Multifunctional camera automatic calibration system and calibration method

Abstract

The invention discloses a multifunctional camera automatic calibration system and calibration method. The system comprises a data analysis processing module, a posture adjustment module, a scene simulation module and a calibration module. The data analysis processing module calculates the position and resolution parameters of the camera according to the angle information of the camera, the size of the display and the resolution of the display; the posture adjusting module adjusts the position of the camera according to the position of the camera and the resolution parameter; the scene simulation module generates a simulation scene containing the vehicle, and displays the distance between the vehicle and the left and right lane lines and the distance between the vehicle and the front vehicle through the simulation scene; and the calibration module compares the simulation scene in the scene simulation module with the display distance of the multifunctional camera, and completes transverse and longitudinal calibration by adjusting the simulation scene. According to the invention, the calibration accuracy and stability are effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile electrical function testing, and in particular relates to a multifunctional camera automatic calibration system and a calibration method. Background Art

[0002] With the continuous development of automobile intelligence, multi-function cameras have become an indispensable equipment in automobiles. However, the calibration process of multi-function cameras requires a lot of manpower and time investment. Therefore, how to achieve efficient and accurate automatic camera calibration has become an urgent problem to be solved.

[0003] Traditional camera calibration methods mainly include manual adjustment and semi-automatic adjustment. Manual adjustment requires professional personnel to perform on-site operations, which is time-consuming and easily affected by environmental factors. Although semi-automatic adjustment reduces manual intervention, it still requires a certain amount of calibration time and accuracy. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a multifunctional camera automatic calibration system and calibration method. According to the input parameters, the data processing module automatically calculates and the posture adjustment module automatically adjusts the position of the multifunctional camera. At the same time, the scene simulation module generates horizontal and vertical scenes, and finally the calibration module performs horizontal and vertical calibration, which effectively improves the accuracy and stability of the calibration. In addition, the invention also has an automatic calibration function, which has the advantages of high efficiency and shortened calibration cycle.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] As a first aspect of the present invention, there is provided a multifunctional camera automatic calibration system, comprising a data analysis and processing module, a posture adjustment module, a scene simulation module and a calibration module;

[0007] The data analysis and processing module is used to calculate the position and resolution parameters of the camera according to the camera angle information, the display size and the display resolution;

[0008] The posture adjustment module adjusts the position of the camera according to the camera position and resolution parameters calculated by the data analysis and processing module;

[0009] The scene simulation module is used to generate a simulation scene including the vehicle, including a horizontal scene and a vertical scene, the horizontal scene is the left and right lane line scene, and the vertical scene is the front vehicle scene; the distance between the vehicle and the left and right lane lines and the distance between the vehicle and the front vehicle are displayed through the simulation scene;

[0010] The calibration module compares the simulation scene in the scene simulation module with the display distance of the multi-functional camera, and completes the horizontal and vertical calibration by adjusting the simulation scene.

[0011] Furthermore, the position and resolution reference of the camera include: a theoretical value of a vertical distance between the camera and the display, an actual field of view area size of the display, a total resolution, and an origin of a resolution coordinate system.

[0012] Furthermore, the camera angle information includes a camera horizontal angle value and a camera vertical angle value, the display size includes a display horizontal size and a display vertical size, and the display resolution includes a display horizontal resolution and a display vertical resolution.

[0013] Furthermore, the calibration module compares the distance between the vehicle and the left and right lane lines displayed in the scene simulation module with the distance displayed by the multi-function camera. If the comparison is inconsistent, the scene lane lines are adjusted to make the distance consistent and ensure that the lane lines are parallel lines in the top view to complete the lateral calibration.

[0014] Furthermore, the calibration module compares the distance between the vehicle and the preceding vehicle displayed in the scene simulation module with the distance displayed by the multi-function camera, and completes the longitudinal calibration by adjusting the scene vehicles to make the distance consistent.

[0015] Furthermore, the posture adjustment module is a six-degree-of-freedom adjustment device.

[0016] As a second aspect of the present invention, a calibration method for a multifunctional camera automatic calibration system is also provided, comprising the following steps:

[0017] Step 1: The data analysis and processing module calculates the position and resolution parameters of the camera according to the camera angle, the display size and the display resolution; the position and resolution parameters of the camera include: the theoretical value of the vertical distance between the camera and the display, the actual field of view area size of the display, the total resolution and the origin of the resolution coordinate system;

[0018] Step 2: The posture adjustment module adjusts the position of the multi-function camera according to the position and resolution parameters of the multi-function camera calculated in step 1;

[0019] Step 3: The scene simulation module generates a simulation scene, including a horizontal scene and a vertical scene. The horizontal scene is the left and right lane line scene, and the vertical scene is the front vehicle scene. The simulation scene displays the distance between the vehicle and the left and right lane lines, and the distance between the vehicle and the front vehicle.

[0020] Step 4. The calibration module compares the distance between the vehicle and the left and right lane lines in step 3 with the distance displayed by the multi-function camera. If the comparison results are inconsistent, the scene lane lines are adjusted to make the distance consistent and ensure that the lane lines are parallel lines when viewed from above to complete the lateral calibration. The distance between the vehicle and the vehicle in front in step 3 is compared with the distance displayed by the multi-function camera, and the scene vehicles are adjusted to make the distance consistent to complete the longitudinal calibration.

[0021] Furthermore, in step 1, the theoretical value of the vertical distance between the camera and the display is calculated by the horizontal angle and vertical angle of the camera and the actual size of the display:

[0022]

[0023]

[0024] Where D1 is the theoretical value of the vertical distance between the camera and the display calculated from the actual size of the display in the horizontal direction; X is the actual size of the display in the horizontal direction; θ is the horizontal angle of the multi-function camera; D2 is the theoretical value of the vertical distance between the camera and the display calculated from the actual size of the display in the vertical direction; Y is the actual size of the display in the vertical direction; It is the vertical angle of the multi-function camera;

[0025] Let D min =min{D1,D2};

[0026] If D min =D1, then the actual vertical dimension of the display Camera vertical total resolution R Y is the vertical resolution of the display; the origin coordinate of the camera's viewing angle

[0027] If D min =D2, then the actual horizontal dimension of the display field of view Camera horizontal total resolution R X is the horizontal resolution of the display; the origin coordinates of the camera’s view resolution (0, R Y ).

[0028] The present invention has the following beneficial effects:

[0029] The present invention provides a multifunctional camera automatic calibration and calibration method. According to the input parameters, the position and resolution parameters are automatically calculated by the data processing module, the six-degree-of-freedom position of the multifunctional camera is automatically adjusted by the posture adjustment module, the horizontal and vertical scenes are generated by the scene simulation module, and finally the horizontal and vertical calibration is performed by the calibration module. The method is objective, evaluable, and repeatable, and can avoid the time-consuming manual adjustment or semi-automatic adjustment by engineers, thereby improving the calibration efficiency, accuracy, and stability. In the future, with the continuous advancement of technology, it is believed that this automatic calibration method will be widely used in more fields and provide more convenience for the field of electrical function testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without creative work.

[0031] Figure 1 This is a block diagram of a multifunctional camera automatic calibration system according to Embodiment 1 of the present invention;

[0032] Figure 2 This is a flow chart of a calibration method of a multifunctional camera automatic calibration system described in Example 2 of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example 1

[0035] like Figure 1 The present embodiment is a multifunctional camera automatic calibration system, which is used to realize a multifunctional camera automatic calibration. The multifunctional camera automatic calibration system includes a data analysis and processing module 100, a posture adjustment module 110, a scene simulation module 120 and a calibration module 130;

[0036] The data analysis and processing module 100 is used to calculate the position and resolution parameters of the multifunctional camera according to the multifunctional camera angle information, the display size and the display resolution; the multifunctional camera angle information includes the camera horizontal angle value and the camera vertical angle value, the display size includes the display horizontal size and the display vertical size, and the display resolution includes the display horizontal resolution and the display vertical resolution; the camera position and resolution reference includes: the theoretical value of the vertical distance between the multifunctional camera and the display, the actual field of view area size (horizontal and vertical), the total resolution (horizontal and vertical) and the origin of the resolution coordinate system;

[0037] The posture adjustment module 110 performs six-degree-of-freedom position adjustment on the multifunctional camera according to the position and resolution parameters calculated by the data analysis and processing module;

[0038] The scene simulation module 120 is used to generate a lateral scene and a longitudinal scene through simulation, wherein the lateral scene is a left and right lane line scene, and the longitudinal scene is a front vehicle scene; the scene generated by the scene simulation module displays the distance between the vehicle and the left and right lane lines, and the distance between the vehicle and the front vehicle, which is used for multi-function camera calibration;

[0039] The calibration module 130 compares the simulated scene in the scene simulation module with the distance displayed by the multi-function camera, and completes the lateral and longitudinal calibration by adjusting the simulated scene: the distance between the vehicle and the left and right lane lines displayed in the scene simulation module is compared with the distance displayed by the multi-function camera. If the comparison is inconsistent, the scene lane lines are adjusted to make the distance consistent and ensure that the lane lines are parallel lines in the top view to complete the lateral calibration; the distance between the vehicle and the vehicle in front displayed in the scene simulation module is compared with the distance displayed by the multi-function camera, and the scene vehicles are adjusted to make the distance consistent to complete the longitudinal calibration.

[0040] Example 2

[0041] like Figure 2 As shown, this embodiment provides a calibration method for a multifunctional camera automatic calibration system, comprising the following steps:

[0042] Step 1. According to the camera angle (horizontal angle and vertical angle), the display size (horizontal direction and vertical direction) and the display resolution (horizontal direction and vertical direction), the data analysis and processing module calculates the position and resolution parameters of the camera; the position and resolution parameters of the camera include: the theoretical value of the vertical distance between the camera and the display, the actual field of view area size of the display (horizontal direction and vertical direction), the total resolution (horizontal and vertical) and the origin of the resolution coordinate system.

[0043] The theoretical vertical distance between the camera and the display is calculated based on the horizontal and vertical angles of the camera and the actual size of the display.

[0044]

[0045]

[0046] Where D1 is the theoretical value of the vertical distance between the camera and the display calculated from the actual size of the display in the horizontal direction; X is the actual size of the display in the horizontal direction; θ is the horizontal angle of the multi-function camera; D2 is the theoretical value of the vertical distance between the camera and the display calculated from the actual size of the display in the vertical direction; Y is the actual size of the display in the vertical direction; It is the vertical angle of the multi-function camera;

[0047] In order to make the camera get a complete picture, determine the size of D1 and D2, and take the smaller one, that is, D min =min{D1,D2};

[0048] If D min =D1, then the actual vertical dimension of the display Camera vertical total resolution R Y is the vertical resolution of the display; the origin coordinate of the camera's viewing angle

[0049] If D min =D2, then the actual horizontal dimension of the display field of view Camera horizontal total resolution R X is the horizontal resolution of the display; the origin coordinates of the camera’s view resolution (0, R Y ).

[0050] Step 2: The posture adjustment module adjusts the position of the multifunctional camera according to the position and resolution parameters of the multifunctional camera calculated in step 1; the posture adjustment module is a six-degree-of-freedom adjustment device, which can realize six-degree-of-freedom position adjustment of the multifunctional camera.

[0051] Step 3: The scene simulation module generates a simulation scene, including a horizontal scene and a vertical scene. The horizontal scene is the left and right lane line scene, and the vertical scene is the front vehicle scene. The simulation scene of the scene simulation module can display the distance between the vehicle and the left and right lane lines, and the distance between the vehicle and the front vehicle, which is used for multi-function camera calibration.

[0052] Step 4. The calibration module compares the distance between the vehicle and the left and right lane lines in step 3 with the distance displayed by the multi-function camera and performs calculations. If the comparison results are inconsistent, the scene lane lines are adjusted to make the distance consistent and ensure that the lane lines are parallel lines when viewed from above to complete the lateral calibration. The distance between the vehicle and the vehicle in front in step 3 is compared with the distance displayed by the multi-function camera and the scene vehicles are adjusted to make the distance consistent to complete the longitudinal calibration.

[0053] In the embodiment of the present invention, the method of performing horizontal and vertical calibration on the multifunctional camera through the data analysis and processing module, the posture adjustment module, the scene simulation module, and the calibration module is objective, evaluable, and repeatable, and can avoid time-consuming manual adjustment or semi-automatic adjustment by engineers, thereby improving the calibration efficiency and accuracy.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0055] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the protection scope of the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention. These simple variations all belong to the protection scope of the present invention.

[0056] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0057] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A multifunctional camera automatic calibration system, characterized in that: It includes data analysis and processing module, posture adjustment module, scene simulation module and calibration module; The data analysis and processing module is used to calculate the position and resolution parameters of the camera according to the camera angle information, the display size and the display resolution; The posture adjustment module adjusts the position of the camera according to the camera position and resolution parameters calculated by the data analysis and processing module; The scene simulation module is used to generate a simulation scene including the vehicle, including a horizontal scene and a vertical scene, the horizontal scene is the left and right lane line scene, and the vertical scene is the front vehicle scene; the distance between the vehicle and the left and right lane lines and the distance between the vehicle and the front vehicle are displayed through the simulation scene; The calibration module compares the simulation scene in the scene simulation module with the display distance of the multi-functional camera, and completes the horizontal and vertical calibration by adjusting the simulation scene.

2. A multifunctional camera automatic calibration system as claimed in claim 1, characterized in that: The position and resolution reference of the camera include: the theoretical value of the vertical distance between the camera and the display, the actual field of view area size of the display, the total resolution and the origin of the resolution coordinate system.

3. A multifunctional camera automatic calibration system as claimed in claim 1, characterized in that: The camera angle information includes a camera horizontal angle value and a camera vertical angle value, the display size includes a display horizontal size and a display vertical size, and the display resolution includes a display horizontal resolution and a display vertical resolution.

4. A multifunctional camera automatic calibration system as claimed in claim 1, characterized in that: The calibration module compares the distance between the vehicle and the left and right lane lines displayed in the scene simulation module with the distance displayed by the multi-function camera. If the comparison is inconsistent, the scene lane lines are adjusted to make the distance consistent and ensure that the lane lines are parallel lines in the top view to complete the lateral calibration.

5. The multifunctional camera automatic calibration system according to claim 1, characterized in that: The calibration module compares the distance between the vehicle and the preceding vehicle displayed in the scene simulation module with the distance displayed by the multi-function camera, and completes the longitudinal calibration by adjusting the scene vehicles to make the distance consistent.

6. The multifunctional camera automatic calibration system according to claim 1, characterized in that: The posture adjustment module is a six-degree-of-freedom adjustment device.

7. The calibration method of a multifunctional camera automatic calibration system according to claim 1, characterized in that: The following steps are involved: Step 1: According to the camera angle, display size and display resolution, the data analysis and processing module calculates the position and resolution parameters of the camera; The position and resolution parameters of the camera include: the theoretical value of the vertical distance between the camera and the display, the actual field of view area size of the display, the total resolution, and the origin of the resolution coordinate system; Step 2: The posture adjustment module adjusts the position of the multi-function camera according to the position and resolution parameters of the multi-function camera calculated in step 1; Step 3: The scene simulation module generates a simulation scene, including a horizontal scene and a vertical scene. The horizontal scene is the left and right lane line scene, and the vertical scene is the front vehicle scene. The simulation scene displays the distance between the vehicle and the left and right lane lines, and the distance between the vehicle and the front vehicle. Step 4. The calibration module compares the distance between the vehicle and the left and right lane lines in step 3 with the distance displayed by the multi-function camera. If the comparison results are inconsistent, the scene lane lines are adjusted to make the distance consistent and ensure that the lane lines are parallel lines when viewed from above to complete the lateral calibration. The distance between the vehicle and the vehicle in front in step 3 is compared with the distance displayed by the multi-function camera, and the scene vehicles are adjusted to make the distance consistent to complete the longitudinal calibration.

8. The calibration method of a multifunctional camera automatic calibration system as claimed in claim 7, characterized in that: In step 1, the theoretical value of the vertical distance between the camera and the display is calculated by the horizontal angle and vertical angle of the camera and the actual size of the display: Where D1 is the theoretical value of the vertical distance between the camera and the display calculated from the actual size of the display in the horizontal direction; X is the actual size of the display in the horizontal direction; θ is the horizontal angle of the multi-function camera; D2 is the theoretical value of the vertical distance between the camera and the display calculated from the actual size of the display in the vertical direction; Y is the actual size of the display in the vertical direction; It is the vertical angle of the multi-function camera; Let D min =min{D1,D2}; If D min =D1, then the actual vertical dimension of the display Camera vertical total resolution R Y is the vertical resolution of the display; the origin coordinate of the camera's viewing angle If D min =D2, then the actual horizontal dimension of the display field of view Camera horizontal total resolution R X is the horizontal resolution of the display; the origin coordinates of the camera’s view resolution (0, R Y ).

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