On-board Camera Calibration Using Natural Scene Feature Points
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Solution Overview
Problem
Existing methods for calibrating the external parameters of an on-board camera in autonomous driving systems are limited by the need for specific calibration objects or scenes, rely on straight lane lines, or restrict vehicle movement, resulting in poor universality and efficiency.
Innovation Solution
A method that preprocesses and matches frames of images from a natural scene to determine the moving posture of the camera, establishing a conversion relationship between the vehicle and camera coordinate systems, allowing for automatic calibration without additional objects or restrictive vehicle movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a specific calibration object or calibration scene is used, then calibration accuracy can be improved, but the universality and ease of operation deteriorate due to limited use conditions
Solution Approach 1:
The system uses the on-board camera itself to capture and process natural scene images for calibration, eliminating the need for external calibration objects. The camera calibrates itself by detecting feature points in ordinary images and calculating external parameters through image processing algorithms.
Solution Approach 2:
The calibration method can be applied in various driving conditions (straight driving, turning, different speeds) using ordinary natural scenes as calibration targets. The same calibration algorithm works across different scenarios without requiring specialized calibration equipment or controlled environments.
2Adaptability or versatility
If lane line detection is used for calibration, then calibration can be performed without additional objects, but the method is limited by straightness and clarity of lane lines and can only calibrate pitch angle
Solution Approach 1:
The method changes the calibration target from lane lines to general feature points in natural scenes. By detecting multiple types of feature points (corners, intersections, distinctive patterns) rather than relying solely on lane line geometry, the system can extract more comprehensive camera parameters including pitch, yaw, and roll angles.
3Adaptability or versatility
If vanishing point calibration is used with matched feature points, then calibration can be performed in natural scenes, but the vehicle must keep strictly straight and turning data cannot be eliminated
Solution Approach 1:
The calibration method dynamically adapts to different vehicle motion states. The algorithm can process images captured during straight driving, turning, or mixed maneuvers by selectively using valid feature point matches and eliminating unreliable data through statistical methods, making the calibration process flexible and easy to operate.
4Reliability
If strict straight driving is required during calibration, then algorithm stability can be improved, but calibration speed decreases and operational flexibility is reduced
Solution Approach 1:
The system uses statistical feedback mechanisms to evaluate the quality of feature point matching results. By calculating confidence metrics and iteratively refining the selection of valid feature points, the algorithm maintains stability while processing images from varied driving conditions, improving both reliability and calibration speed.
Data Source
AI summary
The present application discloses a method, an apparatus, a system, and a storage medium for calibrating an exterior parameter of an on-board camera, relating to the field of autonomous driving technologies. A specific implementation scheme of the method in the application is: preprocessing two frames of images of a former frame and a latter frame collected by the on-board camera; performing feature point matching on the two preprocessed frames of images to obtain matched feature points; determining a moving posture of the on-board camera according to the matched feature points; determining a conversion relationship between a vehicle coordinate system and an on-board camera coordinate system according to the moving posture, and obtaining the external parameter of the on-board camera relative to a vehicle body.