CN105894511A - Calibration target setting method and device and parking auxiliary system - Google Patents
Calibration target setting method and device and parking auxiliary system Download PDFInfo
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- CN105894511A CN105894511A CN201610197190.XA CN201610197190A CN105894511A CN 105894511 A CN105894511 A CN 105894511A CN 201610197190 A CN201610197190 A CN 201610197190A CN 105894511 A CN105894511 A CN 105894511A
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- vehicle
- coordinate
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- target
- normal place
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
- G06T2207/30208—Marker matrix
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The embodiments of the invention provide a calibration target setting method and device and a parking auxiliary system. The method comprises the steps of: by means of a positioning device arranged above a calibration bench, determining the practical position coordinates of a vehicle to be calibrated; carrying out projection conversion between the practical position coordinates and standard position coordinates of the vehicle, and obtaining a projection matrix; according to the projection matrix and the standard position coordinates of a calibration target, obtaining practical position coordinates of the calibration target; and according to the practical position coordinates of the calibration target, projecting the calibration target to the position corresponding to the practical position coordinates, wherein the standard position coordinates of the vehicle to be calibrated comprise the position coordinates at the moment when the vehicle is arranged right below the positioning device, and the standard position coordinates of the calibration target comprise the projection position coordinates of the calibration target which is set at the moment when the vehicle is arranged right below the positioning device. By adopting the calibration target setting method and device and the parking auxiliary system, there is no need to precisely measure the geometric center of the vehicle and precisely arrange the calibration target according to a preset position by manpower, the operation is simple and convenient, and the operation is not error-prone.
Description
Technical field
The present embodiments relate to car networking technology field, particularly relate to a kind of demarcation target method to set up, dress
Put and parking assistance system.
Background technology
Panorama parking assistance system of parking includes being arranged on vehicle body four cameras all around and figure
As processing unit, the image of four described camera collection vehicle surroundings simultaneously, four shadows collected
As processing through the distortion reduction of graphics processing unit, visual angle conversion, image mosaic, image enhaucament etc.
Process, ultimately forms 360 degree of panorama top views that a width vehicle's surroundings is seamless.
After described camera is installed on vehicle, need each output parameter of described camera is marked
Fixed, with guarantee four described camera collections to four image joints after can obtain and actual scene
360 degree of panorama top views that degree of joining is high；Existing scaling scheme includes: by parked for vehicle on horizontal plane,
Choose vehicle geometric center；A demarcation target, four described marks are placed respectively around four angles of vehicle
Targeting Central Symmetry, symmetrical centre is the geometric center of described vehicle；Collection vehicle paripheral zone has described
The image demarcating target is sent to graphics processing unit, and described graphics processing unit detects described demarcation target
Target surface image, and described target surface image is adjusted to standard picture according to pre-set programs, output is by described
Target surface Image Adjusting, to the calibrating parameters of standard picture, demarcates described camera with described calibrating parameters.
For ensureing the degree of accuracy demarcated, need when demarcating camera to place in strict accordance with design attitude to demarcate
Target, in above-mentioned scaling method, needs the most accurately to measure the geometric center of vehicle, according still further to predeterminated position
Accurately place and demarcate target, complex operation and error-prone.
Summary of the invention
The embodiment of the present invention provides one to demarcate target method to set up, device and parking assistance system, in order to solve
Certainly in prior art, user needs the most accurately to measure the geometric center of vehicle, accurately puts according still further to predeterminated position
Put the defect demarcating target.
The embodiment of the present invention provides one to demarcate target method to set up, including: by being positioned at above calibrating table
Positioner, determines vehicle actual position coordinate to be calibrated；
Described vehicle actual position coordinate and vehicle standard position coordinates are carried out projective transformation, is projected
Matrix；
According to described projection matrix and the normal place coordinate of demarcation target, obtain the actual bit of described demarcation target
Put coordinate；
Described demarcation target is projected to described actual position coordinate by the actual position coordinate according to described demarcation target
Corresponding position；
Wherein, the normal place coordinate of described vehicle to be calibrated includes that described vehicle is positioned at described positioner
Position coordinates during underface, it is described fixed that the normal place coordinate of described demarcation target includes that described vehicle is positioned at
The projected position coordinate of the described demarcation target arranged time immediately below the device of position.
The embodiment of the present invention provides one to demarcate target and arranges device, including:
Locating module, is positioned at above calibrating table for determining vehicle actual position coordinate to be calibrated；
Processing module, for projecting described vehicle actual position coordinate with vehicle standard position coordinates
Conversion, obtains projection matrix, and according to described projection matrix and the normal place coordinate of demarcation target,
Actual position coordinate to described demarcation target；
Projection module, for projecting to physical location according to described actual position coordinate by described demarcation target；
Wherein, the normal place coordinate of described vehicle to be calibrated includes that described vehicle is positioned at described positioner
Position coordinates during underface, it is described fixed that the normal place coordinate of described demarcation target includes that described vehicle is positioned at
The projected position coordinate of the described demarcation target arranged time immediately below the device of position.
The embodiment of the present invention provides a kind of parking assistance system, arranges device including above-mentioned demarcation target.
Demarcation target method to set up, device and the parking assistance system that the embodiment of the present invention provides, by surveying
The actual position coordinate of vehicle to be calibrated throw with the normal place coordinate of default vehicle to be calibrated
Shadow converts, and obtains the throwing of the actual position coordinate of vehicle to be calibrated and the normal place coordinate of vehicle to be calibrated
Shadow matrix, according to described projection matrix, becomes to demarcate target by the default normal place Coordinate Conversion demarcating target
Actual position coordinate, described demarcation target is projected to the position that described actual position coordinate is corresponding, the party
Method is without the artificial geometric center accurately measuring vehicle and accurately places described demarcation target according to predeterminated position,
Simple and convenient and the most error-prone.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that under,
Accompanying drawing during face describes is some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The demarcation target method to set up flow chart that Fig. 1 provides for the embodiment of the present invention 1；
The calibrating table that Fig. 2 provides for the embodiment of the present invention and the top view of vehicle to be calibrated；
The laser radar that Fig. 3 provides for the embodiment of the present invention and the schematic side view of vehicle；
The method schematic diagram of the determination vehicle to be measured actual position coordinate that Fig. 4 provides for the embodiment of the present invention；
The position relationship schematic diagram demarcating target and vehicle to be calibrated that Fig. 5 provides for the embodiment of the present invention；
The demarcation target method to set up flow chart that Fig. 6 provides for the embodiment of the present invention 2；
A kind of target of demarcating that Fig. 7 embodiment of the present invention provides arranges apparatus structure schematic diagram.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this
Accompanying drawing in bright embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention,
Obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on
Embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
The every other embodiment obtained, broadly falls into the scope of protection of the invention.
Embodiment 1
See Fig. 1, embodiments provide a kind of demarcation target method to set up, including:
Step 101: by being positioned at the positioner above calibrating table, determines vehicle physical location to be calibrated
Coordinate；
Specifically, Fig. 2 is the top view of calibrating table and vehicle to be calibrated, as in figure 2 it is shown, calibrating table is
One levelling bench, the surface of described calibrating table is provided with positioner and projection arrangement, and described location fills
The probe put both faces towards described calibrating table and vertical with described calibrating table with the probe of described projection arrangement；Institute
State positioner and include that the ranging localization devices such as radar, described projection arrangement include that projecting apparatus etc. can be carried out
The device of projection transform, the present invention does not limits；
As a example by laser radar, illustrate how the embodiment of the present invention determines the physical location of vehicle to be calibrated below
Coordinate:
Fig. 3 is the schematic side view of laser radar and vehicle, referring also to Fig. 2 and Fig. 3, laser radar C
Height apart from described calibrating table is h, can determine described mark according to the detection border of laser radar C
Determine the scope of platform, so that described calibrating table is positioned at the investigative range of laser radar C, it is ensured that laser radar
C can obtain in the stereo scene that described calibrating table is corresponding distance a little and angle information；Such as Fig. 2
Shown in, it is assumed that the width of described calibrating table is w, and the height of the stereo scene that described calibrating table is corresponding is sharp
The rational height h of optical radar C, sets the top left co-ordinate of described calibrating table as (0,0), described demarcation
The width of the stereo scene that platform is corresponding is a height of, and (w, h), each coordinate mentioned below is and the seat in the described upper left corner
The relative coordinate that mark is corresponding；The obstacle that can detect according to the height of laser radar C and laser radar C
The depth map of thing (vehicle the most to be calibrated) and angle information determine that the position of described vehicle each point to be calibrated is sat
Mark, the position coordinates of described each point is the actual position coordinate of described vehicle to be calibrated；The described degree of depth
Figure is each point that vehicle described to be calibrated that laser radar C detects is corresponding corresponding vertical of described calibrating table
The relative depth of the short transverse of body scene, by being marked as different colours by different described relative depths
The depth map of whole described vehicle to be calibrated is formed etc. mode；
Specifically, by following method, the embodiment of the present invention determines that the physical location of described vehicle to be calibrated is sat
Mark:
Fig. 4 is the method schematic diagram that the embodiment of the present invention determines vehicle actual position coordinate to be measured, such as Fig. 4
Shown in:
Step 201: determine that vehicle to be calibrated is projected in demarcation by being positioned at the positioner above calibrating table
Location graphic on platform；
Specifically, according to the distance map of stereo scene corresponding to described calibrating table that laser radar C obtains,
The depth map of described vehicle to be calibrated can be obtained, by the distance on described distance map or described depth map
Sudden change can detect that vehicle projects to the location graphic of described calibrating table, and described location graphic is for example, schemed
Rectangle shown in 2；Each point in wherein laser radar C detects the stereo scene that described calibrating table is corresponding
In the relative distance of described calibrating table short transverse, by different described relative distances being marked as different face
The modes such as look form the distance map of whole described stereo scene, and the distance map of described stereo scene can pass through
The difference of color embodies the sudden change of distance；
Step 202: choose four summits, four angle points as vehicle to be calibrated of described location graphic；
As in figure 2 it is shown, choose four summits, four angle points as vehicle to be calibrated of described rectangle；
Step 203: determined the actual position coordinate of described four angle points by described positioner.
As in figure 2 it is shown, record the actual position coordinate of described four angle points respectively by laser radar C
(x0, y0), (x1, y1), (x2, y2) and (x3, y3)；Above-mentioned coordinate is only used for marking
The actual position coordinate of described four angle points, is not used to limit described four angle points.
By choosing four angle points of the location graphic that described vehicle to be calibrated is projected on calibrating table as institute
State the representative position coordinates of vehicle to be calibrated, the physical location of vehicle to be calibrated can either be determined, avoid again
Determine huge DATA REASONING and statistics meter that the actual position coordinate of described vehicle each point to be calibrated brings
Calculate work.
Step 102: described vehicle actual position coordinate and vehicle standard position coordinates are carried out projective transformation,
Obtain projection matrix；The normal place coordinate of described vehicle includes that described vehicle is just being positioned at described positioner
Position coordinates during lower section；
Owing to vehicle to be calibrated may not be positioned at laser radar C directly vertically below, therefore, as it is shown on figure 3,
Owing to the detection angle of laser radar C corresponding to the described angle point in two, left and right is different, the angle point on the left side is corresponding
A1 angle, the angle point correspondence a2 angle on the right, cause the height that two, described left and right angle point is corresponding the most different,
The height that the angle point on the described left side is corresponding is h1, and the height that the angle point on described the right is corresponding is h2, therefore leads
Cause described four angle point reality the most at grade, the projection on described calibrating table of described four angle points
Figure is not a standard rectangular；The normal place coordinate of described vehicle to be calibrated includes described to be calibrated
Position coordinates when vehicle is positioned at immediately below described positioner, still as a example by described four angle points, institute
The normal place coordinate stating vehicle to be calibrated includes that described vehicle to be calibrated is positioned at immediately below described positioner
Time the position coordinates of four angle points, be labeled as (x0 ', y0 '), (x1 ', y1 '), (x2 ', y2 ')
And (x3 ', y3 '), the normal place coordinate of the most described four angle points；See following formula 1-1, by described four
The actual position coordinate of each angle point carries out projective transformation with the normal place coordinate of described four angle points, obtains
Projection matrix M；Described projective transformation can include that analytic trnasformation method, numerical inversion method and numeric value analysis become
Changing the transform methods such as method, the present invention does not limits, and described M is only used for marking described projection matrix, not
For limiting described projection matrix, when described vehicle is located just at immediately below described positioner, M is
1；
Formula 1-1:
Step 103: according to described projection matrix and the normal place coordinate of demarcation target, obtain described demarcation
The actual position coordinate of target；The normal place coordinate of described demarcation target includes that described vehicle is positioned at described location
The projected position coordinate of the described demarcation target arranged time immediately below device；
The normal place coordinate of described demarcation target includes setting when described vehicle is positioned at immediately below described positioner
The projected position coordinate of the described demarcation target put；The normal place coordinate of described demarcation target is pre-stored in described throwing
In image device, the position that specifically arranges of described demarcation target can be according to actual needs from Row sum-equal matrix, the present invention
Do not limit；Fig. 5 is the position relationship schematic diagram demarcating target with vehicle to be calibrated, as it is shown in figure 5, with
As a example by each corresponding demarcation target of described four angle points, the setting principle of described demarcation target can include being positioned at
Two described demarcation targets of vehicle front to be calibrated are equal with the distance of vehicle body, after being positioned at vehicle to be calibrated
Two described demarcation targets of side are the most equal with the distance of vehicle body, and adjacent two described demarcation targets is corresponding
The line of position is parallel to a side of described vehicle body；According to formula 1-1, by the normal place of described demarcation target
Coordinate projection is converted into the actual position coordinate of described demarcation target；
Step 104: described demarcation target is projected to described reality according to the actual position coordinate of described demarcation target
The position that border position coordinates is corresponding；
Seeing Fig. 5, when described vehicle is located just at immediately below described positioner, projection matrix M is
1, according to described normal place coordinate, four described demarcation targets are projected to the surrounding of described vehicle；When described
When vehicle is not positioned at the underface of described positioner, according to the formula 1-1 normal place to described demarcation target
Coordinate carries out projection transform, obtains the actual position coordinate of described demarcation target, according to the reality of described demarcation target
The position that border position coordinates is specified projects described demarcation target.
The demarcation target method to set up that the embodiment of the present invention provides, the reality of the vehicle to be calibrated by recording
Position coordinates carries out projective transformation with the normal place coordinate of the vehicle to be calibrated preset, and obtains car to be calibrated
The projection matrix of normal place coordinate of actual position coordinate and vehicle to be calibrated, according to described projection
Matrix, becomes to demarcate the actual position coordinate of target, by institute by the default normal place Coordinate Conversion demarcating target
Stating demarcation target and project to the position that described actual position coordinate is corresponding, the method is without manually accurately measuring car
Geometric center and accurately place described demarcation target according to predeterminated position, simple and convenient and be difficult to out
Wrong.
Embodiment 2
See Fig. 6, see Fig. 1, embodiments provide a kind of demarcation target method to set up, including:
Step 301: by being positioned at the positioner above calibrating table, determines vehicle physical location to be calibrated
Coordinate；
Specifically, Fig. 2 is the top view of calibrating table and vehicle to be calibrated, as in figure 2 it is shown, calibrating table is
One levelling bench, the surface of described calibrating table is provided with positioner and projection arrangement, and described location fills
The probe put both faces towards described calibrating table and vertical with described calibrating table with the probe of described projection arrangement；Institute
State positioner and include that the ranging localization devices such as radar, described projection arrangement include that projecting apparatus etc. can be carried out
The device of projection transform, the present invention does not limits；
As a example by laser radar, illustrate how the embodiment of the present invention determines the physical location of vehicle to be calibrated below
Coordinate:
Fig. 3 is the schematic side view of laser radar and vehicle, referring also to Fig. 2 and Fig. 3, laser radar C
Height apart from described calibrating table is h, can determine described mark according to the detection border of laser radar C
Determine the scope of platform, so that described calibrating table is positioned at the investigative range of laser radar C, it is ensured that laser radar
C can obtain in the stereo scene that described calibrating table is corresponding distance a little and angle information；Such as Fig. 2
Shown in, it is assumed that the width of described calibrating table is w, and the height of the stereo scene that described calibrating table is corresponding is sharp
The rational height h of optical radar C, sets the top left co-ordinate of described calibrating table as (0,0), described demarcation
The width of the stereo scene that platform is corresponding is a height of, and (w, h), each coordinate mentioned below is and the seat in the described upper left corner
The relative coordinate that mark is corresponding；The obstacle that can detect according to the height of laser radar C and laser radar C
The depth map of thing (vehicle the most to be calibrated) and angle information determine that the position of described vehicle each point to be calibrated is sat
Mark, the position coordinates of described each point is the actual position coordinate of described vehicle to be calibrated；Laser radar C
Detect each point corresponding to the described vehicle to be calibrated short transverse at stereo scene corresponding to described calibrating table
Relative depth, form whole institute by different described relative depths is marked as the modes such as different colours
State the depth map of vehicle to be calibrated；
Specifically, by following method, the embodiment of the present invention determines that the physical location of described vehicle to be calibrated is sat
Mark:
Fig. 4 is the method schematic diagram that the embodiment of the present invention determines vehicle actual position coordinate to be measured, such as Fig. 4
Shown in:
Step 201: determine that vehicle to be calibrated is projected in demarcation by being positioned at the positioner above calibrating table
Location graphic on platform；
Specifically, according to the distance map of stereo scene corresponding to described calibrating table that laser radar C obtains,
The depth map of described vehicle to be calibrated can be obtained, by the distance on described distance map or described depth map
Sudden change can detect that vehicle projects to the location graphic of described calibrating table, and described location graphic is for example, schemed
Rectangle shown in 2；Laser radar C detect the stereo scene that described calibrating table is corresponding in each point in institute
State the relative distance of calibrating table short transverse, by different described relative distances are marked as different colours etc.
Mode forms the distance map of whole described stereo scene, and the distance map of described stereo scene can pass through color
Difference embody distance sudden change；
Step 202: choose four summits, four angle points as vehicle to be calibrated of described location graphic；
As in figure 2 it is shown, choose four summits, four angle points as vehicle to be calibrated of described rectangle；
Step 203: determined the actual position coordinate of described four angle points by described positioner.
As in figure 2 it is shown, record the actual position coordinate of described four angle points respectively by laser radar C
(x0, y0), (x1, y1), (x2, y2) and (x3, y3)；Above-mentioned coordinate is only used for marking
The actual position coordinate of described four angle points, is not used to limit described four angle points.
By choosing four angle points of the location graphic that described vehicle to be calibrated is projected on calibrating table as institute
State the representative position coordinates of vehicle to be calibrated, the physical location of vehicle to be calibrated can either be determined, avoid again
Determine huge DATA REASONING and statistics meter that the actual position coordinate of described vehicle each point to be calibrated brings
Calculate work.
Step 302: vehicle standard position coordinates includes that vehicle standard position coordinates identifies, according to described car
Normal place coordinates logo determines vehicle standard position coordinates；
Specifically, described vehicle standard position coordinates mark can include the model of vehicle to be calibrated, volume
Deng mark, in order to determine the normal place of different described vehicle according to different vehicle normal place coordinates logo
Coordinate；Described vehicle standard position coordinates mark can be obtained by the way of user is manually arranged, it is possible to
In modes such as the design parameters by measuring vehicle, directly obtain the vehicle mark corresponding with described design parameter
Level puts coordinates logo；
The vehicle standard position coordinates corresponding for ease of obtaining described vehicle to be calibrated, step 302 is all right
Including: set up and store vehicle to be calibrated, vehicle standard position coordinates mark and vehicle in a storage module
The mapping relations of normal place coordinate；Table 1 is vehicle to be calibrated, vehicle standard position coordinates mark and car
The mapping relations table of normal place coordinate, sees table 1, as a example by vehicle identifies, when vehicle to be calibrated
Vehicle when being A, the vehicle standard position coordinates of its correspondence is designated A1, and vehicle standard position coordinates is
A2。
The mapping of table 1 vehicle to be calibrated, vehicle standard position coordinates mark and vehicle standard position coordinates is closed
System:
| Vehicle identifies | Vehicle standard position coordinates identifies | Vehicle standard position coordinates |
| A | A1 | A2 |
| B | B1 | B2 |
Step 303: described vehicle actual position coordinate is projected with described vehicle standard position coordinates
Conversion, obtains projection matrix；
Owing to vehicle to be calibrated may not be positioned at laser radar C directly vertically below, therefore, as it is shown on figure 3,
Owing to the detection angle of laser radar C corresponding to the described angle point in two, left and right is different, the angle point on the left side is corresponding
A1 angle, the angle point correspondence a2 angle on the right, cause the height that two, described left and right angle point is corresponding the most different,
The height that the angle point on the described left side is corresponding is h1, and the height that the angle point on described the right is corresponding is h2, therefore leads
Cause described four angle point reality the most at grade, the projection on described calibrating table of described four angle points
Figure is not a standard rectangular；The normal place coordinate of described vehicle to be calibrated includes described to be calibrated
Position coordinates when vehicle is positioned at immediately below described positioner, still as a example by described four angle points, institute
The normal place coordinate stating vehicle to be calibrated includes that described vehicle to be calibrated is positioned at immediately below described positioner
Time the position coordinates of four angle points, be labeled as (x0 ', y0 '), (x1 ', y1 '), (x2 ', y2 ')
And (x3 ', y3 '), the normal place coordinate of the most described four angle points；See following formula 1-1, by described four
The actual position coordinate of each angle point carries out projective transformation with the normal place coordinate of described four angle points, obtains
Projection matrix M；Described projective transformation can include that analytic trnasformation method, numerical inversion method and numeric value analysis become
Changing the transform methods such as method, the present invention does not limits, and described M is only used for marking described projection matrix, not
For limiting described projection matrix, when described vehicle is located just at immediately below described positioner, M is
1；
Step 304: the normal place coordinate demarcating target includes demarcating the normal place coordinates logo of target, according to
The normal place coordinates logo of described demarcation target determines the normal place coordinate demarcating target；
Specifically, the normal place coordinates logo of described demarcation target can include vehicle to be calibrated model,
Volumes etc. identify, in order to the normal place coordinates logo demarcating target according to difference determines different described demarcation target
Normal place coordinate；The normal place of described demarcation target can be obtained by the way of user is manually arranged
Coordinates logo, it is also possible to by measuring the modes such as the design parameter of vehicle, directly obtain and described concrete ginseng
The normal place coordinates logo of the described demarcation target that number is corresponding；
The normal place coordinate of demarcating target corresponding for ease of obtaining described demarcation target, step 304 is all right
Including: set up and store the normal place coordinate mark of vehicle to be calibrated, described demarcation target in a storage module
Mapping relations between knowledge and the normal place coordinate of described demarcation target；Table 2 is vehicle to be calibrated, described
Demarcate the mapping relations between normal place coordinates logo and the normal place coordinate of described demarcation target of target
Table, sees table 2, as a example by vehicle identifies, when the vehicle of vehicle to be calibrated is A, and the mark of its correspondence
It is a1 that the level of targeting puts coordinates logo, and the normal place coordinate demarcating target is a2.
Table 2 vehicle to be calibrated, the normal place coordinates logo of described demarcation target and the standard of described demarcation target
Mapping relations between position coordinates:
| Vehicle identifies | Demarcate target normal place coordinates logo | Demarcate the normal place coordinate of target |
| A | a1 | a2 |
| B | b1 | b2 |
Step 305: according to described projection matrix and the normal place coordinate of described demarcation target, obtains described
Demarcate the actual position coordinate of target；
The normal place coordinate of described demarcation target includes setting when described vehicle is positioned at immediately below described positioner
The projected position coordinate of the described demarcation target put；The normal place coordinate of described demarcation target is pre-stored in described throwing
In image device, the position that specifically arranges of described demarcation target can be according to actual needs from Row sum-equal matrix, the present invention
Do not limit；Fig. 5 is the position relationship schematic diagram demarcating target with vehicle to be calibrated, as it is shown in figure 5, with
As a example by each corresponding demarcation target of described four angle points, the setting principle of described demarcation target can include being positioned at
Two described demarcation targets of vehicle front to be calibrated are equal with the distance of vehicle body, after being positioned at vehicle to be calibrated
Two described demarcation targets of side are the most equal with the distance of vehicle body, and adjacent two described demarcation targets is corresponding
The line of position is parallel to a side of described vehicle body；According to formula 1-1, by the normal place of described demarcation target
Coordinate projection is converted into the actual position coordinate of described demarcation target；
Step 306: described demarcation target is projected to described reality according to the actual position coordinate of described demarcation target
The position that border position coordinates is corresponding；
Seeing Fig. 5, when described vehicle is located just at immediately below described positioner, projection matrix M is
1, according to described normal place coordinate, four described demarcation targets are projected to the surrounding of described vehicle；When described
When vehicle is not positioned at the underface of described positioner, according to the formula 1-1 normal place to described demarcation target
Coordinate carries out projection transform, obtains the actual position coordinate of described demarcation target, according to the reality of described demarcation target
The position that border position coordinates is specified projects described demarcation target.
The demarcation target method to set up that the embodiment of the present invention provides, the reality of the vehicle to be calibrated by recording
Position coordinates carries out projective transformation with the normal place coordinate of the vehicle to be calibrated preset, and obtains car to be calibrated
The projection matrix of normal place coordinate of actual position coordinate and vehicle to be calibrated, according to described projection
Matrix, becomes to demarcate the actual position coordinate of target, by institute by the default normal place Coordinate Conversion demarcating target
Stating demarcation target and project to the position that described actual position coordinate is corresponding, the method is without manually accurately measuring car
Geometric center and accurately place described demarcation target according to predeterminated position, simple and convenient and be difficult to out
Wrong；Meanwhile, also by setting up the normal place coordinates logo of vehicle and demarcating the normal place coordinate mark of target
Know, select to be applicable to the normal place coordinate of the described vehicle of described vehicle to be calibrated according to vehicle to be calibrated
And the normal place coordinate of described demarcation target, further increase and precision is set；Also by setting up and storing
Vehicle to be calibrated, vehicle standard position coordinates mark and the mapping relations of vehicle standard position coordinates, and
Vehicle to be calibrated, the normal place coordinates logo of described demarcation target and the normal place coordinate of described demarcation target
Between mapping relations, convenient obtain vehicle standard position coordinates corresponding to described vehicle to be calibrated and demarcation
The normal place coordinate of target.
Embodiment 3
See Fig. 7, embodiments provide a kind of target of demarcating and device is set, including:
Locating module 10, is positioned at above calibrating table for determining vehicle actual position coordinate to be calibrated；
Processing module 20, for throwing described vehicle actual position coordinate with vehicle standard position coordinates
Shadow converts, and obtains projection matrix, and according to described projection matrix and the normal place coordinate of demarcation target,
Obtain the actual position coordinate of described demarcation target；
Projection module 30, for projecting to physical location according to described actual position coordinate by described demarcation target；
Wherein, the normal place coordinate of described vehicle to be calibrated includes that described vehicle is positioned at described positioner
Position coordinates during underface, it is described fixed that the normal place coordinate of described demarcation target includes that described vehicle is positioned at
The projected position coordinate of the described demarcation target arranged time immediately below the device of position.
Specifically, described locating module, for determining the location graphic that vehicle is projected on calibrating table, is chosen
Four summits of described location graphic, as four angle points of vehicle to be calibrated, determine described four angle points
Actual position coordinate.
Specifically, described vehicle standard position coordinates includes that vehicle standard position coordinates identifies, described process
Module, is additionally operable to determine vehicle standard position coordinates according to described vehicle standard position coordinates mark.
Further, described demarcation target arranges device and also includes:
Memory module 40, is used for setting up and store vehicle to be calibrated, vehicle standard position coordinates mark and car
The mapping relations of normal place coordinate.
Specifically, the normal place coordinate of described demarcation target includes the normal place coordinates logo demarcating target,
Described processing module, is additionally operable to the normal place coordinates logo according to described demarcation target and determines the mark demarcating target
Quasi-position coordinates.
Further, memory module 40 is additionally operable to set up and store vehicle to be calibrated, the mark of described demarcation target
Level puts the mapping relations between the normal place coordinate of coordinates logo and described demarcation target.
The demarcation target that the embodiment of the present invention provides arranges device, is surveyed by locating module 10 by processing module 20
The actual position coordinate of vehicle to be calibrated throw with the normal place coordinate of default vehicle to be calibrated
Shadow converts, and obtains the throwing of the actual position coordinate of vehicle to be calibrated and the normal place coordinate of vehicle to be calibrated
Shadow matrix, and according to described projection matrix, become to demarcate by the default normal place Coordinate Conversion demarcating target
The actual position coordinate of target, then projects to described physical location by projection module 30 by described demarcation target
The position that coordinate is corresponding, the method is without the artificial geometric center accurately measuring vehicle and according to predeterminated position
Accurately place described demarcation target, simple and convenient and the most error-prone；Simultaneously also by the mark setting up vehicle
Level is put coordinates logo and demarcates the normal place coordinates logo of target, selects to be applicable to according to vehicle to be calibrated
The normal place coordinate of the described vehicle of described vehicle to be calibrated and the normal place coordinate of described demarcation target,
Further increase and precision is set；Set up and store vehicle to be calibrated, vehicle mark also by memory module 40
Level puts coordinates logo and the mapping relations of vehicle standard position coordinates, and vehicle to be calibrated, described mark
Mapping relations between the normal place coordinates logo of targeting and the normal place coordinate of described demarcation target, side
Just obtain vehicle standard position coordinates corresponding to described vehicle to be calibrated and demarcate the normal place coordinate of target.
Embodiment 4
Embodiments provide a kind of parking assistance system, set including the demarcation target described in embodiment 3
Put device.
Described parking assistance system, the demarcation target provided by embodiment 3 is arranged device and sets described mark
After targeting, contain described demarcation target by being arranged on vehicle periphery described in the camera collection of vehicle body surrounding
Image, is sent to graphics processing unit by described image, and described graphics processing unit detects described demarcation target
Target surface image, and described target surface image is adjusted to standard picture according to pre-set programs, and exports institute
State target surface Image Adjusting to the calibrating parameters of standard picture, demarcate described camera with described calibrating parameters.
Embodiments provide a kind of parking assistance system, by using the demarcation target in embodiment 3 to arrange
Device, has the beneficial effect of embodiment 3.Device embodiment described above is only schematically,
The wherein said unit illustrated as separating component can be or may not be physically separate, makees
The parts shown for unit can be or may not be physical location, i.e. may be located at a place,
Or can also be distributed on multiple NE.Can select according to the actual needs part therein or
The whole module of person realizes the purpose of the present embodiment scheme.Those of ordinary skill in the art are not paying creation
In the case of the work of property, i.e. it is appreciated that and implements.
Through the above description of the embodiments, those skilled in the art is it can be understood that arrive each reality
The mode of executing can add the mode of required general hardware platform by software and realize, naturally it is also possible to by firmly
Part.Based on such understanding, the portion that prior art is contributed by technique scheme the most in other words
Dividing and can embody with the form of software product, this computer software product can be stored in computer can
Read in storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that one
Computer equipment (can be personal computer, server, or the network equipment etc.) performs each to be implemented
The method described in some part of example or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, rather than to it
Limit；Although the present invention being described in detail with reference to previous embodiment, the ordinary skill of this area
Personnel it is understood that the technical scheme described in foregoing embodiments still can be modified by it, or
Person carries out equivalent to wherein portion of techniques feature；And these amendments or replacement, do not make corresponding skill
The essence of art scheme departs from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (13)
1. demarcate target method to set up for one kind, it is characterised in that including:
By being positioned at the positioner above calibrating table, determine vehicle actual position coordinate to be calibrated；
Described vehicle actual position coordinate and vehicle standard position coordinates are carried out projective transformation, is projected
Matrix；
According to described projection matrix and the normal place coordinate of demarcation target, obtain the actual bit of described demarcation target
Put coordinate；
Described demarcation target is projected to described actual position coordinate by the actual position coordinate according to described demarcation target
Corresponding position；
Wherein, the normal place coordinate of described vehicle to be calibrated includes that described vehicle is positioned at described positioner
Position coordinates during underface, it is described fixed that the normal place coordinate of described demarcation target includes that described vehicle is positioned at
The projected position coordinate of the described demarcation target arranged time immediately below the device of position.
Method the most according to claim 1, it is characterised in that described by being positioned at above calibrating table
Positioner, determine the actual position coordinate of vehicle to be calibrated, including:
By being positioned at the position that the positioner above calibrating table determines that vehicle to be calibrated is projected on calibrating table
Figure；
Choose four summits, four angle points as vehicle to be calibrated of described location graphic；
The actual position coordinate of described four angle points is determined by described positioner.
Method the most according to claim 1 and 2, it is characterised in that described vehicle standard position is sat
Mark includes that vehicle standard position coordinates identifies, and described method also includes:
Vehicle standard position coordinates is determined according to described vehicle standard position coordinates mark.
Method the most according to claim 3, it is characterised in that also include:
Set up and store vehicle to be calibrated, vehicle standard position coordinates mark and vehicle standard position coordinates
Mapping relations.
Method the most according to claim 1 and 2, it is characterised in that the normal bit of described demarcation target
Putting coordinate and include demarcating the normal place coordinates logo of target, described method also includes:
Normal place coordinates logo according to described demarcation target determines the normal place coordinate demarcating target.
Method the most according to claim 3, it is characterised in that also include:
Set up and store vehicle to be calibrated, the normal place coordinates logo of described demarcation target and described demarcation target
Normal place coordinate between mapping relations.
7. a demarcation target arranges device, it is characterised in that including:
Locating module, is positioned at above calibrating table for determining vehicle actual position coordinate to be calibrated；
Processing module, for projecting described vehicle actual position coordinate with vehicle standard position coordinates
Conversion, obtains projection matrix, and according to described projection matrix and the normal place coordinate of demarcation target,
Actual position coordinate to described demarcation target；
Projection module, for projecting to physical location according to described actual position coordinate by described demarcation target；
Wherein, the normal place coordinate of described vehicle to be calibrated includes that described vehicle is positioned at described positioner
Position coordinates during underface, it is described fixed that the normal place coordinate of described demarcation target includes that described vehicle is positioned at
The projected position coordinate of the described demarcation target arranged time immediately below the device of position.
Device the most according to claim 7, it is characterised in that also include:
Described locating module, for determining the location graphic that vehicle is projected on calibrating table, chooses institute's rheme
Put four summits, four angle points as vehicle to be calibrated of figure, determine the actual bit of described four angle points
Put coordinate.
9. according to the device described in claim 7 or 8, it is characterised in that described vehicle standard position is sat
Mark includes that vehicle standard position coordinates identifies, and also includes:
Described processing module, is additionally operable to determine vehicle standard position according to described vehicle standard position coordinates mark
Put coordinate.
Device the most according to claim 9, it is characterised in that also include:
Memory module, is used for setting up and store vehicle to be calibrated, vehicle standard position coordinates mark and vehicle
The mapping relations of normal place coordinate.
11. according to the device described in claim 7 or 8, it is characterised in that the standard of described demarcation target
Position coordinates includes the normal place coordinates logo demarcating target, also includes:
Described processing module, is additionally operable to the normal place coordinates logo according to described demarcation target and determines demarcation target
Normal place coordinate.
12. devices according to claim 9, it is characterised in that also include:
Described memory module, is additionally operable to set up and store vehicle to be calibrated, the normal place of described demarcation target
Mapping relations between the normal place coordinate of coordinates logo and described demarcation target.
13. 1 kinds of parking assistance systems, it is characterised in that include described in any one of claim 7-12
Demarcate target and device is set.
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| CN201610197190.XA CN105894511B (en) | 2016-03-31 | 2016-03-31 | Demarcate target setting method, device and parking assistance system |
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| CN201610197190.XA CN105894511B (en) | 2016-03-31 | 2016-03-31 | Demarcate target setting method, device and parking assistance system |
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