Camera Calibration for Autonomous Vehicles Using Dynamic Angle Detection
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Solution Overview
Problem
The perception accuracy of a driverless vehicle system is severely affected when the camera's angle deviation exceeds a tolerance range, leading to potential malfunctions and safety incidents.
Innovation Solution
A method and apparatus for real-time camera calibration processing, which involves acquiring images taken at different positions by a camera during the vehicle's travel along a straight line, calculating the current installation angle, and determining if it falls within a preset error range, with corrective measures taken if it does not.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If camera calibration is performed manually during installation, then installation time can be reduced, but the camera may develop angle deviations during operation that cannot be detected until serious malfunction occurs
Solution Approach 1:
The system performs preliminary calibration by capturing images at multiple predetermined positions along the straight line path before normal operation begins. These preliminary images establish baseline data for subsequent real-time angle deviation detection, allowing the system to proactively identify installation issues before they cause malfunction.
Solution Approach 2:
The system continuously captures images during vehicle operation and compares feature point positions against expected values to provide real-time feedback on camera angle deviations. This feedback mechanism enables immediate detection and alerting when deviations exceed thresholds, transforming passive installation verification into active monitoring.
2Measurement precision
If complex calibration equipment is used to achieve high measurement precision, then angle deviation detection accuracy improves, but system complexity and cost increase
Solution Approach 1:
The driverless vehicle itself serves as the calibration platform by utilizing its own movement along a straight line to capture calibration images. The vehicle's existing sensors and cameras are repurposed for calibration, eliminating the need for specialized external calibration equipment while maintaining high measurement precision through multiple position sampling.
Solution Approach 2:
The camera system performs dual functions: it captures images for navigation during normal operation and simultaneously captures images for angle deviation detection during calibration. This multi-functionality eliminates the need for separate dedicated calibration equipment, reducing overall system complexity while maintaining calibration accuracy.
3Measurement precision
If the vehicle stops to perform calibration, then measurement accuracy improves, but operational efficiency decreases
Solution Approach 1:
The calibration process transitions from static (vehicle stopped) to dynamic (vehicle moving). The system captures images at multiple predetermined positions along a straight line path while the vehicle is in motion, using the dynamic movement to its advantage by creating distinct spatial relationships between the camera and feature points, thereby maintaining measurement precision without requiring the vehicle to stop.
Data Source
AI summary
Embodiments of the present disclosure provide a method and an apparatus for camera calibration processing, a device for vehicle control and a storage medium. In the method according to the embodiments of the present disclosure, at least one pair of images collected by a camera and a vehicle position at a collection time of each of the images are acquired during a process of a vehicle travelling along a straight line, where each pair of images includes images taken by the camera at two different positions, and two images in each pair of images include a common static feature point. A current installation angle of the camera is calculated according to the at least one pair of images and the vehicle position at the collection time of each of the images.