site, second size data of the calibration plate, and first position data of the calibration plate.

[0127] In some embodiments, determining the second projection distance between the multi-faceted plane mirrors includes: determining the second projection distance based on fourth size data of the calibration site, second size data of the calibration plate, first position data of the calibration plate, third size data of the intermediate plane mirror, first size data of the first plane mirror, third position data of the intermediate plane mirror, and second position data of the camera.

[0128] In some embodiments, determining a third distance from the camera to the last plane mirror includes: determining the third distance according to fourth dimension data of the calibration site and second position data of the camera.

[0129] Based on the same inventive concept, the present application also provides a parameter determination device for a camera calibration device, which is used to implement the parameter determination method for the camera calibration device involved in the above-mentioned embodiment in which the computer device is the execution subject. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiment of the parameter determination device for one or more camera calibration devices provided below can be referred to the limitations of the parameter determination method for the camera calibration device involved in the embodiment in which the computer device is the execution subject, and will not be repeated here.

[0130] In some embodiments, Figure 7 As shown, a parameter determination device for a camera calibration device is provided, comprising:

[0131] The adjustment module 701 is used to adjust the parameters of the calibration plate and the multi-faceted plane mirror so that the calibration distance between the calibration plate and the camera is greater than or equal to a preset calibration distance.

[0132] In some embodiments, the adjustment module 701 is specifically used to: determine the calibration distance between the calibration plate and the camera; determine the constraints between the multi-faceted plane mirrors and between the multi-faceted plane mirrors and the calibration site; determine the parameters of the multi-faceted plane mirror and the parameters of the calibration plate according to the calibration distance and the constraints.

[0133] In some embodiments, the adjustment module 701 is further specifically used to: determine a first constraint condition of the multi-faceted plane mirror; determine a second constraint condition between the multi-faceted plane mirror and the calibration site, wherein the constraint condition includes the first constraint condition and the second constraint condition.

[0134] In some embodiments, the adjustment module 701 is further specifically used to: determine a first association relationship between the first plane mirror and the calibration plate; determine a second association relationship between the middle plane mirror and the calibration plate and the camera; determine a third association relationship between the last plane mirror and the calibration plate and the camera, and the first constraint condition includes the first association relationship, the second association relationship and the third association relationship.

[0135] In some embodiments, the adjustment module 701 is further specifically used to determine the first association relationship according to the first size data of the first plane mirror, the second size data of the calibration plate, and the first position data of the calibration plate.

[0136] In some embodiments, the adjustment module 701 is further specifically used to determine the second association relationship according to the third size data of the intermediate plane mirror, the second position data of the camera, the second size data of the calibration plate, and the first position data of the calibration plate.

[0137] In some embodiments, the adjustment module 701 is further specifically used to determine a third association relationship according to the third size data of the last plane mirror, the second size data of the calibration plate, and the second position data of the camera.

[0138] In some embodiments, the adjustment module 701 is further specifically used to: determine a fourth association relationship between the first plane mirror and the calibration plate, the camera, and the calibration site; determine a fifth association relationship between the last plane mirror and the calibration plate, the camera, and the calibration site, and the second constraint condition includes the fourth association relationship and the fifth association relationship.

[0139] In some embodiments, the adjustment module 701 is further specifically used to determine the fourth association relationship based on the first size data of the first plane mirror, the second size data of the calibration plate, the first position data of the calibration plate, the second position data of the camera and the fourth size data of the calibration site.

[0140] In some embodiments, the adjustment module 701 is further specifically used to determine the fifth association relationship according to the second position data of the camera, the third size data of the last plane mirror, and the fourth size data of the calibration site.

[0141] In some embodiments, the adjustment module 701 is further specifically used to: determine a first projection distance from the calibration plate to the first plane mirror; determine a second projection distance between multiple plane mirrors; and determine a third distance from the camera to the last plane mirror; the calibration distance is the sum of the first projection distance, the second projection distance and the third distance.

[0142] In some embodiments, the adjustment module 701 is further specifically used to determine the first projection distance according to the fourth size data of the calibration site, the second size data of the calibration plate, and the first position data of the calibration plate.

[0143] In some embodiments, the adjustment module 701 is further specifically used to determine the second projection distance based on the fourth size data of the calibration site, the second size data of the calibration plate, the first position data of the calibration plate, the third size data of the intermediate plane mirror, the first size data of the first plane mirror, the third position data of the intermediate plane mirror and the second position data of the camera.

[0144] In some embodiments, the adjustment module 701 is further specifically configured to determine the third distance according to the fourth size data of the calibration site and the second position data of the camera.

[0145] Each module in the above-mentioned devices can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of the processor in the control device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0146] In some embodiments, a computer device is provided, whose internal structure diagram can be as follows: Figure 8As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a parameter determination method for a camera calibration device is implemented.

[0147] Optionally, the computer device further includes a display unit. The display unit of the computer device is used to form a visually visible picture, and may be a display screen, a projection device, or a virtual reality imaging device. The display screen may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or may be a key, trackball, or touchpad provided on the computer device housing, or may be an external keyboard, touchpad, or mouse, etc.

[0148] Those skilled in the art will understand that Figure 8 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the control device to which the scheme of the present application is applied. The specific control device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0149] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The processor involved in each embodiment provided in this application can be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc., but is not limited thereto.

[0150] Correspondingly, an embodiment of the present application also provides a computer device, which may be a terminal device or a server.

[0151] like Figure 8 As shown, Figure 8 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. The computer device 1000 includes a processor 1001 having one or more processing cores, a memory 1002 having one or more computer-readable storage media, and a computer program stored in the memory 1002 and executable on the processor. The processor 1001 is electrically connected to the memory 1002. Those skilled in the art will appreciate that the computer device structure shown in the figure does not constitute a limitation on the computer device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0152] The processor 1001 is the control center of the computer device 1000, and uses various interfaces and lines to connect various parts of the entire computer device 1000. By running or loading software programs and / or units stored in the memory 1002, and calling data stored in the memory 1002, the processor 1001 executes various functions of the computer device 1000 and processes data, thereby monitoring the computer device 1000 as a whole. The processor 1001 can be a central processing unit CPU, a graphics processing unit GPU, a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0153] In the embodiment of the present application, the processor 1001 in the computer device 1000 will load the instructions corresponding to the processes of one or more application programs into the memory 1002 according to the following steps, and the processor 1001 will run the application programs stored in the memory 1002, so as to realize various functions, for example, adjusting the parameters of the calibration plate and the multi-faceted plane mirror so that the calibration distance between the calibration plate and the camera is greater than or equal to the preset calibration distance. The specific implementation of each of the above operations can be referred to the previous embodiment, and will not be repeated here.

[0154] Alternatively, if Figure 8 As shown, the computer device 1000 further includes: a touch screen 1003, a radio frequency circuit 1004, an audio circuit 1005, an input unit 1006, and a power supply 1007. The processor 1001 is electrically connected to the touch screen 1003, the radio frequency circuit 1004, the audio circuit 1005, the input unit 1006, and the power supply 1007, respectively. Those skilled in the art can understand that Figure 8 The computer device structure shown in the figure does not constitute a limitation on the computer device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0155] The touch display screen 1003 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1003 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the computer device, and these graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel can be used to collect the user's touch operation on or near it (such as the user uses any suitable object or attachment such as a finger, a stylus, etc. on the touch panel or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 1001, and can receive the command sent by the processor 1001 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1001 to determine the type of touch event, and then the processor 1001 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1003 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1003 can also be used as a part of the input unit 1006 to realize the input function.

[0156] The radio frequency circuit 1004 may be used to send and receive radio frequency signals, so as to establish wireless communication with a network device or other computer devices through wireless communication, and to send and receive signals between the network device or other computer devices.

[0157] The audio circuit 1005 can be used to provide an audio interface between the user and the computer device through a speaker and a microphone. The audio circuit 1005 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1005 and converted into audio data, and then the audio data is output to the processor 1001 for processing, and then sent to another computer device through the radio frequency circuit 1004, or the audio data is output to the memory 1002 for further processing. The audio circuit 1005 may also include an earphone jack to provide communication between an external headset and the computer device.

[0158] The input unit 1006 may be used to receive input numbers, character information or user feature information (such as fingerprint, iris, facial information, etc.), and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0159] The power supply 1007 is used to supply power to various components of the computer device 1000. Optionally, the power supply 1007 can be logically connected to the processor 1001 through a power management system, so that the power management system can manage charging, discharging, and power consumption. The power supply 1007 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0160] although Figure 8 Not shown, the computer device 1000 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0161] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0162] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0163] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored, and the computer program can be loaded by a processor to execute the parameter determination method of any camera calibration device provided in the embodiment of the present application. The computer program can execute the steps of the parameter determination method of the camera calibration device as follows: determining the first direction control amount of the vehicle; performing directional coupling control processing based on the first direction control amount to obtain the second direction control amount of the vehicle; and controlling the direction of the vehicle according to the first direction control amount and the second direction control amount. The specific implementation of each of the above operations can be found in the previous embodiments, and will not be repeated here.

[0164] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0165] Since the computer program stored in the computer-readable storage medium can execute the parameter determination method of the calibration device of any camera provided in the embodiments of the present application, the beneficial effects that can be achieved by the parameter determination method of the calibration device of any camera provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0166] According to one aspect of the present application, a computer program product or a computer program is also provided, the computer program product or the computer program includes a computer instruction, and the computer instruction is stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the method provided in various optional implementations in the above embodiments.

[0167] In the above-mentioned vehicle transverse and longitudinal control device, computer-readable storage medium, computer equipment, and computer program product embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process and beneficial effects of the above-mentioned vehicle transverse and longitudinal control device, computer-readable storage medium, computer program product, computer equipment and its corresponding units can refer to the description of the parameter determination method of the camera calibration device in the above embodiment, and will not be repeated here.

[0168] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0169] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of various embodiments in the embodiments of the present application have different focuses, for parts not described in detail in a certain embodiment, reference can be made to the relevant embodiments of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A camera calibration device, characterized in that: The device comprises: A calibration plate, on which a calibration icon is provided, and the calibration icon is used to calibrate the camera; The multi-faceted plane mirror is used to reflect the calibration icon of the calibration plate into the camera through multiple reflections.

2. The device according to claim 1, characterized in that The calibration distance between the calibration plate and the camera is the sum of paths along which the calibration icon of the calibration plate reaches the camera after multiple reflections, and the calibration distance is greater than or equal to a preset calibration distance.

3. The device according to claim 1 or 2, characterized in that: The device also includes: The controller is used to adjust the parameters of the calibration plate and the multi-faceted plane mirror so that the calibration distance between the calibration plate and the camera is greater than or equal to a preset calibration distance.

4. The device according to claim 3, characterized in that The controller is specifically used for: Determining a calibration distance between the calibration plate and the camera; Determine the constraints between the multi-faceted plane mirrors and between the multi-faceted plane mirrors and the calibration site; The parameters of the polygonal plane mirror and the parameters of the calibration plate are determined according to the calibration distance and the constraint conditions.

5. The device according to claim 4, characterized in that The controller is specifically used for: Determine the first constraint condition of the polygonal plane mirror; A second constraint condition between the multi-faceted plane mirror and the calibration site is determined, wherein the constraint condition includes a first constraint condition and the second constraint condition.

6. The device according to claim 5, characterized in that The controller is specifically used for: Determining a first association relationship between the first plane mirror and the calibration plate; Determine a second association relationship between the intermediate plane mirror, the calibration plate, and the camera; Determine a third association relationship between the last plane mirror, the calibration plate, and the camera, wherein the first constraint condition includes the first association relationship, the second association relationship, and the third association relationship.

7. The device according to claim 6, characterized in that The controller is specifically used to determine a first association relationship according to first size data of the first plane mirror, second size data of the calibration plate, and first position data of the calibration plate.

8. The device according to claim 6, characterized in that The controller is specifically used for: The second association relationship is determined according to the third size data of the intermediate plane mirror, the second position data of the camera, the second size data of the calibration plate, and the first position data of the calibration plate.

9. The device according to claim 6, characterized in that The controller is specifically used for: The third association relationship is determined according to the third size data of the last plane mirror, the second size data of the calibration plate, and the second position data of the camera.

10. The device according to claim 5, characterized in that The controller is specifically used for: Determine a fourth association relationship between the first plane mirror and the calibration plate, the camera, and the calibration site; A fifth association relationship between the last plane mirror and the calibration plate, the camera, and the calibration site is determined, wherein the second constraint condition includes the fourth association relationship and the fifth association relationship.

11. The device according to claim 10, characterized in that The controller is specifically used for: The fourth association relationship is determined according to the first size data of the first plane mirror, the second size data of the calibration plate, the first position data of the calibration plate, the second position data of the camera and the fourth size data of the calibration site.

12. The device according to claim 10, characterized in that The controller is specifically used for: The fifth association relationship is determined according to the second position data of the camera, the third size data of the last plane mirror, and the fourth size data of the calibration site.

13. The device according to claim 4, characterized in that The controller is specifically used for: Determining a first projection distance from the calibration plate to the first plane mirror; determining a second projection distance between the multi-faceted plane mirrors; And determine the third distance from the camera to the last plane mirror; the calibration distance is the sum of the first projection distance, the second projection distance and the third distance.

14. The device according to claim 13, characterized in that The controller is specifically used for: The first projection distance is determined according to the fourth size data of the calibration site, the second size data of the calibration plate, and the first position data of the calibration plate.

15. The device according to claim 13, characterized in that The controller is specifically used for: The second projection distance is determined according to the fourth size data of the calibration site, the second size data of the calibration plate, the first position data of the calibration plate, the third size data of the intermediate plane mirror, the first size data of the first plane mirror, the third position data of the intermediate plane mirror and the second position data of the camera.

16. The device according to claim 13, characterized in that The controller is specifically used for: The third distance is determined according to fourth dimension data of the calibration site and second position data of the camera.

17. A camera calibration system, characterized in that: include: A camera calibration device as claimed in any one of claims 1 to 16; as well as A calibration component is electrically connected to the camera and is used to receive an image of a calibration icon taken by the camera to complete parameter calibration of the camera.

18. The system according to claim 17, characterized in that The calibration component is used for calibrating the camera on the vehicle.

19. A method for determining parameters of a camera calibration device, characterized in that: The camera calibration device includes a calibration plate and a multi-faceted plane mirror, and the method includes: The parameters of the calibration plate and the multi-faceted plane mirror are adjusted so that the calibration distance between the calibration plate and the camera is greater than or equal to a preset calibration distance.

20. The method according to claim 19, characterized in that The step of adjusting the parameters of the calibration plate and the multi-faceted plane mirror so that the calibration distance between the calibration plate and the camera is greater than or equal to a preset calibration distance includes: Determining a calibration distance between the calibration plate and the camera; Determine the constraints between the multi-faceted plane mirrors and between the multi-faceted plane mirrors and the calibration site; The parameters of the polygonal plane mirror and the parameters of the calibration plate are determined according to the calibration distance and the constraint conditions.

21. The method according to claim 20, characterized in that The step of determining a calibration distance between the calibration plate and the camera comprises: Determining a first projection distance from the calibration plate to the first plane mirror; Determining a second projection distance between the first plane mirror and the last plane mirror in the multi-faceted plane mirror; And determine the third distance from the camera to the last plane mirror; the calibration distance is the sum of the first projection distance, the second projection distance and the third distance.

22. The method according to claim 20, characterized in that The determining of the constraint conditions between the multi-faceted plane mirrors and between the multi-faceted plane mirrors and the calibration site includes: Determine the first constraint condition of the polygonal plane mirror; A second constraint condition between the multi-faceted plane mirror and the calibration site is determined, wherein the constraint condition includes a first constraint condition and the second constraint condition.

23. The method according to claim 22, characterized in that The first constraint condition for determining the multi-faceted plane mirror comprises: Determining a first association relationship between the first plane mirror and the calibration plate; Determine a second association relationship between the intermediate plane mirror, the calibration plate, and the camera; Determine a third association relationship between the last plane mirror, the calibration plate, and the camera, wherein the first constraint condition includes the first association relationship, the second association relationship, and the third association relationship.

24. The method according to claim 22, characterized in that The second constraint condition for determining the multi-faceted plane mirror and the calibration site, wherein the constraint condition includes the first constraint condition and the second constraint condition, includes: Determine a fourth association relationship between the first plane mirror and the calibration plate, the camera, and the calibration site; A fifth association relationship between the last plane mirror and the calibration plate, the camera, and the calibration site is determined, wherein the second constraint condition includes the fourth association relationship and the fifth association relationship.

25. A computer device, characterized in that: It comprises a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps of the parameter determination method of the camera calibration device as described in any one of claims 19 to 24.

26. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps of the parameter determination method of the camera calibration device as described in any one of claims 19 to 24.

27. A computer program product, characterized in that It comprises a computer program, wherein the computer program is used by a processor to execute the steps of the parameter determination method of the camera calibration device as described in any one of claims 19 to 24.

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