Vehicle Panoramic Camera Calibration for Accurate Image Splicing
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Solution Overview
Problem
Conventional camera external parameter calibration methods for vehicle panoramic systems are complex and require extensive human intervention, involving multiple checkerboards and precise positioning, which is inconvenient and time-consuming.
Innovation Solution
A method and system for camera external parameter calibration that involves acquiring calibration images of a checkerboard from multiple cameras, calculating pixel coordinates, determining deviations in included angles and distances, and performing optimization calculations to obtain external camera parameters, reducing the need for precise checkerboard placement and improving image splicing accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional calibration method with multiple checkerboards and precise positioning is used, then calibration accuracy is improved, but device complexity and ease of operation deteriorate
Solution Approach 1:
The patent merges multiple checkerboards into a single integrated calibration board that can be captured by all panoramic cameras simultaneously. This single board contains multiple checkerboard patterns arranged to provide sufficient calibration data for all cameras, eliminating the need for multiple separate checkerboards and their complex spatial arrangements.
Solution Approach 2:
The calibration board is designed to serve multiple functions: it provides calibration data for all panoramic cameras in a single capture, supports both internal and external parameter calibration, and can be positioned flexibly without requiring precise placement. The board's design makes it universally applicable to the entire panoramic camera system rather than requiring camera-specific calibration objects.
2Measurement precision
If conventional calibration method with multiple checkerboards is used, then calibration accuracy is improved, but ease of operation deteriorates
Solution Approach 1:
The patent merges multiple checkerboards into a single integrated calibration board that can be captured by all panoramic cameras simultaneously. This single board contains multiple checkerboard patterns arranged to provide sufficient calibration data for all cameras, eliminating the need for multiple separate checkerboards and their complex spatial arrangements.
Solution Approach 2:
The calibration process is designed to be self-service in that the system automatically detects and processes the calibration board without requiring manual intervention for positioning or multiple setup steps. The single board design allows the system to automatically capture and process all necessary calibration data in one operation, reducing human effort significantly.
3Measurement precision
If conventional calibration method with multiple checkerboards and precise positioning is used, then calibration accuracy is improved, but loss of time increases
Solution Approach 1:
The patent merges multiple checkerboards into a single integrated calibration board that can be captured by all panoramic cameras simultaneously. This single board contains multiple checkerboard patterns arranged to provide sufficient calibration data for all cameras, eliminating the need for multiple separate checkerboards and their complex spatial arrangements.
Solution Approach 2:
The calibration board is pre-designed with multiple checkerboard patterns in specific arrangements that ensure all panoramic cameras can capture valid calibration data in a single frame. This preliminary design of the board structure eliminates the need for sequential positioning and multiple capture operations, significantly reducing calibration time.
4Measurement precision
If conventional calibration method with multiple checkerboards is used, then calibration accuracy is improved, but ease of manufacture deteriorates
Solution Approach 1:
The patent merges multiple checkerboards into a single integrated calibration board that can be captured by all panoramic cameras simultaneously. This single board contains multiple checkerboard patterns arranged to provide sufficient calibration data for all cameras, eliminating the need for multiple separate checkerboards and their complex spatial arrangements.
Data Source
AI summary
An improved camera external parameter calibration method of a vehicle panoramic system, comprising: acquiring calibration images of a checkerboard by means of cameras; for each acquired calibration image, obtaining pixel coordinates of corner points in the image; obtaining first coordinates of each corner point in a vehicle coordinate system on the basis of relevant parameters of the panoramic camera; for a group of adjacent corner points among the corner points, determining a first and second deviation according to the first coordinates of each corner point in the group; for each corner point in the adjacent points of the group, calculating the distance difference of the corner point on the basis of the first coordinates obtained by two cameras; and performing optimization calculation on the external parameters on the basis of the first deviation, the second deviation and the distance difference so as to obtain the external parameters of the cameras.