CN108665501A - Automobile viewing system three-dimensional scaling scene and the scaling method for using the scene - Google Patents
Automobile viewing system three-dimensional scaling scene and the scaling method for using the scene Download PDFInfo
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- CN108665501A CN108665501A CN201810763814.9A CN201810763814A CN108665501A CN 108665501 A CN108665501 A CN 108665501A CN 201810763814 A CN201810763814 A CN 201810763814A CN 108665501 A CN108665501 A CN 108665501A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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Abstract
A kind of automobile viewing system three-dimensional scaling scene, it include the center for parking vehicle to be calibrated, center is rectangular area, the outside of four angle points of the center is respectively symmetrically equipped with calibration unit, each calibration unit is equipped with calibration face, and calibration face is located in plummet face and is arranged towards vehicle.Driving path of the calibration face far from automobile of the present invention, calibration scene reliability are high；Calibration face in plummet face effectively avoids light from occurring to demarcate failure caused by reflection causes characteristic point to disappear on ground, greatly promotes calibration success rate.Demarcated using calibration scene easy to operate, COMPUTER DETECTION precision is high, success rate is big, and calibration can be completed without human intervention.
Description
Technical field
The invention belongs to vehicle imaging acquisition technique field, more particularly to a kind of automobile viewing system three-dimensional scaling scene and
Using the scaling method of the scene.
Background technology
As people reinforce the attention degree of traffic safety, more and more advanced technologies are used on automobile,
In, automobile viewing system can intuitively show the situation of vehicle periphery to driver, bring great convenience for traffic safety.
It in the debugging process of automobile viewing system, needs to demarcate multiple cameras, then splice further according to calibrating parameters each
The image of camera forms it into around a complete vehicle body and overlooks picture.In the prior art, to vehicle-mounted multiple cameras
The method demarcated is complicated, needs that target feature point is manually specified, cumbersome, and demarcates scene construction complexity, environment resistant
Interference performance is poor, further results in the difficulty for increasing calibration and reduces its success rate.
Invention content
The purpose of the present invention is to provide a kind of automobile viewing system three-dimensional scaling scenes that can effectively promote calibration efficiency
And the scaling method using the scene.
In order to achieve the above object, the technical solution adopted by the present invention is：A kind of automobile viewing system three-dimensional scaling scene, packet
The center for parking vehicle to be calibrated is included, center is rectangular area, the outside difference of four angle points of the center
It is arranged with calibration unit, each calibration unit is equipped with calibration face, and calibration face is located in plummet face and towards vehicle
Arrangement.
The prior art is compared, and there are following technique effects by the present invention：Driving path of the calibration face far from automobile demarcates scene
Reliability is high；Calibration face in plummet face effectively avoids light from occurring to mark caused by reflection causes characteristic point to disappear on ground
Fixed failure, greatly promotes calibration success rate.
In order to achieve the above object, the method that the present invention uses includes the following steps：
A, scene is built, center is driven into headstock, the tailstock and the vehicle body both sides of vehicle to be calibrated after installing camera respectively
In area, each calibration unit is set to be respectively positioned in the visual angle overlapping region of two adjacent cameras on vehicle, camera is simultaneously
It shoots and obtains each 1 of vehicle front, rear, left and right image；
B, by the image procossing obtained in step A and after executing binaryzation, Corner Detection is carried out, original image is isolated
Color lump corresponding to middle calibration face and its feature point coordinates；
C, the feature point coordinates in conjunction with obtained in step B and demarcate scene given data, calculate car body coordinate and
The outer ginseng of each video camera；
D, the outer ginseng obtained in step C splices the image obtained in step A, is fitted in each width image
The extension of mark line judges calibration result, when the mark line extension pixel point tolerance of stitching portion is less than 3, regards as demarcating
Success.
The prior art is compared, and there are following technique effects for this method：Proving operation is simple, COMPUTER DETECTION precision is high, at
Power is big, and calibration can be completed without human intervention.
Description of the drawings
The content expressed by each attached drawing of this specification and the label in figure are briefly described below：
Fig. 1 is a kind of schematic diagram of calibration scene of the present invention；
Fig. 2 is the schematic diagram of another calibration scene of the invention；
Fig. 3 is the stereoscopic schematic diagram for demarcating unit；
Fig. 4~7 are the schematic diagrames in calibration face.
In figure：X. vehicle, 10. centers, 20. calibration units, 30. calibration faces, 31. first calibration faces, 32. second calibration
Face, 40. mark lines.
Specific implementation mode
Below in conjunction with the accompanying drawings 1~7, by the description of the embodiment, making to the specific implementation mode of the present invention further detailed
It describes in detail bright.
A kind of automobile viewing system three-dimensional scaling scene includes the center 10 for parking vehicle X to be calibrated, center
10 be rectangular area, and the outside of four angle points of the center 10 is respectively symmetrically equipped with calibration unit 20, each mark
Order member 20 is equipped with calibration face 30, and calibration face 30 is located in plummet face and is arranged towards vehicle X.Due to demarcating 30 vertical cloth of face
It sets, can reflect to form highlights on the ground to avoid light such as light, sunlight in this way interferes caused by calibration face, to significantly
Promote the success rate of calibration.Simultaneously as calibration face 30 is arranged vertically, the driving path far from vehicle X, avoid calibration face 30 because
Vehicle X's rolls caused damage, the durability and reliability of calibration scene is promoted, to promote the success rate of calibration.It needs
Illustrate, " towards " here refers to that calibration face 30 is located in the visible angle of at least one vehicle-mounted camera.
Since rectangular opposite side is mutually parallel, faces that side is mutually perpendicular to and each edge lengths are equal, convenient for calculating analysis, therefore,
Preferably, the calibration face 30 is rectangular color face/box drawing of solid color, or the polychrome drawing including rectangular color lump.
As shown in figure 3 to figure 7, as long as including that can meet the use demand in calibration face 30 convenient for the rectangular element of extraction angle point.
As shown in Fig. 2, only in this case face 30 can be demarcated in one calibration face 30 of setting on the same calibration unit 20
It should be arranged symmetrically and be located in the vision overlapping region of two cameras of its neighbouring arrangement, although being convenient for calculating in this way splices
Image, but it is high to the arrangement required precision for demarcating unit 20, it is difficult to it arranges.
Preferably, the calibration face 30 of angled arrangement, the same calibration there are two being set on each calibration unit 20
The color in two calibration faces 30 on unit 20 is different.In this way on the left of headstock, the tailstock, vehicle, the single camera on the right side of vehicle
In taken image, including calibration face 30 color it is identical, convenient for image procossing with detection, effectively improve calibration effect
Rate.As shown in Figure 1,3, two calibration face 30 difference settings on same calibration unit 20, convenient for two calibration faces 30 of computer pair
The identification and conclusion of upper characteristic point further promote the success rate of calibration.
Specifically, two calibration faces 30 on same calibration unit 20 are mutually perpendicular to, including it is parallel to center 10
First calibration face 31 of length direction and the second calibration face 32 for being parallel to 10 width direction of center.As shown in Figure 1,3, in this way
Convenient for demarcating the arrangement of scene and corresponding to the foundation of model of place.Preferably, described first and second calibration face 31,32 be it is red/
The rectangular color face of indigo plant/black/white color.As shown in figure 3, the color in calibration face 30 should be different with the calibration background color of unit 20, usually mark
The background color of order member 20 when demarcating face 30 at this time using red, blue, black, can further promote computer to calibration using white
The success rate of the angle point analysis extraction in face 30.Certainly, the background color of calibration unit 20 can also use other colors, using black
When, calibration face 30 is the most apparent using white image feature.
Preferably, the lowest point in face 30 is respectively demarcated far from the highly consistent of ground.In this case, respectively the bottom in calibration face 30 is high
Degree is consistent, is conducive to the success rate for improving calibration.
Preferably, respectively the circumferential profile shape and size in calibration face 30 are consistent.Convenient for demarcating the arrangement and Calibration Field in face 30
The foundation of scape.
Preferably, the calibration unit 20 is square, and the circumferential profile size in calibration face 30 is less than calibration unit 20
The size of side, the center for demarcating face 30 are overlapped with the center of 20 side of calibration unit, demarcate the length of side and calibration unit in face 30
20 length of side is parallel.As shown in figure 3, ensureing 30 fixed reliability of calibration face convenient for the arrangement of calibration unit 20 in this way, also having
It is detected conducive to the characteristic point of image.
Preferably, the boundary of the center 10 is marked with mark line 40 on the ground, when in this way can be to vehicle calibration
Parking area positioned, and the mark line angle point at the image mosaic is able to verify that its splicing effect.Specifically, mark line
40 both ends extend outward, and the extending length of mark line 40 is not less than 300mm, the figure that can be further ensured that outside center 10
As splicing effect.
Further, the width of the mark line 40 is not less than 50mm, is conducive to image detection.The extension of mark line 40 is grown
It spends and is consistent with the bed-plate dimension of calibration unit 20, mark the placement area of calibration unit 20, be both convenient for putting for calibration unit 20,
It is able to verify that the calibration effect in calibration face 30 again.
A kind of scaling method, includes the following steps：
A, scene is built, which at least should include the mark that the index face 30 being located in vertical plane marks center 10
Remember line 40.Headstock, the tailstock and the vehicle body both sides of vehicle X to be calibrated are driven into after installing camera respectively in center 10, make every
One calibration unit 20 is respectively positioned in the visual angle overlapping region of two adjacent cameras on vehicle X, and camera is shot simultaneously simultaneously
Each 1 of the front, rear, left and right vehicle X image is obtained, which should be the image after distortion correction, to restore calibration unit
20 position, shape, size characteristic.
B, by the image procossing obtained in step A and after executing binaryzation, Corner Detection is carried out, original image is isolated
Color lump corresponding to middle calibration face 30 and its feature point coordinates；
" image procossing " described here includes the following steps：
B1, when image include black or white calibration face 30 when, by the image carry out greyscale transformation, remained with
The black white image of characteristics of image；
B2, when image includes colored calibration face 30, which is carried out to carry out HSV transformation, being exactly will be in image
The RGB coordinates of color are converted to the color coordinates with tone, saturation degree, lightness mark.Wherein RGB is a kind of additive color model, is
The red, green, blue of different proportion is mixed to the color model of expression color；HSV is by form and aspect, saturation degree, illuminometer
Up to the color model of color.Then back projection is carried out to the HSV images using corresponding Red Blue Green histogram, exactly used
Red Blue Green histogram is traversed and is compared to the HSV images of acquisition, and Record Comparison result obtains each picture of HSV images
The volume similarity of element and Red Blue Green histogram, obtains probabilistic image.The probabilistic image of acquisition is filtered through disc convolution nuclear convolution
After wave, obtain waiting for binary image.
C, the feature point coordinates in conjunction with obtained in step B and demarcate scene given data, calculate car body coordinate and
The outer ginseng of each video camera；
D, the outer ginseng obtained in step C splices the image obtained in step A, is fitted in each width image
The extension of mark line 40 judges calibration result, when the 40 extension pixel point tolerance of mark line of stitching portion is less than 3, regards as
It demarcates successfully.Mark line 40 judges calibration result in each width image of fitting mentioned here, i.e., by the splicing weight of each width image
Folded place carries out traversal pixel error analysis.
Claims (10)
1. a kind of automobile viewing system three-dimensional scaling scene, it is characterised in that：Center including being used to park vehicle to be calibrated (X)
Area (10), center (10) are rectangular area, and the outside of four angle points of the center (10) is respectively symmetrically equipped with calibration list
First (20), each calibration unit (20) are equipped with calibration face (30), and calibration face (30) is located in plummet face and towards vehicle
(X) arrangement.
2. automobile viewing system three-dimensional scaling scene according to claim 1, it is characterised in that：The calibration face (30)
For rectangular color face/box drawing of solid color, or the polychrome drawing including rectangular color lump.
3. automobile viewing system three-dimensional scaling scene according to claim 2, it is characterised in that：Each calibration list
It is set on first (20) there are two the calibration face (30) of angled arrangement, same two calibration face (30) demarcated on unit (20)
Color is different.
4. automobile viewing system three-dimensional scaling scene according to claim 3, it is characterised in that：Same calibration unit (20)
On two calibration faces (30) be mutually perpendicular to, including be parallel to center (10) length direction first calibration face (31) and
Be parallel to center (10) width direction second calibration face (32), described first and second calibration face (31,32) be red blue/
The rectangular color face of black/white color.
5. automobile viewing system three-dimensional scaling scene according to claim 2, it is characterised in that：Each calibration face (30) is most
For lower away from the highly consistent of ground, circumferential profile shape and the size for respectively demarcating face (30) are consistent.
6. automobile viewing system three-dimensional scaling scene according to claim 5, it is characterised in that：The calibration unit
(20) it is square, the circumferential profile size for demarcating face (30) is less than the size of calibration unit (20) side, calibration face (30)
Center is overlapped with the center of calibration unit (20) side, and the length of side for demarcating face (30) is parallel with the length of side of calibration unit (20).
7. according to claim 1~6 any one of them automobile viewing system three-dimensional scaling scene, it is characterised in that：In described
The boundary of heart district (10) is marked with mark line (40) on the ground, and the both ends of mark line (40) also extend outward, mark line
(40) extending length is not less than 300mm.
8. automobile viewing system three-dimensional scaling scene according to claim 7, it is characterised in that：The mark line (40)
Width is not less than 50mm, and the extending length of mark line (40) is consistent with the bed-plate dimension of calibration unit (20).
9. a kind of scaling method using calibration scene as claimed in claim 7 includes the following steps：
A, scene is built, center is driven into headstock, the tailstock and the vehicle body both sides of vehicle (X) to be calibrated after installing camera respectively
(10) in, so that each calibration unit (20) is respectively positioned in the visual angle overlapping region of two adjacent cameras on vehicle (X), take the photograph
As head is shot simultaneously and obtains each 1 of the front, rear, left and right vehicle (X) image；
B, by the image procossing obtained in step A and after executing binaryzation, Corner Detection is carried out, isolates original image acceptance of the bid
Determine the color lump corresponding to face (30) and its feature point coordinates；
C, the given data of the feature point coordinates in conjunction with obtained in step B and calibration scene, calculates car body coordinate and respectively takes the photograph
The outer ginseng of camera；
D, the outer ginseng obtained in step C splices the image obtained in step A, is fitted in each width image and marks
The extension of line (40) judges calibration result, when mark line (40) extension pixel point tolerance of stitching portion is less than 3, regards as
It demarcates successfully.
10. automobile viewing system three-dimensional scaling scene according to claim 9, it is characterised in that：It is right in the step B
The processing that image obtained in step A carries out includes the following steps：
When B1, image include black or white calibration face (30), which is subjected to greyscale transformation, obtains black white image；
When B2, image include colored calibration face (30), which is carried out to carry out HSV transformation, then use it is corresponding it is red/
Blue green histogram carries out back projection to the HSV images, obtains probabilistic image, and probabilistic image is filtered through disc convolution nuclear convolution
After wave, obtain waiting for binary image.
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| CN201810763814.9A CN108665501A (en) | 2018-07-12 | 2018-07-12 | Automobile viewing system three-dimensional scaling scene and the scaling method for using the scene |
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| CN201810763814.9A CN108665501A (en) | 2018-07-12 | 2018-07-12 | Automobile viewing system three-dimensional scaling scene and the scaling method for using the scene |
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