Camera extrinsic calibration method, apparatus, computer equipment and readable storage medium

By extracting and matching road surface image feature points in the BEV coordinate system, and combining the constraints of parallelism and equal length, the camera extrinsic parameters are iteratively calculated, which solves the problem of low calibration accuracy of traditional camera extrinsic parameters and achieves high-precision calibration in natural road environments.

CN122089846APending Publication Date: 2026-05-26FOSS (HANGZHOU) INTELLIGENT TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
FOSS (HANGZHOU) INTELLIGENT TECH CO LTD
Filing Date
2025-12-18
Publication Date
2026-05-26

AI Technical Summary

Technical Problem

Traditional camera extrinsic calibration methods are difficult to establish an accurate calibration environment in after-sales calibration settings, resulting in low calibration accuracy. This is especially true in the dynamic calibration of side-facing cameras, where the vanishing point error is large and the roll angle cannot be accurately calculated.

Method used

By obtaining the set of BEV feature start and end points in the BEV coordinate system, and using the image feature points extracted from the road images continuously collected by the vehicle camera, combined with the constraints of parallelism and equal length satisfied by the set of BEV feature start and end points in the BEV coordinate system, the angular extrinsic parameters of the camera are iteratively calculated to avoid vanishing point errors caused by small angles between image viewpoints.

Benefits of technology

It improves the accuracy of camera extrinsic parameter calibration, enabling calibration in natural road environments, avoiding vanishing point errors caused by small image viewing angles, and accurately calculating pitch, yaw, and roll angles.

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Abstract

This application relates to a method, apparatus, computer device, and readable storage medium for calibrating camera extrinsic parameters. The method includes: acquiring a set of BEV feature start and end points in the BEV coordinate system; obtaining two precisely matched image feature end points in the image coordinate system based on the current camera extrinsic parameters and the set of BEV feature start and end points; determining a target line segment composed of the set of BEV feature start and end points; determining two projected image feature end points in the image coordinate system based on the constraints satisfied by the target line segment in the BEV coordinate system and the set of BEV feature start and end points; determining a reprojection error based on the two precisely matched image feature end points and the two projected image feature end points; iteratively updating the current camera extrinsic parameters based on the reprojection error until a preset iteration termination condition is met, thereby obtaining the target extrinsic parameters of the camera. This method can improve the accuracy of camera extrinsic parameter calibration.
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