CN104318581A - Vehicle-mounted early-warning system camera calibration method - Google Patents
Vehicle-mounted early-warning system camera calibration method Download PDFInfo
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- CN104318581A CN104318581A CN201410649622.7A CN201410649622A CN104318581A CN 104318581 A CN104318581 A CN 104318581A CN 201410649622 A CN201410649622 A CN 201410649622A CN 104318581 A CN104318581 A CN 104318581A
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Abstract
The invention relates to the field of vehicle-mounted camera calibration methods, in particular to a vehicle-mounted early-warning system camera calibration method. Through the vehicle-mounted early-warning camera calibration method, the pitch angle and the height from the ground of a vehicle-mounted early-warning camera can be efficiently and accurately acquired. The method includes the following steps that first, a calibration plate is arranged in front of the vehicle-mounted camera; second, any two corner points, in the direction perpendicular to the ground along a connecting line, on the calibration plate are scanned and recognized by the vehicle-mounted camera firstly, and the positions of the two corner points in an image are recorded; third, the calibration plate is moved to a new position after being horizontally moved by the interval distance, the new position is recorded as a second position of the calibration plate, the two same corner points selected in the previous step are scanned and recognized by the vehicle-mounted camera again, and the positions of the two corner points in the image are recorded; fourth, finally, the pitch angle and the height from the ground of the vehicle-mounted early-warning camera are finally acquired. The method can particularly has advantages in some areas with incomplete calibration conditions.
Description
Technical field
The present invention relates to vehicle-mounted camera scaling method field, especially a kind of vehicle-mounted early warning system camera calibration method.
Background technology
At present, conventional vehicle-mounted camera mode of demarcating is manual demarcation.Namely when the demarcation camera angle of pitch, vehicle is parked on smooth straight way, is convenient to observation place horizontal line, by regulating the button of adjustment up and down of calibration software, making it crossing with local horizon, completing demarcation.But the method needs observation place horizontal line, higher and easily demarcate inaccurate to demarcation environmental requirement, therefore, limit to angle when practical operation, thus have impact on the accuracy of calibration result.
Summary of the invention
Technical matters to be solved by this invention be to provide a kind of acquisition vehicle-mounted early warning camera of efficiently and accurately the angle of pitch and overhead height vehicle-mounted early warning camera calibration method.
The technical solution adopted for the present invention to solve the technical problems is: vehicle-mounted early warning system camera calibration method, comprises the following steps:
A, arrange scaling board in vehicle-mounted camera front, the position of scaling board is recorded as scaling board primary importance, and described scaling board is vertically place, and scaling board plate is facing to vehicle-mounted camera;
First b, vehicle-mounted camera are taken up an official post to get to scaling board and are being carried out scanning recognition along line perpendicular to the angle point of two on direction, ground, record the first angle point, the second angle point, obtain respectively at primary importance first angle point, the second angle point in the picture relative to the displacement of picture centre;
C, move to reposition by after scaling board translation distance, described reposition is recorded as the scaling board second place, vehicle-mounted camera carries out scanning recognition to identical two angle points chosen in previous step again, then record the first angle point, the second angle point, obtain respectively at the first angle point of the second place and the second angle point in the picture relative to the displacement of picture centre;
D, acquisition scaling board translation distance, the first angle point is relative to the height on ground, and the second angle point, relative to the height on ground, finally obtains the angle of pitch and the vehicle-mounted camera height overhead of vehicle-mounted camera.
Further, described vehicle-mounted camera and scaling board spacing range are 1 meter to 2 meters.
Further, adjustment tripod is provided with below described scaling board.
Further, the height being arranged at the scaling board on tripod described in is not less than 1.8 meters.
The invention has the beneficial effects as follows: higher and easily demarcate inaccurate shortcoming to demarcation environmental requirement in the vehicle-mounted camera scaling method of comparing traditional, the present invention's advantage is first convenient operation.Scaling board is utilized to set up a relative demarcation reference system, then utilize camera to obtain identical two angle point positions in the picture in primary importance and the second place respectively, and according to the distance parameter obtained, the angle of pitch and overhead highly of camera just directly can be obtained.The present invention's practicality is in practice much better than traditional demarcation mode, and the region not too perfect in some demarcation conditions especially can play advantage of the present invention.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of operation steps of the present invention.
Fig. 2 is the schematic diagram of scaling board of the present invention.
Fig. 3 is the schematic diagram that scaling board of the present invention is arranged on tripod.
Be labeled as in figure: scaling board primary importance 1, first angle point 11, the scaling board second place 2, second angle point 22, scaling board 3, adjustment tripod 4, vehicle-mounted camera 5, distance D.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
Vehicle-mounted early warning system camera calibration method as shown in Figure 1, Figure 2, Figure 3 shows, comprises the following steps:
A, arrange scaling board 3 in vehicle-mounted camera 5 front, the position of scaling board 3 is recorded as scaling board primary importance 1, and described scaling board 3 is vertically place, and scaling board 3 plate is facing to vehicle-mounted camera 5;
First b, vehicle-mounted camera 5 are taken up an official post to get to scaling board 3 and are being carried out scanning recognition along line perpendicular to the angle point of two on direction, ground, record the first angle point 11, second angle point 22, obtain respectively at primary importance 1 first angle point 11, second angle point 22 in the picture relative to the displacement of picture centre;
C, move to reposition by after scaling board 3 translation distance (D), described reposition is recorded as the scaling board second place 2, vehicle-mounted camera 5 carries out scanning recognition to identical two angle points chosen in previous step again, then record the first angle point 11, second angle point 22, obtain respectively at the first angle point 11 of the second place 2 and the second angle point 22 in the picture relative to the displacement of picture centre;
D, acquisition scaling board 3 translation distance (D), the first angle point 11 is relative to the height on ground, and the second angle point 11, relative to the height on ground, finally obtains the angle of pitch and vehicle-mounted camera 5 height overhead of vehicle-mounted camera 5.
The position of identification angle point is to determine the position of angle point in the image of camera in scaling board, and obtains corresponding parameter value as reference.The difference in height of the first angle point 11 and the second angle point 22 can be obtained relative to the height on ground and the second angle point 22 relative to the height on ground by the first angle point 11, then, in conjunction with the focal length of distance D, vehicle-mounted camera 5 and the first angle point 11 and the second angle point 22 respectively in the displacement at primary importance 1 and the second place 2 times relative image center in the picture, the angle of pitch and vehicle-mounted camera 5 height overhead of vehicle-mounted camera 5 can be obtained efficiently, convenience very.
In addition, in conjunction with practical experience, generally described vehicle-mounted camera 5 and scaling board 3 spacing range are chosen as 1 meter to 2 meters for best.For the ease of the adjustment of scaling board 3, can also arrange below scaling board 3 and regulate tripod 4, as shown in Figure 3.In order to ensure that vehicle-mounted camera 5 gathers carrying out smoothly of angle point, preferably ensure that the height of the scaling board 3 be arranged on tripod 4 is not less than 1.8 meters.
Compared with traditional demarcation mode, the present invention is first not high to demarcation environmental requirement, facilitates demarcation person greatly.Meanwhile, the accuracy rate of calibration result have also been obtained raising.
Claims (4)
1. vehicle-mounted early warning system camera calibration method, comprises the following steps, it is characterized in that:
A, scaling board (3) is set in vehicle-mounted camera (5) front, the position of scaling board (3) is recorded as scaling board primary importance (1), described scaling board (3) is vertically place, and scaling board (3) plate is facing to vehicle-mounted camera (5);
B, vehicle-mounted camera (5) are first taken up an official post to get to scaling board (3) and are being carried out scanning recognition along line perpendicular to the angle point of two on direction, ground, record the first angle point (11), the second angle point (22), obtain respectively at primary importance (1) first angle point (11), the second angle point (22) in the picture relative to the displacement of picture centre;
C, move to reposition by after scaling board (3) translation distance (D), described reposition is recorded as the scaling board second place (2), vehicle-mounted camera (5) carries out scanning recognition to identical two angle points chosen in previous step again, then record the first angle point (11), the second angle point (22), obtain respectively at first angle point (11) of the second place (2) and the second angle point (22) in the picture relative to the displacement of picture centre;
D, acquisition scaling board (3) translation distance (D), first angle point (11) is relative to the height on ground, second angle point (11), relative to the height on ground, finally obtains the angle of pitch and vehicle-mounted camera (5) height overhead of vehicle-mounted camera (5).
2. vehicle-mounted early warning system camera calibration method as claimed in claim 1, is characterized in that: described vehicle-mounted camera (5) and scaling board (3) spacing range are 1 meter to 2 meters.
3. vehicle-mounted early warning system camera calibration method as claimed in claim 1 or 2, is characterized in that: described scaling board (3) below is provided with and regulates tripod (4).
4. vehicle-mounted early warning system camera calibration method as claimed in claim 3, is characterized in that: described in the height of scaling board (3) that is arranged on tripod (4) be not less than 1.8 meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410649622.7A CN104318581A (en) | 2014-11-14 | 2014-11-14 | Vehicle-mounted early-warning system camera calibration method |
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| CN201410649622.7A CN104318581A (en) | 2014-11-14 | 2014-11-14 | Vehicle-mounted early-warning system camera calibration method |
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| CN104318581A true CN104318581A (en) | 2015-01-28 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106643567A (en) * | 2016-12-08 | 2017-05-10 | 广州汽车集团股份有限公司 | Lane deviation system production line calibration board verification method and system |
| CN108235777A (en) * | 2017-12-29 | 2018-06-29 | 深圳市锐明技术股份有限公司 | A kind of scaling method, device, storage medium and the terminal device of ADAS cameras |
| CN110378962A (en) * | 2018-11-27 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Scaling method, device and the computer readable storage medium of in-vehicle camera |
| CN111033316A (en) * | 2017-08-18 | 2020-04-17 | 株式会社小糸制作所 | Recognition sensor, method for controlling recognition sensor, automobile, vehicle lamp, object recognition system, and object recognition method |
| CN113227708A (en) * | 2021-03-30 | 2021-08-06 | 深圳市锐明技术股份有限公司 | Method and device for determining pitch angle and terminal equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104143192A (en) * | 2014-08-06 | 2014-11-12 | 中电海康集团有限公司 | Calibration method and device of lane departure early warning system |
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2014
- 2014-11-14 CN CN201410649622.7A patent/CN104318581A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104143192A (en) * | 2014-08-06 | 2014-11-12 | 中电海康集团有限公司 | Calibration method and device of lane departure early warning system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106643567A (en) * | 2016-12-08 | 2017-05-10 | 广州汽车集团股份有限公司 | Lane deviation system production line calibration board verification method and system |
| CN106643567B (en) * | 2016-12-08 | 2019-03-01 | 广州汽车集团股份有限公司 | A kind of method of calibration and system of lane shift system producing line scaling board |
| CN111033316A (en) * | 2017-08-18 | 2020-04-17 | 株式会社小糸制作所 | Recognition sensor, method for controlling recognition sensor, automobile, vehicle lamp, object recognition system, and object recognition method |
| CN111033316B (en) * | 2017-08-18 | 2024-04-23 | 株式会社小糸制作所 | Identification sensor, control method therefor, automobile, vehicle lamp, object identification system, and object identification method |
| CN108235777A (en) * | 2017-12-29 | 2018-06-29 | 深圳市锐明技术股份有限公司 | A kind of scaling method, device, storage medium and the terminal device of ADAS cameras |
| CN108235777B (en) * | 2017-12-29 | 2021-07-30 | 深圳市锐明技术股份有限公司 | Calibration method and device of ADAS camera, storage medium and terminal equipment |
| CN110378962A (en) * | 2018-11-27 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Scaling method, device and the computer readable storage medium of in-vehicle camera |
| CN113227708A (en) * | 2021-03-30 | 2021-08-06 | 深圳市锐明技术股份有限公司 | Method and device for determining pitch angle and terminal equipment |
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Application publication date: 20150128 |