一种基于AprilTag进行环视相机3D标定的方法、系统及介质

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By fusing AprilTag calibration and vehicle attitude data, the problems of low viewpoint switching efficiency and image stitching misalignment in traditional 2D calibration methods are solved, enabling flexible adjustment and stable recognition of surround-view camera 3D calibration, and improving the reliability and applicability of the calibration process.

CN120894439BActive Publication Date: 2026-07-17东风悦享科技有限公司

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Patent Information

Authority / Receiving Office: CN · China
Patent Type: Patents(China)
Current Assignee / Owner: 东风悦享科技有限公司
Filing Date: 2025-08-28
Publication Date: 2026-07-17

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Abstract

本发明涉及一种基于AprilTag进行环视相机3D标定的方法、系统及介质，所述方法包括：M1.获取前、后、左、右四个车载鱼眼相机的原始图像，对每幅图像进行鱼眼畸变校正，得到无畸变图像的数据信息；M2.基于所述无畸变图像的数据信息，在每幅去畸变图像中检测AprilTag标记,并提取检测到的角点坐标作为图像点集,查询预定义的标定板物理尺寸对应的三维世界坐标，构建匹配的三维点集，得到图像的匹配的三维点集的数据信息。本发明不仅实现鸟瞰相机高度与视野参数的灵活调整，避免重复标定，而且通过融合车辆姿态传感器数据动态修正虚拟相机参数，实现车身倾斜状态下的视角补偿。

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