CN109118547A - Multi-cam combined calibrating system and method - Google Patents
Multi-cam combined calibrating system and method Download PDFInfo
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- CN109118547A CN109118547A CN201811297474.1A CN201811297474A CN109118547A CN 109118547 A CN109118547 A CN 109118547A CN 201811297474 A CN201811297474 A CN 201811297474A CN 109118547 A CN109118547 A CN 109118547A
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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
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- 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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Abstract
The embodiment of the present invention proposes that a kind of multi-cam combined calibrating system and method, system include vehicle pose device, for adjusting vehicle to be detected to detecting position；The setting position of multiple scaling boards, each scaling board is corresponding with the acquisition range of each camera on vehicle to be detected, so that each camera can acquire corresponding scaling board image；Camera pose caliberating device, for demarcating the position coordinates of each camera vehicle relatively to be detected according to the three dimensional space coordinate of scaling board, the three dimensional space coordinate of vehicle to be detected and calibration plate pattern.The embodiment of the present invention realizes the combined calibrating of all cameras on vehicle to be detected by the multiple scaling boards being arranged.The coordinate position of vehicle to be detected and scaling board is combined simultaneously, improves the stated accuracy of each camera on vehicle to be detected.
Description
Technical field
The present invention relates to location position technical field more particularly to a kind of multi-cam combined calibrating system and method.
Background technique
Camera calibration and vapour of the current automobile camera head scaling method primarily directed to car steering miscellaneous function
The calibration of the independent camera of vehicle.For example, to monocular cam or looking around camera and individually demarcating.Wherein, monocular cam
Calibration mainly for realize front truck anti-collision early warning, constant speed or spacing cruise.And look around camera calibration purpose primarily to
The image mosaic around vehicle body is done, feelings of the driver in reversing around observation are used to help, calibration result precision is relatively low.
On the other hand, in current scaling method, calibration process the degree of automation is lower, and manpower intervention is needed to measure the position of device
It sets debugging and debugging process is cumbersome, therefore be unable to satisfy the volume production calibration demand that elementary stream is got on the car.
Disclosed above- mentioned information are only used for reinforcing the understanding to background of the invention in the background technology, therefore it may be wrapped
Containing the information for not being formed as the prior art that those of ordinary skill in the art are known.
Summary of the invention
The embodiment of the present invention provides a kind of multi-cam combined calibrating system and device, to solve one in the prior art
Or multiple technical problems.
In a first aspect, the embodiment of the invention provides a kind of multi-cam combined calibrating systems, comprising:
Vehicle pose device, for adjusting vehicle to be detected to detecting position；
Multiple scaling boards, the setting position of each scaling board and the acquisition model of each camera on the vehicle to be detected
Enclose it is corresponding so that each camera can acquire corresponding scaling board image；
Camera pose caliberating device, for according to the three dimensional space coordinate of the scaling board, the vehicle to be detected
Three dimensional space coordinate and the calibration plate pattern demarcate the position coordinates of each relatively described vehicle to be detected of the camera.
In one embodiment, multiple calibration patterns are provided on the scaling board, each calibration pattern is in array
Form is arranged on the scaling board.
In one embodiment, the scaling board includes preposition scaling board, postposition scaling board and side scaling board, described
Preposition scaling board is arranged in front of the headstock of the vehicle to be detected, and the vehicle to be detected is arranged in the postposition scaling board
At least side of the vehicle to be detected is arranged in tailstock rear, the side scaling board.
In one embodiment, the side scaling board includes scaling board and side rear scaling board, the side in front of side
The central axes of front scaling board and the relatively described vehicle to be detected of side rear scaling board are arranged at an angle.
It in one embodiment, further include bracket, the preposition scaling board, the postposition scaling board and side mark
Fixed board is slidably disposed on the bracket.
In one embodiment, the vehicle pose device includes centering positioning unit, and the centering positioning unit is used
Positioning adjustment is carried out in the four wheels to the vehicle to be detected.
Second aspect, the embodiment of the invention provides a kind of multi-cam combined calibrating methods, comprising:
Vehicle to be detected is adjusted to detecting position；
Multiple scaling boards are adjusted to acquisition position, the acquisition position is on the scaling board and the vehicle to be detected
The corresponding position of the acquisition range of each camera；
According to the acquisition position, the three dimensional space coordinate of the scaling board is obtained；According to the detection position, institute is obtained
State the three dimensional space coordinate of vehicle to be detected；According to the scaling board image that the camera acquires, obtain and the camera pair
The two-dimensional pixel coordinate for the scaling board answered；
The two-dimensional pixel coordinate and the measuring car to be checked of three dimensional space coordinate, the scaling board based on the scaling board
Three dimensional space coordinate, demarcate the position coordinates of each relatively described vehicle to be detected of the camera.
In one embodiment, further includes:
Judge the position coordinates of the relatively described vehicle to be detected of each camera whether in error threshold；
If storing the position coordinates of the relatively described vehicle to be detected of each camera in error threshold；
If being adjusted not in error threshold to the position of the relatively described vehicle to be detected of the camera.
In one embodiment, according to the acquisition position, the three dimensional space coordinate of the scaling board is obtained；According to institute
Detection position is stated, the three dimensional space coordinate of the vehicle to be detected is obtained；According to the scaling board image that the camera acquires, obtain
Take the two-dimensional pixel coordinate of the scaling board corresponding with the camera, comprising:
Establish world coordinate system；
Obtain three dimensional space coordinate of each calibration pattern in the world coordinate system on the scaling board；
Obtain three dimensional space coordinate of the vehicle to be detected in the world coordinate system；
Obtain the two-dimensional pixel coordinate of each calibration pattern in the scaling board image.
In one embodiment, the two-dimensional pixel of three dimensional space coordinate, the scaling board based on the scaling board is sat
It is marked with and the three dimensional space coordinate of the vehicle to be detected, the position for demarcating the relatively described vehicle to be detected of the camera is sat
Mark, comprising:
According to each mark on the two-dimensional pixel coordinate and the scaling board of each calibration pattern in the scaling board image
Determine the three dimensional space coordinate of pattern, obtains three dimensional space coordinate of the corresponding camera in the world coordinate system；
According to the three dimensional space coordinate of the camera and the three dimensional space coordinate of the vehicle to be detected, described in calibration
The position coordinates of the relatively described vehicle to be detected of camera.
The third aspect, the embodiment of the invention provides a kind of multi-cam combined calibrating devices, comprising:
The first adjustment module, for adjusting vehicle to be detected to detecting position；
Second adjustment module, for adjusting multiple scaling boards to acquisition position, the acquisition position be the scaling board with
The corresponding position of acquisition range of each camera on the vehicle to be detected；
Module is obtained, for obtaining the three dimensional space coordinate of the scaling board according to the acquisition position；According to the inspection
Location is set, and the three dimensional space coordinate of the vehicle to be detected is obtained；According to the camera acquire scaling board image, obtain with
The two-dimensional pixel coordinate of the corresponding scaling board of the camera；
Demarcating module, for three dimensional space coordinate, the scaling board based on the scaling board two-dimensional pixel coordinate with
And the three dimensional space coordinate of the vehicle to be detected, demarcate the position coordinates of each relatively described vehicle to be detected of the camera.
In one embodiment, further includes:
Judgment module, for judging the position coordinates of the relatively described vehicle to be detected of each camera whether in error threshold
In value；If storing the position coordinates of the relatively described vehicle to be detected of each camera in error threshold；If not in error
In threshold value, then the position of the relatively described vehicle to be detected of the camera is adjusted.
Fourth aspect, the embodiment of the invention provides a kind of terminals of multi-cam combined calibrating, comprising:
The function can also execute corresponding software realization by hardware realization by hardware.The hardware or
Software includes one or more modules corresponding with above-mentioned function.
In a possible design, in the structure of the terminal of multi-cam combined calibrating include processor and memory,
The memory, which is used to store, supports the terminal of multi-cam combined calibrating to execute multi-cam joint mark in above-mentioned first aspect
The program of method is determined, the processor is configured to for executing the program stored in the memory.Multi-cam joint mark
Fixed terminal can also include communication interface, and the terminal and other equipment or communication network for multi-cam combined calibrating are logical
Letter.
5th aspect, the embodiment of the invention provides a kind of computer readable storage mediums, for storing multi-cam connection
Close computer software instructions used in the terminal of calibration comprising for executing multi-cam combined calibrating in above-mentioned second aspect
Method is program involved in the terminal of multi-cam combined calibrating.
A technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that the multiple calibration for passing through setting
Plate realizes the combined calibrating of all cameras on vehicle to be detected.Meanwhile by the coordinate position knot of vehicle to be detected and scaling board
It closes, improves the stated accuracy of each camera on vehicle to be detected.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is the structural schematic diagram for the multi-cam combined calibrating system that embodiment of the present invention provides.
Fig. 2 is the structural schematic diagram for the scaling board that embodiment of the present invention provides.
Fig. 3 is the structural schematic diagram for the preposition scaling board that embodiment of the present invention provides.
Fig. 4 is the structural schematic diagram for the side scaling board that embodiment of the present invention provides.
Fig. 5 is the structural schematic diagram for the multi-cam combined calibrating system that another embodiment of the present invention provides.
Fig. 6 is the flow chart for the multi-cam combined calibrating method that embodiment of the present invention provides.
Fig. 7 is the specific flow chart for the step S300 that embodiment of the present invention provides.
Fig. 8 is the specific flow chart for the step S400 that embodiment of the present invention provides.
Fig. 9 is the flow diagram for the multi-cam combined calibrating method that embodiment of the present invention provides.
Figure 10 is the multi-cam combined calibrating apparatus structure schematic diagram that embodiment of the present invention provides.
Figure 11 is the multi-cam combined calibrating apparatus structure schematic diagram that another embodiment of the present invention provides.
Figure 12 is the multi-cam combined calibrating terminal structure schematic diagram that embodiment of the present invention provides.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
The embodiment of the invention provides a kind of multi-cam combined calibrating systems, as shown in Figure 1, comprising:
Vehicle pose device 1, for adjusting vehicle 2 to be detected to detection position.Vehicle pose device 1 can be adjusted as needed
The positioning of whole the lateral of vehicle to be detected 2, longitudinal direction and pitch orientation.Vehicle pose device 1 can be used in the prior art
Meaning adjustment mode realizes the adjustment of vehicle location to be detected.
Multiple scaling boards 3, the acquisition range phase of the setting position and each camera 4 on vehicle 2 to be detected of each scaling board 3
It is corresponding, so that each camera 4 acquires corresponding scaling board image.The acquisition model for each camera 4 being arranged on vehicle 2 i.e. to be detected
Enclosing interior includes corresponding scaling board 3.Joint mark is carried out simultaneously to cameras 4 all on vehicle 2 to be detected to realize.
Camera pose caliberating device (not shown), for three dimensional space coordinate, the measuring car to be checked according to scaling board 3
2 three dimensional space coordinate and calibration plate pattern, demarcates the position coordinates of each camera 4 vehicle relatively to be detected.
In one embodiment, aligning equipment can be used in vehicle pose device 1, passes through four vehicles to vehicle 2 to be detected
Wheel is positioned, to adjusting vehicle 2 to be detected to detection position.Aligning equipment can be realized millimetre-sized positioning accuracy,
It only needs by vehicle parking on vehicle aligning equipment, just can fast implement automobile transverse direction automatically, longitudinal direction and pitching are determined
Position mode determines position of the vehicle relative to calibration panel.Cumbersome manual measurement step can be saved by the equipment, improved
The positioning accuracy of vehicle guarantees cycle time, and reduces calibration station development cost.
It in one embodiment, can also include bottom plate (not shown), vehicle pose device 1 and each scaling board 3 can
It is arranged on bottom plate.It should be noted that bottom plate 1 can be understood as an independent panel, it is understood that be one of ground
Point.When bottom plate 1 is a separate panels, bottom plate 1 be can be set on ground, can also be embedded in ground and put down altogether with ground
Face.
In one embodiment, the quantity of scaling board 3 can carry out selection adjustment according to the quantity of camera 4 and position.I.e.
The quantity of scaling board 3 and position can be corresponded with the quantity of each camera 4 on vehicle 2 to be detected and position, can also be with
It does not correspond.When the acquisition range overlapping region of two cameras 4 on vehicle 2 to be detected is greater than preset threshold, then may be used
To be demarcated using a scaling board 3 to two cameras 4.
In one embodiment, as shown in Fig. 2, being provided with multiple calibration patterns 31 on scaling board 3, each pattern 31 of demarcating is in
Array format is arranged on scaling board 3.
In an application example, calibration plate pattern 31 can be round or polygon.Demarcate plate pattern 31 and scaling board 3
Substrate color is in sharp contrast, in order to which camera acquires scaling board image.Preferably, plate pattern 31 and scaling board 3 are demarcated
Black and white color matching can be used in substrate color.
In one embodiment, as shown in figure 5, scaling board 3 includes preposition scaling board 32, postposition scaling board 33 and side mark
Fixed board 34.Preposition scaling board 32 is arranged in front of the headstock of vehicle 2 to be detected.Postposition scaling board 33 is arranged in vehicle 2 to be detected
Tailstock rear.At least side of vehicle 2 to be detected is arranged in side scaling board 34.Preferably, vehicle 2 to be detected is set
Two sides.
Wherein, the shape, size of preposition scaling board 32, postposition scaling board 33 and side scaling board 34 and calibration pattern 31
It may be the same or different, specifically can be selected and be adapted to according to the vehicle of vehicle 2 to be detected and the arrangement of camera 4
Property adjustment.
In one embodiment, side scaling board 34 includes scaling board 341 and side rear scaling board 342 in front of side.Before side
The central axes of square scaling board 341 and the vehicle 2 relatively to be detected of side rear scaling board 342 are arranged at an angle.In vehicle 2 to be detected
Axis is the axis along vehicle lengthwise direction.Preferably, scaling board 341 and side rear scaling board 342 are in splayed cloth in front of side
It sets, and scaling board 341 and side rear scaling board 342 have a side end face of calibration pattern 31 towards vehicle to be detected in front of side.
In an application example, as shown in figure 3, preposition scaling board 32 and postposition scaling board 33 use identical mark
Fixed board structure.Wherein, the substrate background color of preposition scaling board 32 is white, and calibration pattern 31 uses the circle of filled black.It is preposition
The length of scaling board 32 is a1, width a2.Edge Distance positioned at most marginal calibration pattern 31 apart from preposition scaling board 32
For a3.Spacing between adjacent two calibration pattern 31 is a4.The diameter of circle calibration pattern 31 is a5.Preposition scaling board 32 is vertical
It is placed in ground, and the height apart from ground is a6.
Wherein, each calibration pattern 31 on preposition scaling board 32 is arranged by the quantity of m × n in array format, and m >=2, n
≥2.A5 is 80mm~200mm, a3 >=2 × a5, a4 >=1.4 × a5, a1=2 × a3+ (m-1) × a4, a2=2 × a3+ (n-1)
× a4, a6 are 440mm~840mm.It should be noted that since preposition scaling board 32 and postposition scaling board 33 are completely the same,
This is repeated no more.
At another using in example, as shown in figure 4, the substrate background color of side scaling board 34 is white, pattern 31 is demarcated
Using the circle of filled black.The length of side scaling board 34 is b1, width b2.Positioned at most marginal 31 distance of calibration pattern
The Edge Distance of side scaling board 34 is b3.Spacing between adjacent two calibration pattern 31 is b4.Circle demarcates the straight of pattern 31
Diameter is b5.Side scaling board 34 is placed perpendicular to ground, and the height apart from ground is b6.
Wherein, each calibration pattern 31 on side scaling board 34 is arranged by the quantity of p × q in array format, and p >=2, q
≥2.B5 is 80mm~200mm, b3 >=2 × b5, b4 >=1.3 × b5, b1=2 × b3+ (m-1) × b4, b2=2 × b3+ (n-1)
× b4, b6 are 225mm~525mm.
In one embodiment, as shown in figure 5, the base point of installation of each scaling board 3 is the front axle centre of vehicle 2 to be detected
A.Wherein,
Preposition fore-and-aft distance of the scaling board 32 away from front axle centre A is d1, laterally symmetrical about vehicle body central axes.D1 is
2000mm~4000mm.
Fore-and-aft distance of the postposition scaling board 33 away from front axle centre A is d2, laterally symmetrical about vehicle body central axes.D2 is
4000mm~5000mm.
Scaling board 341 is d4, lateral distance d3 away from front axle centre A fore-and-aft distance in front of side, with vehicle body central axes angle
For α.Scaling board 341 and scaling board 341 in front of left side are symmetrically placed about vehicle body central axes in front of right side.D4 be 600mm~
1000mm, d3 are 1300mm~1500mm, and α is 40 ° -50 °.
Side rear scaling board 342 is d6, lateral distance d5 away from front axle centre A fore-and-aft distance, with vehicle body central axes angle
For β.Right side rear scaling board 342 is symmetrically placed about vehicle body central axes with left side rear scaling board 342.D6 be 2060mm~
2260mm, d5 are 1520mm~1720mm, and β is 40 ° -50 °.
The positioning of vehicle 2 to be detected is completed by vehicle aligning equipment.I.e. each calibration navigates to vehicle automation fixed
Position guarantees the relative position of vehicle 2 and scaling board 3 to be detected.By measuring the registration at front-rear axle center, determine to be detected
The positioning accuracy of vehicle 2.Preferably, the positioning accuracy of vehicle 2 to be detected are as follows: x-axis direction is ± 5mm, and y-axis direction is ± 5mm,
Z-axis direction ± 5mm, roll angle (Roll angle) are ± 0.1 °, and pitch angle (Pitch angle) is ± 0.05 °, yaw angle
(Yaw angle) is ± 0.1 °.Wherein, defining vehicle body central axes is x-axis, and definition vehicle-body width direction is y-axis, perpendicular to vehicle body
Top-direction is z-axis.
It in one embodiment, further include bracket (not shown).Preposition scaling board 32, postposition scaling board 33 and side
Scaling board 34 is slidably disposed on bracket.To realize the position according to each camera 4 on vehicle 2 to be detected,
The position for adjusting each scaling board 3 guarantees the setting position of each scaling board 3 and the acquisition model of each camera 4 on vehicle 2 to be detected
It encloses corresponding.
The embodiment of the invention provides a kind of multi-cam combined calibrating methods, as shown in Figure 6, comprising the following steps:
S100: vehicle 2 to be detected is adjusted to detection position.Detecting position can be fixed predeterminated position, or
The position adjusted on demand as needed.
S200: each scaling board 3 is adjusted to acquisition position, acquisition position is the acquisition model of each camera 4 of vehicle 2 to be detected
It encloses interior comprising corresponding scaling board 3.Acquisition position can be fixed predeterminated position, can also be according on vehicle 2 to be detected
Each camera 4 arrange position be adjusted.
S300: the three dimensional space coordinate of each scaling board 3, the three dimensional space coordinate of vehicle to be detected 2 and each camera shooting are obtained
The scaling board image of first 4 acquisition.Scaling board image can be entire scaling board 3 and it includes all calibration plate patterns 31.Mark
Fixed board image is also possible to the calibration of the part in scaling board 3 plate pattern 31.Scaling board image depends primarily on the acquisition of camera 4
Range and focal length.
S400: according to the three dimensional space coordinate of scaling board 3, the three dimensional space coordinate of vehicle to be detected 2 and scaling board figure
Picture demarcates the position coordinates of each camera 4 vehicle 2 relatively to be detected.Each camera 4 vehicle 2 relatively to be detected is calibrated to exist
Coordinate in three physical dimensions.
In one embodiment, it further comprises the steps of:
Judge the position coordinates of each camera 4 vehicle 2 relatively to be detected whether in error threshold.
If storing the position coordinates of each camera 4 vehicle 2 relatively to be detected in error threshold.
If being adjusted not in error threshold to the position of the vehicle 2 relatively to be detected of camera 4.
Wherein, error threshold is pre-set, can be according to the installation error of camera 4 and the calibrated error of calibration system
It codetermines, specific error threshold can be obtained by dimension chain calculating.
In one embodiment, as shown in fig. 7, obtain each scaling board space coordinate, the space coordinate of vehicle to be detected with
And the scaling board image of each camera acquisition, comprising:
S310: world coordinate system (world coordinate system, wcs) is established.
S320: three dimensional space coordinate of each calibration pattern 31 on scaling board 3 in world coordinate system is obtained.Wherein, may be used
Using the three dimensional space coordinate by the coordinate of the center of each calibration pattern 31 as calibration pattern 31 in world coordinate system.
S330: three dimensional space coordinate of the vehicle 2 to be detected in world coordinate system is obtained.To obtain vehicle 2 to be detected
Spin matrix R (R_car_wcs) and motion vector T (T_car_wcs) in world coordinate system.
S340: the scaling board image acquired according to camera 4 obtains the two dimension of each calibration pattern 31 in scaling board image
Pixel coordinate.
In one embodiment, as shown in figure 8, according to the three-dimensional of the three dimensional space coordinate of scaling board 3, vehicle to be detected 2
Space coordinate and scaling board image demarcate the position coordinates of each camera 4 vehicle 2 relatively to be detected, comprising:
S410: according to each mark on the two-dimensional pixel coordinate and scaling board 3 of each calibration pattern 31 in scaling board image
The three dimensional space coordinate for determining pattern 31 obtains three dimensional space coordinate of the corresponding camera 4 in world coordinate system.Specially obtain
Obtain spin matrix R (R_cam_wcs) and motion vector T (T_cam_wcs) of the camera 4 in world coordinate system.
S420: according to the three dimensional space coordinate of camera 4 and the three dimensional space coordinate of vehicle to be detected 2, calibration camera shooting
The position coordinates of first 4 vehicles 2 relatively to be detected.I.e. by coordinate transformation relation, camera 4 is obtained in vehicle body coordinate system (car
Coordinate system, ccs) under spin matrix R (R_cam_ccs) and motion vector T (T_cam_ccs).
In one embodiment, as shown in figure 9, if judging the position coordinates of each camera vehicle relatively to be detected not accidentally
When in poor threshold value, in order to avoid being error caused by calibration process, the step of above-mentioned steps demarcate camera is repeated
(S400) it is verified.If after repeated authentication, judging the position coordinates of each camera 4 vehicle 2 relatively to be detected still not in error
In threshold value, then vehicle 2 to be detected is returned into factory, the installation site of each camera 4 is debugged, and by the measuring car to be checked after debugging
2 carry out camera calibration again.Specifically include step:
S510: vehicle 2 to be detected is driven into calibration station.
S520: aligning equipment adjusts vehicle to be detected to default detection position.
S530: scaling board 3 is moved to preset acquisition position.
S540: it transfers camera 4 and acquires scaling board image, and nominal data is handled by computing unit, obtain calibration knot
Fruit.
S550: judge calibration result whether within the scope of error threshold.
S560: it if in threshold range, is written in the camera configuration file of vehicle to be detected and is stored.
S570: if not in threshold range, judge to repeat to demarcate whether number is greater than twice.If more than then executing step twice
Rapid S580 thens follow the steps S540 if being less than twice.
S580: vehicle to be detected is driven out to calibration station, returns factory's debugging camera position.
S590: vehicle to be detected is driven out to calibration station, and scaling board 3 resets.
The embodiment of the invention provides a kind of multi-cam combined calibrating devices, as shown in Figure 10, comprising:
The first adjustment module 10, for adjusting vehicle to be detected to detecting position.
Second adjustment module 20, for adjusting multiple scaling boards to acquisition position, acquisition position be scaling board with it is to be detected
The corresponding position of acquisition range of each camera on vehicle.
Module 30 is obtained, for obtaining the three dimensional space coordinate of scaling board according to acquisition position；According to detection position, obtain
Take the three dimensional space coordinate of vehicle to be detected；According to the scaling board image that camera acquires, calibration corresponding with camera is obtained
The two-dimensional pixel coordinate of plate.
Demarcating module 40, for the two-dimensional pixel coordinate of three dimensional space coordinate, scaling board based on scaling board and to be checked
The three dimensional space coordinate of measuring car demarcates the position coordinates of each camera vehicle relatively to be detected.
In one embodiment, as shown in figure 11, further includes:
Judgment module 50, for judging the position coordinates of each camera vehicle relatively to be detected whether in error threshold；
If storing the position coordinates of each camera vehicle relatively to be detected in error threshold；If not in error threshold, to taking the photograph
As the position of head vehicle relatively to be detected is adjusted.
The embodiment of the invention provides a kind of terminals of multi-cam combined calibrating, as shown in figure 12, comprising:
Memory 910 and processor 920 are stored with the computer journey that can be run on processor 920 in memory 910
Sequence.Processor 920 realizes the multi-cam combined calibrating method in above-described embodiment when executing computer program.Memory 910
Quantity with processor 920 can be one or more.
Communication interface 930 is communicated for memory 910 and processor 920 with outside.
Memory 910 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
If memory 910, processor 920 and the independent realization of communication interface 930, memory 910, processor 920
And communication interface 930 can be connected with each other by bus and complete mutual communication.Bus can be Industry Standard Architecture
Structure (ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI, Peripheral
Component Interconnect) bus or extended industry-standard architecture (EISA, Extended Industry
Standard Component) bus etc..Bus can be divided into address bus, data/address bus, control bus etc..For convenient for table
Show, only indicated with a thick line in Figure 12, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 910, processor 920 and communication interface 930 are integrated in one piece
On chip, then memory 910, processor 920 and communication interface 930 can complete mutual communication by internal interface.
The embodiment of the invention provides a kind of computer readable storage mediums, are stored with computer program, the program quilt
Processor execute when realize embodiment one include it is any as described in multi-cam combined calibrating method.
The embodiment of the present invention has the advantage that the quantity by increasing scaling board 3, before capable of covering to, it is backward and
The visible area of lateral camera 4, realizes multiple 4 combined calibratings of camera.Position and peace by reasonable Arrangement scaling board 3
Dress mode, targeted design scaling board 3 can be realized the high-precision calibration result of variety classes camera 4, for reaching take the photograph more
The purpose merged as head lane line.External parameter of each camera 4 relative to vehicle body can be demarcated, by each camera 4
The lane line observed projects under vehicle body coordinate system, and merges, and only different cameras can be allowed to observe by the conversion
Same area realize lane line be overlapped effect.The automation calibration of volume production assembly line multi-cam may be implemented, realize L3
An important ring for automatic Pilot vehicle volume production link more than rank.It can be in existing adas (Advanced driver-
Assistance systems, advanced driving assistance system) it demarcates on station and is reequiped, reduce the occupancy face of calibration station
Product reduces equipment and builds cost.The calibration of more multi-cam 4 can be realized by installing scaling board 3 additional.Stated accuracy reaches vehicle
Road grade, calibration result can be realized the effect of 4 lane line of multi-cam fusion overlapping, and it is fixed to be conducive to automatic Pilot vehicle lane grade
Follow the bus, front truck anti-collision early warning, deviation, active lane change, the functions such as overtake other vehicles are realized in position.By information redundancy, increase traveling peace
Entirely.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (14)
1. a kind of multi-cam combined calibrating system characterized by comprising
Vehicle pose device, for adjusting vehicle to be detected to detecting position；
Multiple scaling boards, the acquisition range phase of the setting position and each camera on the vehicle to be detected of each scaling board
It is corresponding, so that each camera can acquire corresponding scaling board image；
Camera pose caliberating device, for the three-dimensional according to the three dimensional space coordinate of the scaling board, the vehicle to be detected
Space coordinate and the calibration plate pattern demarcate the position coordinates of each relatively described vehicle to be detected of the camera.
2. the system as claimed in claim 1, which is characterized in that the scaling board include preposition scaling board, postposition scaling board and
Side scaling board, the preposition scaling board are arranged in front of the headstock of the vehicle to be detected, and the postposition scaling board setting exists
At least side of the vehicle to be detected is arranged in the tailstock rear of the vehicle to be detected, the side scaling board.
3. system as claimed in claim 2, which is characterized in that the side scaling board includes scaling board and side rear in front of side
Scaling board, the side front scaling board and side rear scaling board are arranged in splayed.
4. system as claimed in claim 2, which is characterized in that it further include bracket, the preposition scaling board, postposition calibration
Plate and the side scaling board are slidably disposed on the bracket.
5. the system as claimed in claim 1, which is characterized in that multiple calibration patterns are provided on the scaling board, it is each described
Calibration pattern is arranged on the scaling board in array format, and the calibration pattern and the scaling board use black and white to match colour cell
It closes.
6. the system as claimed in claim 1, which is characterized in that the vehicle pose device includes centering positioning unit, described
Centering positioning unit is for carrying out positioning adjustment to the four wheels of the vehicle to be detected.
7. a kind of multi-cam combined calibrating method characterized by comprising
Vehicle to be detected is adjusted to detecting position；
Multiple scaling boards are adjusted to acquisition position, the acquisition position is the scaling board and respectively taking the photograph on the vehicle to be detected
As the corresponding position of the acquisition range of head；
According to the acquisition position, the three dimensional space coordinate of the scaling board is obtained；According to the detection position, obtain it is described to
Detect the three dimensional space coordinate of vehicle；According to the scaling board image that the camera acquires, obtain corresponding with the camera
The two-dimensional pixel coordinate of the scaling board；
The two-dimensional pixel coordinate of three dimensional space coordinate, the scaling board based on the scaling board and the vehicle to be detected
Three dimensional space coordinate demarcates the position coordinates of each relatively described vehicle to be detected of the camera.
8. the method for claim 7, which is characterized in that further include:
Judge the position coordinates of the relatively described vehicle to be detected of each camera whether in error threshold；
If storing the position coordinates of the relatively described vehicle to be detected of each camera in error threshold；
If being adjusted not in error threshold to the position of the relatively described vehicle to be detected of the camera.
9. the method for claim 7, which is characterized in that according to the acquisition position, obtain the three-dimensional of the scaling board
Space coordinate；According to the detection position, the three dimensional space coordinate of the vehicle to be detected is obtained；It is acquired according to the camera
Scaling board image, obtain the two-dimensional pixel coordinate of corresponding with the camera scaling board, comprising:
Establish world coordinate system；
Obtain three dimensional space coordinate of each calibration pattern in the world coordinate system on the scaling board；
Obtain three dimensional space coordinate of the vehicle to be detected in the world coordinate system；
Obtain the two-dimensional pixel coordinate of each calibration pattern in the scaling board image.
10. method as claimed in claim 9, which is characterized in that three dimensional space coordinate, the calibration based on the scaling board
The three dimensional space coordinate of the two-dimensional pixel coordinate of plate and the vehicle to be detected, it is relatively described to be detected to demarcate the camera
The position coordinates of vehicle, comprising:
According to each calibration maps on the two-dimensional pixel coordinate and the scaling board of each calibration pattern in the scaling board image
The three dimensional space coordinate of case obtains three dimensional space coordinate of the corresponding camera in the world coordinate system；
According to the three dimensional space coordinate of the camera and the three dimensional space coordinate of the vehicle to be detected, the camera shooting is demarcated
The position coordinates of the relatively described vehicle to be detected of head.
11. a kind of multi-cam combined calibrating device, which is characterized in that including
The first adjustment module, for adjusting vehicle to be detected to detecting position；
Second adjustment module, for adjusting multiple scaling boards to acquisition position, the acquisition position be the scaling board with it is described
The corresponding position of acquisition range of each camera on vehicle to be detected；
Module is obtained, for obtaining the three dimensional space coordinate of the scaling board according to the acquisition position；According to the check bit
It sets, obtains the three dimensional space coordinate of the vehicle to be detected；According to the camera acquire scaling board image, obtain with it is described
The two-dimensional pixel coordinate of the corresponding scaling board of camera；
Demarcating module, two-dimensional pixel coordinate and institute for three dimensional space coordinate, the scaling board based on the scaling board
The three dimensional space coordinate of vehicle to be detected is stated, the position coordinates of each relatively described vehicle to be detected of the camera are demarcated.
12. device as claimed in claim 11, which is characterized in that further include:
Judgment module, for judging the position coordinates of the relatively described vehicle to be detected of each camera whether in error threshold
It is interior；If storing the position coordinates of the relatively described vehicle to be detected of each camera in error threshold；If not in error threshold
In value, then the position of the relatively described vehicle to be detected of the camera is adjusted.
13. a kind of multi-cam combined calibrating terminal characterized by comprising
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize the method as described in any one of claim 7 to 10.
14. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
The method as described in any one of claim 7 to 10 is realized when row.
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| CN201811297474.1A CN109118547A (en) | 2018-11-01 | 2018-11-01 | Multi-cam combined calibrating system and method |
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| CN201811297474.1A CN109118547A (en) | 2018-11-01 | 2018-11-01 | Multi-cam combined calibrating system and method |
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