CN107133988B - Calibration method and calibration system for camera in vehicle-mounted panoramic looking-around system - Google Patents
Calibration method and calibration system for camera in vehicle-mounted panoramic looking-around system Download PDFInfo
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Abstract
The invention discloses a calibration method and a calibration system for a camera in a vehicle-mounted panoramic all-around system, wherein the method comprises the following steps: paving a ground marker in a calibration area, and arranging an external measurement camera above the calibration area, wherein the external measurement camera can shoot the ground marker, the car roof and the car body; placing a vehicle to be calibrated, which is provided with a vehicle-mounted panoramic all-around system, in the calibration area; determining a transformation relation between a ground coordinate system and a vehicle body coordinate system based on an external measurement camera; and calibrating the camera parameters of the camera relative to the vehicle body coordinate system based on the transformation relation. The invention can improve the calibration efficiency and ensure the accuracy of the calibration result.
Description
Technical Field
The invention relates to the field of auxiliary driving equipment calibration, in particular to a calibration method and a calibration system for a camera in a vehicle-mounted panoramic looking-around system.
Background
Generally, drivers can only rely on the help of rearview mirrors or reverse images in scenes such as starting and stopping. However, due to the existence of the shelters such as the car head, the car window and the pillar, and the limited field of vision of the driver, the blind area exists in the field of vision of the driver, and the existence of obstacles and the distance between the obstacles in the sheltered area cannot be judged, which constitutes a great obstacle to the driving safety of the driver in parking and starting in a parking lot and under the scenes such as urban congested roads and narrow streets.
In order to avoid the influence of a blind area of a visual field on the driving safety of a vehicle, in recent years, a vision auxiliary scheme of a panoramic all-round looking system formed by installing a plurality of wide-angle or fisheye cameras around a vehicle body is gradually applied to various vehicle types, and the vehicle-mounted panoramic all-round looking system is used as an important component of a parking auxiliary system and has the functions of displaying the full view of the surrounding environment of the vehicle in real time, providing a dynamic image without dead angles around the vehicle body for a driver and improving the driving safety. When the panoramic all-around view system works, the shot images are spliced according to camera parameters calibrated in advance, so that 360-degree all-around view images around the vehicle are synthesized, and visual assistance is provided for a driver in scenes such as starting, parking and the like.
In order to synthesize a 360-degree all-round image of a vehicle body, the wide-angle or fisheye cameras around the vehicle body are calibrated, namely the camera parameters of each camera relative to a vehicle body coordinate system are calibrated. The currently used calibration methods mainly include the following two methods:
(1) each vehicle to be calibrated is required to run to the center of the calibration area or at least needs to be parallel to one side of the calibration area, the distance from the calibration object to the vehicle body is measured by each vehicle to obtain the coordinate of the calibration object in the vehicle body coordinate system, and then each parameter of the vehicle camera relative to the vehicle body coordinate system is obtained according to the Zhang-Yongyou calibration method. The method has low calibration efficiency because each vehicle needs to be manually measured, and cannot realize the automatic mass production line deployment.
(2) Firstly, calibrating all camera parameters of a reference vehicle according to the method (1), then fixing cameras of other vehicles of the same type according to the same position, and finally directly applying the camera parameters of the reference vehicle to all vehicles of the other vehicles of the same type. Although the method improves the calibration efficiency to a certain extent, due to the existence of installation errors (such as position errors and angle errors), the camera parameters of the reference vehicle are directly adapted to other vehicles, so that the camera parameter errors of other vehicles are large, and further the 360-degree all-round stitching effect is influenced.
Disclosure of Invention
The embodiment of the invention provides a calibration method and a calibration system for a camera in a vehicle-mounted panoramic all-around system, which are used for improving the calibration efficiency and ensuring the accuracy of a calibration result.
Therefore, the invention provides the following technical scheme:
a calibration method for a camera in a vehicle-mounted panoramic all-around system comprises the following steps:
paving a ground marker in a calibration area, and arranging an external measurement camera above the calibration area, wherein the external measurement camera can shoot the ground marker, the car roof and the car body;
placing a vehicle to be calibrated, which is provided with a vehicle-mounted panoramic all-around system, in the calibration area;
determining a transformation relation between a ground coordinate system and a vehicle body coordinate system based on an external measurement camera;
and calibrating the camera parameters of the camera relative to the vehicle body coordinate system based on the transformation relation.
Preferably, the determining of the transformation relationship of the ground coordinate system and the body coordinate system based on the external measurement camera includes:
setting a calibration reference object;
calibrating camera parameters of the external measurement camera relative to a ground coordinate system according to the ground marker;
calibrating camera parameters of the external measurement camera relative to a vehicle body coordinate system according to the calibration reference object;
the transformation relation of the ground coordinate system and the body coordinate system is determined based on camera parameters of the external measurement camera relative to the ground coordinate system and camera parameters relative to the body coordinate system.
Preferably, said calibrating the camera parameters of the external measuring camera with respect to the ground coordinate system based on said ground markers comprises:
capturing an image of the ground marker using an external measurement camera;
determining pixel point coordinates and ground physical coordinates of each corner point on the ground marker;
and calibrating the camera parameters of the external measuring camera relative to a ground coordinate system by using the pixel point coordinates of each corner point and the ground physical coordinates.
Preferably, the camera parameters of the external measurement camera with respect to the ground coordinate system include: external measurement camera coordinate system is sat relative to groundRotation matrix R of the object systemoTranslation matrix to。
Preferably, the calibration reference object is arranged on the roof of the vehicle to be calibrated;
the calibrating the camera parameters of the external measurement camera relative to the coordinate system of the vehicle body according to the calibration reference object comprises:
capturing an image of the calibration reference object using an external measurement camera;
determining pixel point coordinates of each corner point on the calibration reference object and roof physical coordinates;
determining the coordinates of each angular point in a vehicle body coordinate system according to the roof physical coordinates of each angular point on the calibration reference object;
and calibrating the camera parameters of the external measuring camera relative to the vehicle body coordinate system by using the pixel point coordinates of each angular point on the calibration reference object and the coordinates of each angular point in the vehicle body coordinate system.
Preferably, the calibration reference object is a projection point of the periphery of the vehicle body of the vehicle to be calibrated in a ground coordinate system;
the calibrating the camera parameters of the external measurement camera relative to the coordinate system of the vehicle body according to the calibration reference object comprises:
taking a full body picture using an external measurement camera;
calculating pixel point coordinates of four projection points around the vehicle body in an external measurement camera;
determining coordinates of four projection points around the vehicle body in a vehicle body coordinate system;
and calibrating the camera parameters of the external measuring camera relative to the vehicle body coordinate system according to the coordinates of the pixel points of the four projection points around the vehicle body in the external measuring camera and the coordinates of the four projection points in the vehicle body coordinate system.
Preferably, the calculating coordinates of pixel points projected by four points around the vehicle body in the external measuring camera comprises:
binarizing the full-body photo based on the body color, and extracting body edge pixel points;
determining boundary straight lines around the vehicle body by using the vehicle body edge pixel points and Hough transformation;
and obtaining the coordinates of pixel points of the four projection points around the vehicle body in the external measuring camera according to the intersection points of the boundary lines around the vehicle body.
Preferably, the camera parameters of the external measurement camera with respect to the body coordinate system include: rotation matrix R of the coordinate system of the external measuring camera relative to the coordinate system of the bodywTranslation matrix tw。
Preferably, the calibrating the camera parameters of the camera relative to the vehicle body coordinate system based on the transformation relation includes:
shooting an image of the ground marker by using a vehicle camera to be calibrated;
determining pixel point coordinates and ground physical coordinates of each corner point on the ground marker;
converting the ground physical coordinates of each corner point on the ground marker into coordinates in a vehicle body coordinate system according to the transformation relation;
and calibrating the camera parameters of the camera relative to the vehicle body coordinate system according to the pixel point coordinates of each angular point on the ground marker and the coordinates of each angular point in the vehicle body coordinate system.
The utility model provides a calibration system of camera among on-vehicle panorama looking around system for to installing the vehicle of waiting to mark of on-vehicle panorama looking around system and carry out camera parameter calibration, calibration system includes:
a ground marker laid in the calibration area;
the external measurement camera is arranged above the calibration area and can shoot the ground marker, the roof and the body of the vehicle to be calibrated, which is placed in the calibration area;
a coordinate system transformation relation measuring device for determining a transformation relation between a ground coordinate system and a vehicle body coordinate system based on an external measuring camera;
and the camera calibration device is used for calibrating the vehicle camera to be calibrated according to the transformation relation.
Preferably, the coordinate system transformation relation measuring apparatus includes:
a reference object setting unit for setting a calibration reference object;
the first calibration unit is used for calibrating the camera parameters of the external measurement camera relative to a ground coordinate system according to the ground marker;
the second calibration unit is used for calibrating the camera parameters of the external measurement camera relative to the vehicle body coordinate system according to the calibration reference object;
and the computing unit is used for determining the transformation relation between the ground coordinate system and the vehicle body coordinate system based on the camera parameters of the external measurement camera relative to the ground coordinate system and the camera parameters relative to the vehicle body coordinate system.
Preferably, the first calibration unit is specifically configured to acquire an image of the ground marker captured by an external measurement camera; determining pixel point coordinates and ground physical coordinates of each corner point on the ground marker; and calibrating the camera parameters of the external measuring camera relative to a ground coordinate system by using the pixel point coordinates of each corner point and the ground physical coordinates.
Preferably, the calibration reference object is arranged on the roof of the vehicle to be calibrated;
the second calibration unit comprises:
a calibration reference object image acquisition subunit, configured to acquire an image of the calibration reference object captured by an external measurement camera;
the first coordinate determination subunit is used for determining pixel point coordinates and roof physical coordinates of each corner point on the calibration reference object, and determining the coordinates of each corner point in a vehicle body coordinate system according to the roof physical coordinates of each corner point on the calibration reference object;
and the first parameter calibration subunit is used for calibrating the camera parameters of the external measuring camera relative to the vehicle body coordinate system by using the pixel point coordinates of each angular point on the calibration reference object and the coordinates of each angular point in the vehicle body coordinate system.
Preferably, the calibration reference object is a projection point of the periphery of the vehicle body of the vehicle to be calibrated in a ground coordinate system;
the second calibration unit comprises:
the automobile body picture acquiring subunit is used for acquiring a whole automobile body picture shot by the external measuring camera;
the calculation subunit is used for calculating pixel point coordinates of four projection points around the vehicle body in the external measurement camera;
the second coordinate determination subunit is used for determining the coordinates of the four projection points around the vehicle body in a vehicle body coordinate system;
and the second parameter calibration subunit is used for calibrating the camera parameters of the external measurement camera relative to the vehicle body coordinate system according to the pixel point coordinates of the four projection points around the vehicle body in the external measurement camera and the coordinates of the four projection points in the vehicle body coordinate system.
Preferably, the calculation subunit is specifically configured to binarize the full-body photograph based on the body color, and extract body edge pixel points; determining boundary straight lines around the vehicle body by using the vehicle body edge pixel points and Hough transformation; and obtaining the coordinates of pixel points of four points around the vehicle body in an external measuring camera according to the intersection points of the boundary lines around the vehicle body.
Preferably, the camera calibration device includes:
the image acquisition unit is used for acquiring the image of the ground marker shot by the camera of the vehicle to be calibrated when the calibration is carried out;
the coordinate determination unit is used for determining pixel point coordinates and ground physical coordinates of each corner point on the ground marker according to the image obtained by the image acquisition unit;
the coordinate conversion unit is used for converting the ground physical coordinates of each corner point on the ground marker into coordinates in a vehicle body coordinate system according to the transformation relation;
and the camera parameter calibration unit is used for calibrating the camera parameters of the camera relative to the vehicle body coordinate system according to the coordinates of each angular point on the ground marker in the vehicle body coordinate system.
According to the calibration method and the calibration system for the cameras in the vehicle-mounted panoramic all-around system, provided by the embodiment of the invention, the transformation relation between the ground and the vehicle body coordinate system is predetermined by means of the external measurement camera, and when the cameras in any vehicle-mounted panoramic all-around system are calibrated, the calibration of the camera parameters of each camera in a vehicle to be calibrated relative to the vehicle body coordinate system is automatically completed by utilizing the transformation relation. The scheme of the invention does not need to ensure that the installation positions of all vehicles of the same type are fixed, has simple structure and high automation degree, and can realize automatic calibration for each vehicle. Moreover, manual intervention is not needed, a large amount of manpower and material resources are saved, the accuracy of a calibration result is guaranteed, the calibration efficiency is greatly improved, and mass production line deployment is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a flowchart of a calibration method for a camera in a vehicle-mounted panoramic all-around system according to an embodiment of the present invention;
FIG. 2 is an illustration of an example of a surface marker in an embodiment of the present invention;
FIG. 3 is a schematic view of the checkerboard marker corners of FIG. 2;
FIG. 4 is a flow chart of the present invention embodiment for determining the transformation relationship between the ground coordinate system and the body coordinate system based on the external survey camera;
FIG. 5 is a schematic diagram of a checkerboard painted or placed on the top of a vehicle as a calibration reference object in an embodiment of the invention;
FIG. 6 is a schematic illustration of an embodiment of the present invention in which calibration reference objects are disposed around the body of a vehicle to be calibrated;
FIG. 7 is an exemplary plot of an external measurement camera relative to a ground coordinate system and body coordinates in an embodiment of the present invention;
FIG. 8 is a flow chart of calibrating camera parameters of an exterior measurement camera relative to a coordinate system of a vehicle body using calibration reference objects on the roof of the vehicle in an embodiment of the present invention;
FIG. 9 is a flow chart of calibrating camera parameters of an external measurement camera relative to a coordinate system of a vehicle body using calibration reference objects around the vehicle body in an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a camera calibration apparatus in an embodiment of the system of the present invention;
FIG. 11 is a schematic structural diagram of a coordinate system transformation relation measuring apparatus in an embodiment of the system of the present invention.
Detailed Description
In order to make the technical field of the invention better understand the scheme of the embodiment of the invention, the embodiment of the invention is further described in detail with reference to the drawings and the implementation mode.
A typical example of a vehicle-mounted panoramic looking-around system includes 4-way wide-angle cameras located at the front head, rear tail, left and right rear-view mirrors. Of course, in practical application, the installation position of the camera can also be flexibly set according to needs, for example, the camera is installed at the position of a car window, and the like, as long as the condition of realizing 360-degree all-round splicing is met. Vehicle cameras include, but are not limited to, 4-way wide-angle or fisheye cameras. For example, 2 can be installed on the right side about the place ahead locomotive, 2 can be installed on the right side about the rear, and the automobile body can respectively install 2 or more cameras about. When calibrating the cameras in the vehicle-mounted panoramic all-around system, each camera in the system needs to be calibrated respectively.
According to the calibration method and the calibration system for the cameras in the vehicle-mounted panoramic all-around system, provided by the embodiment of the invention, the transformation relation between the ground and the vehicle body coordinate system is predetermined by means of the external measurement camera, and when the cameras in any vehicle-mounted panoramic all-around system are calibrated, the calibration of the camera parameters of each camera in a vehicle to be calibrated relative to the vehicle body coordinate system is automatically completed by utilizing the transformation relation.
As shown in fig. 1, the flowchart of the calibration method for a camera in a vehicle-mounted panoramic all-around system according to the embodiment of the present invention includes the following steps:
The ground marker includes, but is not limited to, a checkerboard type object, and any size element or combination of elements having a rectangular structure may be used, for example, a paper having a size of a4 or a0, which can satisfy the condition for effectively detecting the corner point of the ground marker.
Fig. 2 is an exemplary diagram of a floor marker, as shown in fig. 2, 8 checkerboard type inkjet marks are laid on the floor, of course, the number of the checkerboards is not limited to 8, and may be less than or more than 8, which are checkerboards 1,2, 3, 4, 5, 6, 7, 8, respectively, and the laying standard is that each camera in the vehicle-mounted panoramic all-around system can shoot at least one of the checkerboard markers (as the checkerboards 2, 4, 5, 7 in the figure can be removed). Fig. 3 is an enlarged view of the distribution of corner points in one of the checkerboards.
The external measurement camera can adopt a high-definition zoom camera, and can also be a mobile phone or other shooting cameras. The external measurement camera position is placed on the basis of the ground calibration object and the car roof and the car body.
And 102, placing the vehicle to be calibrated, which is provided with the vehicle-mounted panoramic all-around system, in the calibration area.
And 103, determining the transformation relation between the ground coordinate system and the vehicle body coordinate system based on the external measuring camera.
When determining the transformation relationship between the ground coordinate system and the vehicle body coordinate system, the camera parameters of the external measuring camera relative to the ground coordinate system and the camera parameters of the external measuring camera relative to the vehicle body coordinate system need to be calibrated respectively, and then the transformation relationship between the ground coordinate system and the vehicle body coordinate system is determined according to the parameters. The specific process will be described in detail later.
It should be noted that the camera parameters include camera internal parameters (such as focal length, image center, distortion coefficient, etc.) and external parameters (including rotation matrix and translation matrix of the camera coordinate system relative to other reference coordinate systems). The scheme of the invention mainly aims at external references of the camera, and the camera parameters mentioned later also refer to the external references of the camera, and are not described one by one subsequently.
And 104, calibrating camera parameters of the camera relative to a vehicle body coordinate system based on the transformation relation.
The specific calibration process is as follows:
1) and shooting the image of the ground marker by using a vehicle camera to be calibrated.
2) And determining the pixel point coordinates and the ground physical coordinates of each corner point on the ground marker.
When determining the pixel coordinates of each corner point on the ground marker and the ground physical coordinates, firstly, detecting the coordinates of M (M is more than or equal to 4) corner points on the ground marker in a camera plane coordinate system by a corner point detection method, namely the pixel coordinates of the M corner points. Then, a ground physical coordinate system is constructed, and the concrete construction method comprises the following steps: and selecting any point on the ground as a coordinate origin, such as the upper left corner of a ground calibration area and the like, taking the ground as an XY plane, constructing a ground physical coordinate system according to a right-hand rule, and marking as O-xyz.
The corner detection method may be Harris, FAST, Moravec, or other algorithms.
3) And converting the ground physical coordinates of each corner point on the ground marker into coordinates in a vehicle body coordinate system according to the transformation relation.
4) And calibrating the camera parameters of the camera relative to the vehicle body coordinate system according to the coordinates of each angular point on the ground marker in the vehicle body coordinate system.
And obtaining the camera parameters of the camera relative to the vehicle body coordinate system according to a Zhangyingyou calibration method.
It should be noted that, during calibration, calibration of multiple cameras in the vehicle-mounted panoramic all-around system may be performed synchronously.
As shown in fig. 4, it is a flowchart of determining the transformation relationship between the ground coordinate system and the vehicle body coordinate system based on the external measuring camera in the embodiment of the present invention, and the method includes the following steps:
It should be noted that the position of the calibration reference object can be set as required.
For example, the calibration reference object may be disposed on a roof of a vehicle to be calibrated, and specifically, the calibration reference object may be painted at a fixed position on the roof of the vehicle, placed or directly used as a sunroof. As shown in fig. 5, a checkerboard 51 is painted or placed on the top of the vehicle as a calibration reference object. The focus of the external measurement camera 50 is adjusted to a position such that its field of view covers exactly the area where the roof calibration reference object 51 and the ground marker are located.
For another example, the calibration reference object may be set as a projection point of the vehicle body periphery of the vehicle to be calibrated on the ground coordinate system, and as shown in fig. 6, the calibration may be performed directly by using projections of the vehicle body periphery four points P1, P2, P3, and P4 on the ground.
In step 402, camera parameters of the external measurement camera relative to the ground coordinate system are calibrated according to the ground markers.
Specifically, an image of the ground marker is first taken using an external measuring camera; then determining pixel point coordinates and ground physical coordinates of each angular point on the ground marker; and finally, calibrating the camera parameters of the external measuring camera relative to a ground coordinate system by using the pixel point coordinates of each corner point and the ground physical coordinates.
When determining pixel point coordinates and ground physical coordinates of each corner point on a ground marker, firstly detecting the coordinates of K (K is more than or equal to 4) corner points on the ground marker in a camera plane coordinate system by a corner point detection method, namely pixel point coordinates of the K corner points, and marking as { (u)k,vk) I K belongs to {0,1,2, K-1} }. Then, a ground physical coordinate system is constructed, and the concrete construction method comprises the following steps: selecting any point on the ground as a coordinate origin, such as the upper left corner of a ground calibration area and the like, taking the ground as an XY plane, constructing a ground physical coordinate system according to a right-hand rule, and marking as O-xyz, wherein the coordinates of each angular point in the ground physical coordinate system O-xyz, namely K angular points, can be obtained after the coordinate origin is selected as the distance and the size of each angular point of the ground marker are knownThe ground physical coordinates of the corner point are marked as { (x)k,yk,0)|k∈{0,1,2,K-1}}。
The corner detection method may be Harris, FAST, Moravec, or other algorithms.
Based on the pixel point coordinates and the ground physical coordinates of the K angular points, the camera parameters of the external measuring camera relative to the ground coordinate system can be calibrated by using the existing methods such as the Zhang friend calibration method and the like and homography transformation, and the camera parameters are respectively recorded as a rotation matrix R of the external measuring camera coordinate system relative to the ground coordinate systemoTranslation matrix to。
And 403, calibrating the camera parameters of the external measuring camera relative to the coordinate system of the vehicle body according to the calibration reference object.
As mentioned above, the position of the calibration reference object can be set according to requirements, and the specific process of calibrating the camera parameters of the external measurement camera relative to the coordinate system of the vehicle body can be different based on the calibration reference object arranged at different positions, which will be exemplified and described in detail later.
External measuring camera relative to ground coordinate system O-xyz and body coordinate Ow-xwywzwAs shown in fig. 7, the derivation process of the transformation relationship between the ground coordinate system and the vehicle body coordinate system will be described in detail with reference to fig. 7.
Let any point coordinate in the ground coordinate system O-xyz be (x)o,yo,zo)TThe coordinates of which in the coordinate system of the external measuring camera are (x, y, z)TThen, there are:
coordinates (x) of an external measurement camera in a ground coordinate systemupo,yupo,zupo)TThe following conditions are satisfied:
from the above equation (1.2), the coordinates of the external measurement camera in the ground coordinate system can be obtained:
the coordinates of the external measuring camera in the coordinate system of the vehicle body can be obtained by the same method:
assuming that the rotation matrix of the vehicle body coordinate system relative to the ground coordinate system is RowTranslation matrix of towThen, based on the above formulas (1.3), (1.4), it can be obtained:
the coordinate system rotation transformation relation can obtain:
Ro＝RwRow(1.6)
from the above formula (1.6):
substituting the above formula (1.7) into the above formula (1.5) yields:
as shown in fig. 8, it is a flowchart of calibrating the camera parameters of the external measuring camera relative to the coordinate system of the vehicle body by using the calibration reference object on the vehicle roof according to the embodiment of the present invention, which includes the following steps:
in step 801, an external measuring camera is used to capture an image of a calibration reference object arranged on the roof of the vehicle.
Specifically, the coordinates of N (N is greater than or equal to 4) corner points on the calibration reference object in the camera plane coordinate system, that is, the pixel coordinates of the N corner points, may be obtained by detecting with a corner point detection method, and are marked as { (u)upn,vupn) | N ∈ {0,1,2, N-1} }. And then constructing a roof physical coordinate system, wherein the specific construction method comprises the following steps: taking the upper left corner or the center of the roof as an origin (without limitation, any point of the roof can be selected as the origin), taking the plane as an XY plane, constructing a roof physical coordinate system according to a right-hand rule, and recording the system as Oup-xupyupzup. The coordinates of each angular point in a roof physical coordinate system, namely the roof physical coordinates of N angular points, can be calculated according to the position relation of each angular point on the calibration reference object and are marked as { (x)upn,yupn,0)|n∈{0,1,2,N-1}}。
The corner detection method may be Harris, FAST, Moravec, or other algorithms.
And 803, determining the coordinates of each corner point in the vehicle body coordinate system according to the roof physical coordinates of each corner point on the calibration reference object.
Specifically, a vehicle body coordinate system O is established according to a right-hand rule by taking the center of the vehicle or any point projected to the ground under the vehicle as an origin and the ground as an XY planew-xwywzwBased on the condition that the directions of the xy plane of the roof coordinate system and the xy plane of the body coordinate system are consistent, a body coordinate system O can be obtainedw-xwywzwAnd a roof coordinate system Oup-xupyupzupWith only height differences in the Z-axis direction and translations in the X, Y direction, i.e. the body coordinate system Ow-xwywzwTo the roof coordinate system Oup-xupyupzupThere is only translation transformation twup. The translation transformation can be obtained in advance from the body parameters and from the measurement of the position of the origin of the coordinate system of the roof relative to the origin of the coordinate system of the body.
For example, if the origin is the center of the vehicle and the roof calibration reference object is located directly above the center of the vehicle, the translation matrix t iswup＝{0,0,h}T. Based on the roof physical coordinates of the corner points on the calibration reference object obtained in step 802, a body coordinate system O of the corner points on the calibration reference object can be obtainedw-xwywzwCoordinate of (a), is noted as { (x)wn,ywn,zwn) | N ∈ {0,1,2, N-1} }. Wherein (x)upn,yupn,0)＝(xwn,ywn,zwn)+twup。
And step 804, calibrating the camera parameters of the external measuring camera relative to the vehicle body coordinate system by using the pixel point coordinates of each angular point on the calibration reference object and the coordinates of each angular point in the vehicle body coordinate system.
Based on the coordinates { (u) of the pixel points of the angular points on the calibration reference objectupn,vupn) | N ∈ {0,1,2, N-1} } and its coordinates in the body coordinate system { (x)wn,ywn,zwn) | N ∈ {0,1,2, N-1} }, and the external parameters of the external measurement camera relative to the vehicle body coordinate system can be calibrated by using the existing methods such as the Zhang friend calibration method and the like, namely a rotation matrix R of the external measurement camera coordinate system relative to the vehicle body coordinate systemwTranslation matrix tw。
As shown in fig. 9, the flowchart of calibrating the camera parameters of the external measurement camera with respect to the coordinate system of the vehicle body by using the calibration reference objects around the vehicle body in the embodiment of the present invention includes the following steps:
And step 902, calculating coordinates of pixel points of four projection points around the vehicle body in an external measurement camera.
Specifically, firstly, binarizing the full-body photo based on the body color, and extracting body edge pixel points; determining boundary straight lines around the vehicle body by using the vehicle body edge pixel points and Hough transformation; then, the intersection points of the straight lines are obtained, namely the coordinates of the pixel points of the four points around the vehicle body in the external measuring camera.
And 903, determining coordinates of the four projection points around the vehicle body in a vehicle body coordinate system.
Specifically, the body coordinate system is first constructed, and the construction method of the body coordinate system is similar to the construction method of the aforementioned roof physical coordinate system, and is not described herein again. The coordinates of the four projection points around the vehicle body in the vehicle body coordinate system are related to vehicle parameters and can be obtained according to the vehicle parameters.
And 904, calibrating the camera parameters of the external measurement camera relative to the vehicle body coordinate system according to the pixel point coordinates of the four projection points around the vehicle body in the external measurement camera and the coordinates of the four projection points in the vehicle body coordinate system.
In particular, camera parameters of the external measuring camera with respect to the coordinate system of the body can be obtained by using the Zhang friend calibration method.
According to the calibration method of the cameras in the vehicle-mounted panoramic all-around system, the conversion relation between the ground and the vehicle body coordinate system is determined in advance by means of the external measuring camera, and when the cameras in any vehicle-mounted panoramic all-around system are calibrated, the calibration of the camera parameters of each camera in a vehicle to be calibrated relative to the vehicle body coordinate system is automatically completed by means of the conversion relation. The scheme of the invention does not need to ensure that the installation positions of all vehicles of the same type are fixed, has simple structure and high automation degree, and can realize automatic calibration for each vehicle. Moreover, manual intervention is not needed, a large amount of manpower and material resources are saved, the accuracy of a calibration result is guaranteed, the calibration efficiency is greatly improved, and mass production line deployment is facilitated.
Correspondingly, the embodiment of the invention also provides a calibration system of the camera in the vehicle-mounted panoramic all-around system, which comprises: the device comprises a ground marker, an external measurement camera, a coordinate system transformation relation measuring device and a camera calibration device. The ground marker is laid on the ground of the calibration area, the external measurement camera is arranged above the calibration area, and the external measurement camera can shoot the ground marker, the roof and the body of the vehicle to be calibrated, which is placed in the calibration area. The coordinate system transformation relation measuring device is used for determining the transformation relation between a ground coordinate system and a vehicle body coordinate system in advance based on an external measuring camera; the camera calibration device is used for calibrating the vehicle camera to be calibrated according to the transformation relation.
It should be noted that the ground marker includes, but is not limited to, a checkerboard type object, and any size element or combination of elements having a rectangular structure may be used, so as to satisfy the condition for effectively detecting the corner point of the ground marker.
In addition, the coordinate system transformation relation measuring device can obtain the transformation relation between the ground coordinate system and the vehicle body coordinate system by means of the vehicle to be calibrated or any other vehicle based on an external measuring camera. And automatically completing the camera parameter calibration of each camera in the vehicle to be calibrated relative to the vehicle body coordinate system according to the transformation relation.
The coordinate system transformation relation measuring device may be provided on a vehicle to be calibrated or any other vehicle, and the camera calibration device may be provided on the vehicle to be calibrated. Of course, the coordinate system transformation relation measuring device and the camera calibration device may also be used as independent physical entities, and are independent of the vehicle to be calibrated and any other vehicle, so that calibration of camera parameters of any vehicle to be calibrated is completed by using one set of equipment, and the embodiment of the present invention is not limited thereto.
Fig. 10 is a schematic structural diagram of a camera calibration apparatus in an embodiment of the system of the present invention.
In this embodiment, the camera calibration device includes:
the image acquisition unit 11 is used for acquiring an image of a ground marker shot by a camera of a vehicle to be calibrated when the calibration is performed;
the coordinate determination unit 12 is configured to determine pixel coordinates and ground physical coordinates of each corner point on the ground marker according to the image obtained by the image obtaining unit;
the coordinate conversion unit 13 is used for converting the ground physical coordinates of each corner point on the ground marker into coordinates in a vehicle body coordinate system according to the transformation relation;
and the camera parameter calibration unit 14 is configured to calibrate camera parameters of the camera relative to the vehicle body coordinate system according to coordinates of each corner point on the ground marker in the vehicle body coordinate system.
A specific structure of the coordinate system transformation relation measuring apparatus is shown in fig. 11, and includes:
a reference object setting unit 21 for setting a calibration reference object;
a first calibration unit 22 for calibrating camera parameters of the external measurement camera with respect to a ground coordinate system based on the ground markers;
a second calibration unit 23, configured to calibrate a camera parameter of the external measurement camera with respect to the vehicle body coordinate system according to the calibration reference object;
a calculation unit 24 for determining a transformation relation of the ground coordinate system and the body coordinate system based on camera parameters of the external measurement camera with respect to the ground coordinate system and camera parameters with respect to the body coordinate system.
The first calibration unit 22 may specifically obtain an image of the ground marker captured by an external measurement camera; determining pixel point coordinates and ground physical coordinates of each corner point on the ground marker; and calibrating the camera parameters of the external measuring camera relative to a ground coordinate system by using the pixel point coordinates of each corner point and the ground physical coordinates.
It should be noted that the position of the calibration reference object may be set according to needs, for example, the calibration reference object may be disposed on a roof of the vehicle to be calibrated, or the calibration reference object may be disposed around a body of the vehicle to be calibrated. Accordingly, the specific way in which the second calibration unit 23 calibrates the camera parameters of the external measurement camera with respect to the coordinate system of the vehicle body may be different, which will be described in detail below by way of example.
Example 1: the calibration reference object is arranged on the roof of the vehicle to be calibrated, and correspondingly, the second calibration unit can comprise the following sub-units:
a calibration reference object image acquisition subunit, configured to acquire an image of the calibration reference object captured by an external measurement camera;
the first coordinate determination subunit is used for determining pixel point coordinates and roof physical coordinates of each corner point on the calibration reference object, and determining the coordinates of each corner point in a vehicle body coordinate system according to the roof physical coordinates of each corner point on the calibration reference object;
and the first parameter calibration subunit is used for calibrating the camera parameters of the external measuring camera relative to the vehicle body coordinate system by using the pixel point coordinates of each angular point on the calibration reference object and the coordinates of each angular point in the vehicle body coordinate system.
Example 2: the calibration reference object is set as a projection of the periphery of the vehicle body of the vehicle to be calibrated on a ground coordinate system, and correspondingly, the second calibration unit may include the following sub-units:
the automobile body picture acquiring subunit is used for acquiring a whole automobile body picture shot by the external measuring camera;
the calculation subunit is used for calculating the coordinates of pixel points of four projection points of the vehicle body in the ground coordinate system in the external measurement camera;
the second coordinate determination subunit is used for determining coordinates of four projection points of the periphery of the vehicle body in a ground coordinate system in a vehicle body coordinate system;
and the second parameter calibration subunit is used for calibrating the camera parameters of the external measurement camera relative to the vehicle body coordinate system according to the coordinates of the pixel points of the four projection points of the vehicle body in the ground coordinate system in the external measurement camera and the coordinates of the pixel points in the vehicle body coordinate system.
The calculation subunit can specifically perform binarization on the full-body photo based on the body color and extract body edge pixel points; determining boundary straight lines around the vehicle body by using the vehicle body edge pixel points and Hough transformation; and obtaining the coordinates of pixel points of four points around the vehicle body in an external measuring camera according to the intersection points of the boundary lines around the vehicle body.
According to the calibration system of the cameras in the vehicle-mounted panoramic all-around system, the conversion relation between the ground and the vehicle body coordinate system is predetermined by means of the external measuring camera, and when the cameras in any vehicle-mounted panoramic all-around system are calibrated, the calibration of the camera parameters of each camera in a vehicle to be calibrated relative to the vehicle body coordinate system is automatically completed by utilizing the conversion relation. The scheme of the invention does not need to ensure that the installation positions of all vehicles of the same type are fixed, has simple structure and high automation degree, and can realize automatic calibration for each vehicle. Moreover, manual intervention is not needed, a large amount of manpower and material resources are saved, the accuracy of a calibration result is guaranteed, the calibration efficiency is greatly improved, and mass production line deployment is facilitated.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, they are described in a relatively simple manner, and reference may be made to some descriptions of method embodiments for relevant points. The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above embodiments of the present invention have been described in detail, and the present invention is described herein using specific embodiments, but the above embodiments are only used to help understanding the method and system of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (15)
1. A calibration method for a camera in a vehicle-mounted panoramic all-around system is characterized by comprising the following steps:
paving a ground marker in a calibration area, and arranging an external measurement camera above the calibration area, wherein the external measurement camera can shoot the ground marker, the car roof and the car body;
placing a vehicle to be calibrated, which is provided with a vehicle-mounted panoramic all-around system, in the calibration area;
determining a transformation relation between a ground coordinate system and a vehicle body coordinate system based on an external measuring camera, wherein a calibration reference object is arranged; calibrating camera parameters of the external measurement camera relative to a ground coordinate system according to the ground marker; calibrating camera parameters of the external measurement camera relative to a vehicle body coordinate system according to the calibration reference object; determining the transformation relation based on the two camera parameters;
calibrating the camera parameters of the camera relative to the vehicle body coordinate system based on the transformation relation, which comprises converting the ground physical coordinates obtained by the camera by using the transformation relation, and calibrating the camera by combining the pixel point coordinates obtained by the camera.
2. The calibration method according to claim 1, wherein calibrating the camera parameters of the external measurement camera with respect to the ground coordinate system based on the ground markers comprises:
capturing an image of the ground marker using an external measurement camera;
determining pixel point coordinates and ground physical coordinates of each corner point on the ground marker;
and calibrating the camera parameters of the external measuring camera relative to a ground coordinate system by using the pixel point coordinates of each corner point and the ground physical coordinates.
3. Calibration method according to claim 1, wherein the camera parameters of the external measurement camera with respect to the ground coordinate system comprise: rotation matrix R of the coordinate system of the external measuring camera relative to the ground coordinate systemoTranslation matrix to。
4. The calibration method according to claim 1, wherein the calibration reference object is arranged on a roof of a vehicle to be calibrated;
the calibrating the camera parameters of the external measurement camera relative to the coordinate system of the vehicle body according to the calibration reference object comprises:
capturing an image of the calibration reference object using an external measurement camera;
determining pixel point coordinates of each corner point on the calibration reference object and roof physical coordinates;
determining the coordinates of each angular point in a vehicle body coordinate system according to the roof physical coordinates of each angular point on the calibration reference object;
and calibrating the camera parameters of the external measuring camera relative to the vehicle body coordinate system by using the pixel point coordinates of each angular point on the calibration reference object and the coordinates of each angular point in the vehicle body coordinate system.
5. The calibration method according to claim 1, wherein the calibration reference object is a projection point of the periphery of the vehicle body of the vehicle to be calibrated on a ground coordinate system;
the calibrating the camera parameters of the external measurement camera relative to the coordinate system of the vehicle body according to the calibration reference object comprises:
taking a full body picture using an external measurement camera;
calculating pixel point coordinates of four projection points around the vehicle body in an external measurement camera;
determining coordinates of four projection points around the vehicle body in a vehicle body coordinate system;
and calibrating the camera parameters of the external measuring camera relative to the vehicle body coordinate system according to the coordinates of the pixel points of the four projection points around the vehicle body in the external measuring camera and the coordinates of the four projection points in the vehicle body coordinate system.
6. The calibration method according to claim 5, wherein the calculating the coordinates of the pixel points of the four projection points around the vehicle body in the external measurement camera comprises:
binarizing the full-body photo based on the body color, and extracting body edge pixel points;
determining boundary straight lines around the vehicle body by using the vehicle body edge pixel points and Hough transformation;
and obtaining the coordinates of pixel points of the four projection points around the vehicle body in the external measuring camera according to the intersection points of the boundary lines around the vehicle body.
7. Calibration method according to claim 1, wherein the camera parameters of the external measurement camera with respect to the body coordinate system comprise: rotation matrix R of the coordinate system of the external measuring camera relative to the coordinate system of the bodywTranslation matrix tw。
8. The calibration method according to any one of claims 1 to 7, wherein calibrating the camera parameters of the camera relative to the vehicle body coordinate system based on the transformation relationship specifically comprises:
shooting an image of the ground marker by using a vehicle camera to be calibrated;
determining pixel point coordinates and ground physical coordinates of each corner point on the ground marker;
converting the ground physical coordinates of each corner point on the ground marker into coordinates in a vehicle body coordinate system according to the transformation relation;
and calibrating the camera parameters of the camera relative to the vehicle body coordinate system according to the pixel point coordinates of each angular point on the ground marker and the coordinates of each angular point in the vehicle body coordinate system.
9. The utility model provides a calibration system of camera among on-vehicle panorama looking around system for to installing the vehicle of waiting to mark of on-vehicle panorama looking around system and carry out camera parameter calibration, its characterized in that, calibration system includes:
a ground marker laid in the calibration area;
the external measurement camera is arranged above the calibration area and can shoot the ground marker, the roof and the body of the vehicle to be calibrated, which is placed in the calibration area;
the coordinate system transformation relation measuring device is used for determining the transformation relation between a ground coordinate system and a vehicle body coordinate system based on an external measuring camera and comprises a calibration reference object; calibrating camera parameters of the external measurement camera relative to a ground coordinate system according to the ground marker; calibrating camera parameters of the external measurement camera relative to a vehicle body coordinate system according to the calibration reference object; determining the transformation relation based on the two camera parameters;
the camera calibration device is used for calibrating the vehicle camera to be calibrated according to the transformation relation, and comprises the steps of converting the ground physical coordinates obtained by the camera by utilizing the transformation relation and calibrating the camera by combining the pixel point coordinates obtained by the camera.
10. The calibration system according to claim 9, wherein the coordinate system transformation relation measuring device specifically comprises:
a reference object setting unit for setting a calibration reference object;
the first calibration unit is used for calibrating the camera parameters of the external measurement camera relative to a ground coordinate system according to the ground marker;
the second calibration unit is used for calibrating the camera parameters of the external measurement camera relative to the vehicle body coordinate system according to the calibration reference object;
and the computing unit is used for determining the transformation relation between the ground coordinate system and the vehicle body coordinate system based on the camera parameters of the external measurement camera relative to the ground coordinate system and the camera parameters relative to the vehicle body coordinate system.
11. The calibration system according to claim 10, wherein the first calibration unit is specifically configured to acquire an image of the ground marker captured by an external measurement camera; determining pixel point coordinates and ground physical coordinates of each corner point on the ground marker; and calibrating the camera parameters of the external measuring camera relative to a ground coordinate system by using the pixel point coordinates of each corner point and the ground physical coordinates.
12. The calibration system according to claim 10, wherein the calibration reference object is provided on a roof of a vehicle to be calibrated;
the second calibration unit comprises:
a calibration reference object image acquisition subunit, configured to acquire an image of the calibration reference object captured by an external measurement camera;
the first coordinate determination subunit is used for determining pixel point coordinates and roof physical coordinates of each corner point on the calibration reference object, and determining the coordinates of each corner point in a vehicle body coordinate system according to the roof physical coordinates of each corner point on the calibration reference object;
and the first parameter calibration subunit is used for calibrating the camera parameters of the external measuring camera relative to the vehicle body coordinate system by using the pixel point coordinates of each angular point on the calibration reference object and the coordinates of each angular point in the vehicle body coordinate system.
13. The calibration system according to claim 10, wherein the calibration reference object is a projection point of the periphery of the body of the vehicle to be calibrated on the ground coordinate system;
the second calibration unit comprises:
the automobile body picture acquiring subunit is used for acquiring a whole automobile body picture shot by the external measuring camera;
the calculation subunit is used for calculating pixel point coordinates of four projection points around the vehicle body in the external measurement camera;
the second coordinate determination subunit is used for determining the coordinates of the four projection points around the vehicle body in a vehicle body coordinate system;
and the second parameter calibration subunit is used for calibrating the camera parameters of the external measurement camera relative to the vehicle body coordinate system according to the pixel point coordinates of the four projection points around the vehicle body in the external measurement camera and the coordinates of the four projection points in the vehicle body coordinate system.
14. The calibration system as defined in claim 13,
the calculating subunit is specifically configured to binarize the full-body photograph based on the body color and extract body edge pixel points; determining boundary straight lines around the vehicle body by using the vehicle body edge pixel points and Hough transformation; and obtaining the coordinates of pixel points of four points around the vehicle body in an external measuring camera according to the intersection points of the boundary lines around the vehicle body.
15. A calibration system according to any of claims 9 to 14, wherein the camera calibration means comprises:
the image acquisition unit is used for acquiring the image of the ground marker shot by the camera of the vehicle to be calibrated when the calibration is carried out;
the coordinate determination unit is used for determining pixel point coordinates and ground physical coordinates of each corner point on the ground marker according to the image obtained by the image acquisition unit;
the coordinate conversion unit is used for converting the ground physical coordinates of each corner point on the ground marker into coordinates in a vehicle body coordinate system according to the transformation relation;
and the camera parameter calibration unit is used for calibrating the camera parameters of the camera relative to the vehicle body coordinate system according to the coordinates of each angular point on the ground marker in the vehicle body coordinate system.
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