CN103634532A - Method for correcting automobile camera - Google Patents
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- CN103634532A CN103634532A CN201210448752.5A CN201210448752A CN103634532A CN 103634532 A CN103634532 A CN 103634532A CN 201210448752 A CN201210448752 A CN 201210448752A CN 103634532 A CN103634532 A CN 103634532A
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000006243 chemical reaction Methods 0.000 claims abstract description 91
- 238000012937 correction Methods 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 7
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 48
- 238000006073 displacement reaction Methods 0.000 claims description 20
- 230000001915 proofreading effect Effects 0.000 claims description 8
- 238000013507 mapping Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 239000011159 matrix material Substances 0.000 abstract 1
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Abstract
The invention discloses a method for correcting a photographic device of an automobile, which is characterized in that at least one external photographic device of the automobile is positioned in a specific area, the periphery of the specific area is respectively and correspondingly provided with a standard positioning pattern, the standard positioning pattern comprises at least two different at least trilateral patterns, and the standard positioning patterns are formed by at least 2X2 matrix interactive arrangement, and the method comprises the following steps: positioning the automobile in the specific area; capturing images of the standard positioning patterns respectively corresponding to the at least one external photographing device by using the at least one external photographing device to obtain at least one image; and performing image conversion processing on the at least one image to generate at least one binary image. The invention can carry out the correction method of positioning and image conversion processing in a faster way when the external camera of the conversion vehicle shoots the image with the standard positioning pattern.
Description
Technical field
The present invention is about a kind of method of proofreading and correct automobile camera, the angle point of the standard setting pattern that espespecially a kind of utilization has a mutual grid of arranging of two kinds of colors minority wherein, when the external camera of conversion car is taken the photograph to such an extent that have the image of described standard setting pattern, mode positions the bearing calibration of processing with video conversion faster.
Background technology
Refer to Figure 10, the correction place schematic diagram of the outside camera of a kind of verify check car position that it is prior art.As shown in the figure, this correction place comprises a parking area 100 and a position reference region 101 that is positioned at these parking area 100 the place aheads, this position reference region 101 comprises a plurality of black and whites location square 102 alternately, wherein, as shown in FIG., the location square 102 of each black all has four angle points 103, and during practical operation, position reference region 101 surrounds parking area 100 from surrounding.
As shown in figure 11, the correction place of the outside camera of its this verify check car that is prior art position after stopping car, the position relationship schematic diagram in the position reference region in car and the place ahead.As shown in the figure, when car 110 stop parking area 100 interior after, position reference region 101 is in car 110 the place aheads, the camera (not shown) that car 110 the place aheads have is when proofreading and correct its latest position, can utilize a plurality of angle points 103 of a plurality of location square 102 to be used as is the reference of normal place, to draw the latest position information of this camera that car 110 the place aheads are had.
Please continue to refer to Figure 12 to Figure 14, its correction place of the outside camera of this verify check car position that is respectively prior art is after stopping car, the position relationship schematic diagram in car and right-hand position reference region, the correction place of the outside camera of this verify check car position of prior art is after stopping car, the position relationship schematic diagram in the position reference region at car and rear, and the correction place of the outside camera of this verify check car position of prior art is after stopping car, the position relationship schematic diagram in the position reference region of car and left.
Yet, from the above, if the location of each side all needs to read many angle points, certainly will will spend the much time go to carry out, so can consume a large amount of production or maintenance cost, really must improve.
So, how to design a kind of method of proofreading and correct automobile camera, to solve the problem that prior art Expenses Cost is too high, be the important topic that the current personage who is familiar with related art techniques should be noted in fact.
Summary of the invention
Main purpose of the present invention is to provide a kind of method of proofreading and correct automobile camera, the angle point of the standard setting pattern that utilization has a mutual grid of arranging of two kinds of colors minority wherein, when the external camera of conversion car is taken the photograph to such an extent that have the image of described standard setting pattern, mode positions with video conversion and processes faster.
A kind of method of proofreading and correct automobile camera, it locates at least one outside camera of automobile in a specific region, and the surrounding of this specific region respectively correspondence is provided with a standard setting pattern, this standard setting pattern comprises at least two different at least triangle patterns, and with mutual arrangement of 2X2 matrix-style at least, form, the method comprises the following steps:
(1) by this bus location in this specific region;
(2) utilize this standard setting pattern filmed image that this at least one outside camera is corresponding to its difference, to obtain at least one image;
(3) this at least one image is carried out to video conversion processing, and then output becomes at least one binaryzation image;
(4) the standard setting pattern this at least one binaryzation image being had is respectively found out respectively any three angle points;
(5) utilizing three angle points of this at least one binaryzation image is datum mark, respectively this at least one binaryzation image is carried out to location and process with distortion reduction, and then output becomes at least one distortion reduction image;
(6) this at least one distortion reduction image of difference complanation, more respectively this at least one complanation distortion reduction image is carried out and got a bird's eye view conversion, with output, at least one gets a bird's eye view conversion image; And
(7) to this, at least one is got a bird's eye view conversion image and carries out splicing conversion process respectively, make this at least one get a bird's eye view conversion image and become a upper viewing view according to the surrounding position splicing of this specific region.
The video conversion of step (3) is processed and is more comprised the following steps:
(31) respectively this at least one image is carried out to mirror image conversion process, and then output becomes at least one mirror image conversion image; And
(32) respectively this at least one mirror image conversion image is carried out to binary value and process, to convert the image only with black and white two looks to, and then this at least one binaryzation image of output.
Step (5) more comprises the following steps:
(51) utilizing three angle points of this at least one binaryzation image is datum mark, respectively this at least one binaryzation image is carried out to rotation and displacement conversion process, and then output becomes at least one rotation displacement image; And
(52) this at least one the rotation displacement image after executed rotation and displacement conversion process is carried out to coordinating of data with a undistorted mapping table, at least one distortion reduction image of this with output after distortion reduction is processed.
In step (2), utilize this standard setting pattern filmed image that four outside cameras are corresponding to its difference, to obtain the first image, the second image, the 3rd image and the 4th image.
In step (3), this first image, this second image, the 3rd image and the 4th image are carried out to video conversion processing, and then output becomes the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image.
The standard setting pattern in step (4), the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image being had is respectively found out respectively any three angle points.
In step (5), utilizing three angle points of the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image is datum mark, respectively the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image are carried out to location and process with distortion reduction, and then output becomes the 13 distortion reduction image, the 14 distortion reduction image, the 15 distortion reduction image and the 16 distortion reduction image.
Difference complanation the 13 distortion reduction image, the 14 distortion reduction image, the 15 distortion reduction image and the 16 distortion reduction image in step (6), respectively this complanation the 13 distortion reduction image, this complanation the 14 distortion reduction image, this complanation the 15 distortion reduction image and this complanation the 16 distortion reduction image are carried out and got a bird's eye view conversion again, with output the 17, get a bird's eye view conversion image, the 18 and get a bird's eye view conversion image, the 19 and get a bird's eye view conversion image and the 20 and get a bird's eye view conversion image.
In step (7), to the 17, get a bird's eye view conversion image, the 18 respectively and get a bird's eye view conversion image, the 19 and get a bird's eye view conversion image and the 20 and get a bird's eye view conversion image and carry out splicing conversion process, make the 17 to get a bird's eye view conversion image, the 18 and get a bird's eye view conversion image, the 19 and get a bird's eye view conversion image and the 20 and get a bird's eye view conversion image and become this upper viewing view according to the surrounding position splicing of this specific region.
The angle point of the standard setting pattern that utilization of the present invention has a mutual grid of arranging of two kinds of colors minority wherein, mode positions with video conversion and processes faster.
Accompanying drawing explanation
Fig. 1 is that a kind of method step of proofreading and correct automobile camera of the present invention is graphic;
Fig. 2 A to Fig. 2 D is that at least one outside camera of its automobile of method of correction automobile camera of the present invention is graphic to its image that respectively a corresponding standard setting pattern is taken;
Fig. 3 A to Fig. 3 D figure is that the image after mirror image conversion process is graphic respectively for Fig. 2 A to Fig. 2 D;
Fig. 4 A to Fig. 4 D figure is that the image after binary value is processed is graphic respectively for Fig. 3 A to Fig. 3 D;
Fig. 5 is show three angle points in this standard setting pattern graphic;
Fig. 6 A to Fig. 6 D figure be to Fig. 4 A to Fig. 4 D be rotated respectively and the image that is shifted after conversion process graphic;
Fig. 7 A to Fig. 7 D figure is that the image that Fig. 6 A to Fig. 6 D is carried out respectively after distortion reduction is processed is graphic;
Fig. 8 A to Fig. 8 D figure is that the image that 7A to Fig. 7 D is got a bird's eye view respectively after conversion process is graphic;
Fig. 9 be to Fig. 8 A to Fig. 8 D get a bird's eye view image after conversion process graphic be spliced into into a upper viewing view formula;
Figure 10 is the correction place schematic diagram of the outside camera of a kind of verify check car position of prior art;
Figure 11 be the correction place of the outside camera of this verify check car position of prior art after stopping car, the position relationship schematic diagram in the position reference region in car and the place ahead;
Figure 12 be the correction place of the outside camera of this verify check car position of prior art after stopping car, the position relationship schematic diagram in car and right-hand position reference region;
Figure 13 be the correction place of the outside camera of this verify check car position of prior art after stopping car, the position relationship schematic diagram in the position reference region at car and rear; And
Figure 14 be the correction place of the outside camera of this verify check car position of prior art after stopping car, the position relationship schematic diagram in the position reference region of car and left.
[primary clustering symbol description]
100 parking areas
101 position reference regions
102 location squares
103,51,52,53 angle points
110 cars
S1-S11 number of steps
Embodiment:
Referring to Fig. 1, is that a kind of method step of proofreading and correct automobile camera of the present invention is graphic.As shown in Figure 1, the method of this correction automobile camera is located at least one (as four) outside camera of automobile in a specific region, and the surrounding of this specific region respectively correspondence is provided with a standard setting pattern, described standard setting pattern comprises at least two black and two white at least triangle (as grid) patterns, and with 2X2 matrix-style at least, mutual arrangement of at least triangle (as grid) of black and white formed, the method comprises the following steps:
S1 starts.
S2 is positioned this automobile in this specific region accurately.
S3 utilizes this standard setting pattern filmed image that this at least one (as four) outside camera is corresponding to its difference, to obtain at least one image (one first image as shown in Fig. 2 A, Fig. 2 B, Fig. 2 C and Fig. 2 D, one second image, one the 3rd image and one the 4th image).
S4 carries out the mirror image conversion process after a plurality of convex lens filmed images of outside camera to this at least one image (as the first image, this second image, the 3rd image and the 4th image) respectively, and then output becomes at least one mirror image conversion image (the first mirror picture conversion image as shown in Fig. 3 A, Fig. 3 B, Fig. 3 C and Fig. 3 D, one second mirror image conversion image, one the 3rd mirror image conversion image are changed image with one the 4th mirror image).
S5 carries out binary value to this at least one mirror image conversion image (as first mirror picture conversion image, this second mirror image conversion image, the 3rd mirror image conversion image and the 4th mirror image conversion image) respectively and processes, to convert the image only with black and white two looks to, and then at least one binaryzation image of output (one the 5th binaryzation image as shown in Fig. 4 A, Fig. 4 B, Fig. 4 C and Fig. 4 D, one the 6th binaryzation image, one the 7th binaryzation image and one the 8th binaryzation image).
The standard setting pattern that S6 has respectively this at least one binaryzation image (as the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image) is found out respectively any three angle points.As shown in Figure 5, its in the drawings one with 4X2 matrix-style mutual the arrangement in the standard setting pattern forming of black and white grid found out to three angle points 51,52,53, with the use as follow-up rotation and the required localization criteria of displacement conversion process.
S7 utilizes this at least one binaryzation image (as the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image) three angle points be datum mark, respectively to this at least one binaryzation image (as the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image) carry out rotation and the conversion process that is shifted, and then output becomes at least one rotation displacement image (as Fig. 6 A, Fig. 6 B, one the 9th rotation displacement image shown in Fig. 6 C and Fig. 6 D, the a tenth rotation displacement image, the a 11 rotation displacement image and 1 the 12 rotation displacement image).
S8 carries out coordinating of data by this at least one the rotation displacement image (as the 9th rotation displacement image, the tenth rotation displacement image, the 11 rotation displacement image and the 12 rotation displacement image) after executed rotation and displacement conversion process with a undistorted mapping table, at least one distortion reduction image with output after distortion reduction is processed (1 the 13 distortion reduction image as shown in Fig. 7 A, Fig. 7 B, Fig. 7 C and Fig. 7 D, 1 the 14 distortion reduction image, 1 the 15 distortion reduction image and 1 the 16 distortion reduction image).
S9 is this at least one distortion reduction image of complanation (as the 13 distortion reduction image, the 14 distortion reduction image, the 15 distortion reduction image and the 16 distortion reduction image) respectively, respectively this at least one complanation distortion reduction image is carried out and is got a bird's eye view conversion process again, with output at least one get a bird's eye view conversion image (one of as shown in Fig. 8 A, Fig. 8 B, Fig. 8 C and Fig. 8 D the 17 get a bird's eye view conversion image, the 18 get a bird's eye view conversion image, the 19 get a bird's eye view conversion image and the 20 get a bird's eye view change image).
To this, at least one gets a bird's eye view conversion image (get a bird's eye view conversion image, the 18 and get a bird's eye view conversion image, the 19 and get a bird's eye view conversion image and the 20 and get a bird's eye view conversion image as the 17) and carries out splicing conversion process S10 respectively, make this at least one get a bird's eye view conversion image and splice and become a upper viewing view (this upper viewing view being spliced into as shown in Figure 9) according to the surrounding position of this specific region of former correspondence.
S11 finishes.
So, the upper viewing view of gained is restored in car in computer, obtain the corrected location image that at least one (as four) outside camera of automobile is photographed.
Compared with the prior art, angle point provided by the invention is 3 points only, compared with prior art, need a plurality of angle points simply many.Therefore, method of the present invention is save the much time on carrying out, and is that saving is many certainly in production or maintenance cost.
So patent application case of the present invention is to utilize inventor's rich experience, to be rich in the design of intention, to design simply and but can fully solve the problem of prior art.Therefore, the function of patent application case of the present invention, meets the patent requirement with novelty and progressive really.
In sum, be only preferred embodiment of the present invention, when can not with restriction the scope of the invention.All equalizations of doing according to the present patent application the scope of the claims change and modify, and will not lose main idea of the present invention place, also do not depart from the spirit and scope of the present invention, and former capital should be considered as further status of implementation of the present invention.
Claims (9)
1. a method of proofreading and correct automobile camera, it locates at least one outside camera of automobile in a specific region, and the surrounding of this specific region respectively correspondence is provided with a standard setting pattern, this standard setting pattern comprises at least two different at least triangle patterns, and form with mutual arrangement of 2X2 matrix-style at least, it is characterized in that, the method comprises the following steps:
(1) by this bus location in this specific region;
(2) utilize this standard setting pattern filmed image that this at least one outside camera is corresponding to its difference, to obtain at least one image;
(3) this at least one image is carried out to video conversion processing, and then output becomes at least one binaryzation image;
(4) the standard setting pattern this at least one binaryzation image being had is respectively found out respectively any three angle points;
(5) utilizing three angle points of this at least one binaryzation image is datum mark, respectively this at least one binaryzation image is carried out to location and process with distortion reduction, and then output becomes at least one distortion reduction image;
(6) this at least one distortion reduction image of difference complanation, more respectively this at least one complanation distortion reduction image is carried out and got a bird's eye view conversion, with output, at least one gets a bird's eye view conversion image; And
(7) to this, at least one is got a bird's eye view conversion image and carries out splicing conversion process respectively, make this at least one get a bird's eye view conversion image and become a upper viewing view according to the surrounding position splicing of this specific region.
2. the method for correction automobile camera as claimed in claim 1, is characterized in that, the video conversion of step (3) is processed and more comprised the following steps:
(31) respectively this at least one image is carried out to mirror image conversion process, and then output becomes at least one mirror image conversion image; And
(32) respectively this at least one mirror image conversion image is carried out to binary value and process, to convert the image only with black and white two looks to, and then this at least one binaryzation image of output.
3. the method for correction automobile camera as claimed in claim 1, is characterized in that, wherein, step (5) more comprises the following steps:
(51) utilizing three angle points of this at least one binaryzation image is datum mark, respectively this at least one binaryzation image is carried out to rotation and displacement conversion process, and then output becomes at least one rotation displacement image; And
(52) this at least one the rotation displacement image after executed rotation and displacement conversion process is carried out to coordinating of data with a undistorted mapping table, at least one distortion reduction image of this with output after distortion reduction is processed.
4. the method for correction automobile camera as claimed in claim 1, it is characterized in that, in step (2), utilize this standard setting pattern filmed image that four outside cameras are corresponding to its difference, to obtain the first image, the second image, the 3rd image and the 4th image.
5. the method for correction automobile camera as claimed in claim 4, it is characterized in that, in step (3), this first image, this second image, the 3rd image and the 4th image are carried out to video conversion processing, and then output becomes the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image.
6. the method for correction automobile camera as claimed in claim 5, it is characterized in that, the standard setting pattern in step (4), the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image being had is respectively found out respectively any three angle points.
7. the method for correction automobile camera as claimed in claim 6, it is characterized in that, in step (5), utilize the 5th binaryzation image, the 6th binaryzation image, three angle points of the 7th binaryzation image and the 8th binaryzation image are datum mark, respectively to the 5th binaryzation image, the 6th binaryzation image, the 7th binaryzation image and the 8th binaryzation image are carried out location and are processed with distortion reduction, and then output becomes the 13 distortion reduction image, the 14 distortion reduction image, the 15 distortion reduction image and the 16 distortion reduction image.
8. the method for correction automobile camera as claimed in claim 7, it is characterized in that, difference complanation the 13 distortion reduction image in step (6), the 14 distortion reduction image, the 15 distortion reduction image and the 16 distortion reduction image, again respectively to this complanation the 13 distortion reduction image, this complanation the 14 distortion reduction image, this complanation the 15 distortion reduction image and this complanation the 16 distortion reduction image are carried out and are got a bird's eye view conversion, with output the 17, get a bird's eye view conversion image, the 18 gets a bird's eye view conversion image, the 19 gets a bird's eye view conversion image and the 20 gets a bird's eye view conversion image.
9. the method for correction automobile camera as claimed in claim 8, it is characterized in that, in step (7), to the 17, get a bird's eye view conversion image, the 18 respectively and get a bird's eye view conversion image, the 19 and get a bird's eye view conversion image and the 20 and get a bird's eye view conversion image and carry out splicing conversion process, make the 17 to get a bird's eye view conversion image, the 18 and get a bird's eye view conversion image, the 19 and get a bird's eye view conversion image and the 20 and get a bird's eye view conversion image and become this upper viewing view according to the surrounding position splicing of this specific region.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101130187A TWI500318B (en) | 2012-08-21 | 2012-08-21 | Method for correcting automotive photography devices |
| TW101130187 | 2012-08-21 |
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| CN103634532A true CN103634532A (en) | 2014-03-12 |
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| CN201210448752.5A Pending CN103634532A (en) | 2012-08-21 | 2012-11-09 | Method for correcting automobile camera |
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Cited By (1)
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| CN107133988A (en) * | 2017-06-06 | 2017-09-05 | 科大讯飞股份有限公司 | The scaling method and calibration system of camera in vehicle-mounted panoramic viewing system |
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| US20040183905A1 (en) * | 2003-02-05 | 2004-09-23 | Dorin Comaniciu | Real-time obstacle detection with a calibrated camera and known ego-motion |
| CN101098492A (en) * | 2006-06-29 | 2008-01-02 | 天津大学 | Method for determining drone target topological relation and camera calibration target capable of disposing arbitrarily |
| CN101425181A (en) * | 2008-12-15 | 2009-05-06 | 浙江大学 | Panoramic view vision auxiliary parking system demarcating method |
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| TW201410009A (en) | 2014-03-01 |
| TWI500318B (en) | 2015-09-11 |
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Application publication date: 20140312 |