CN109829950A - The detection method of binocular camera calibrating parameters, device and automated driving system - Google Patents
The detection method of binocular camera calibrating parameters, device and automated driving system Download PDFInfo
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Abstract
The present invention provides a kind of detection method of binocular camera calibrating parameters, device and automated driving system, is applied to binocular camera system.The detection method of the binocular camera calibrating parameters includes: the angular-point sub-pixel coordinate for obtaining preset calibrations plate；To subpixel coordinates carry out first time calibration, obtain subpixel coordinates original intrinsic parameter and original outer parameter；To subpixel coordinates, after original intrinsic parameter and original outer parameter add random noise, carries out second and demarcate, obtain new intrinsic parameter and new outer parameter；New intrinsic parameter and new outer parameter are compared with original intrinsic parameter and original outer parameter respectively, obtain comparing result；Judge whether comparison result meets preset threshold condition, when comparison result meets preset threshold condition, determines the correctness of original intrinsic parameter and original outer parameter.The present invention is detected by the calibrating parameters to binocular camera system, verifies the correctness and stability of calibrating parameters.
Description
Technical field
The present invention relates to binocular camera field more particularly to a kind of detection method of binocular camera calibrating parameters, device with
Automated driving system.
Background technique
Binocular camera imaging system in actual use, primarily has to be demarcated, but the calibration mesh of binocular camera
It is different from monocular, primarily to guarantee left and right camera reach polar curve alignment state, and then for it is subsequent other processing step
Suddenly convenient and fast data are provided to support.
As shown in Figure 1, in binocular imaging system, two optical center connection (OlOr) with the intersection point (e of imaging planel, er) be referred to as
Pole, picture (p of the space object P on the imaging surface of left and rightl, pr) with the line (p of polelel, prer) it is referred to as left and right pole
Line.The purpose of binocular camera calibration is: (1) amendment distortion；(2) polar curve is aligned.
But due to processing and the limitation of assembly technology, Theoretical Design can not be fully achieved after binocular camera system calibrating
State, therefore the calibration result of binocular camera how is evaluated, there is presently no compare thorough way.
In consideration of it, proposing the present invention.
Summary of the invention
The present invention proposes detection method, device and the automated driving system of a kind of binocular camera calibrating parameters, for solving
The test problems of the correctness of binocular camera calibrating parameters in the prior art.
To achieve the above object, according to an aspect of the present invention, a kind of detection side of binocular camera calibrating parameters is provided
Method, and adopt the following technical scheme that
The detection method of the binocular camera calibrating parameters includes: the angular-point sub-pixel coordinate for obtaining preset calibrations plate；To institute
State subpixel coordinates carry out first time calibration, obtain the subpixel coordinates original intrinsic parameter and original outer parameter；To described
After subpixel coordinates, the original intrinsic parameter and the original outer parameter add random noise, carries out second and demarcate, obtain
To new intrinsic parameter and new outer parameter；By the new intrinsic parameter and the new outer parameter respectively with the original intrinsic parameter
And the original outer parameter compares, and obtains comparing result；Judge whether the comparison result meets preset threshold condition,
When the comparison result meets preset threshold condition, the correct of the original intrinsic parameter and the original outer parameter is determined
Property.
According to another aspect of the present invention, a kind of detection device of binocular camera calibrating parameters is provided, and using such as
Lower technical solution:
The detection device of binocular camera calibrating parameters includes: acquisition module, for obtaining the angle point Asia picture of preset calibrations plate
Plain coordinate；First demarcating module obtains the original of the subpixel coordinates for carrying out first time calibration to the subpixel coordinates
Beginning intrinsic parameter and original outer parameter；Second demarcating module, for the subpixel coordinates, the original intrinsic parameter and described
It after original outer parameter adds random noise, carries out second and demarcates, obtain new intrinsic parameter and new outer parameter；Compare mould
Block, for by the new intrinsic parameter and the new outer parameter respectively with the original intrinsic parameter and the original outer parameter
It compares, obtains comparing result；Determining module, for judging whether the comparison result meets preset threshold condition, in institute
When stating comparison result and meeting preset threshold condition, the correctness of the original intrinsic parameter and the original outer parameter is determined.
According to a further aspect of the invention, a kind of automated driving system is provided, and is adopted the following technical scheme that
The automated driving system includes above-mentioned detection device.
The present invention is by extracting target gridiron pattern scaling board angle point, after angle steel joint coordinate is demarcated, adds random noise,
And then constraint detection is carried out to calibrating parameters, to verify the correctness of inside and outside parameter calibration in binocular camera calibration process.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one recorded in the present invention
A little embodiments are also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 shows the binocular calibration basic principle schematics described in background of invention；
Fig. 2 indicates the detection method flow chart of binocular camera calibrating parameters described in the embodiment of the present invention；
Fig. 3 indicates the accurate extracting method schematic diagram of angular-point sub-pixel described in the embodiment of the present invention；
Fig. 4 indicates the structure of the detecting device schematic diagram of binocular camera calibrating parameters described in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 2 indicates the detection method flow chart of binocular camera calibrating parameters described in the embodiment of the present invention.
Shown in Figure 2, a kind of detection method of binocular camera calibrating parameters includes:
S101: the angular-point sub-pixel coordinate of preset calibrations plate is obtained；
S103: carrying out first time calibration to the subpixel coordinates, obtain the original intrinsic parameters of the subpixel coordinates with
Original outer parameter；
S105: to the subpixel coordinates, the original intrinsic parameter and the original outer parameter add random noise
Afterwards, it carries out second to demarcate, obtains new intrinsic parameter and new outer parameter；
S107: by the new intrinsic parameter and the new outer parameter respectively with the original intrinsic parameter and described original
Outer parameter compares, and obtains comparing result；
S109: judging whether the comparison result meets preset threshold condition, meets preset threshold in the comparison result
When condition, the correctness of the original intrinsic parameter and the original outer parameter is determined.
In step s101, the angular-point sub-pixel coordinate of preset calibrations plate is obtained.The specific method is as follows:
Preset calibrations plate chooses gridiron pattern scaling board in the present embodiment, as preset calibrations plate.To gridiron pattern scaling board into
Shooting three times under row different spaces pose carries out the preliminary of corner location to shooting image using the mode based on shade of gray
Positioning.It carries out first-order difference from left to right and from top to bottom respectively to gray level image, and extracts the part of first-order difference figure
Extreme value such as formula (1).And the differential pixel values of these extreme value places is required to should be greater than 150 or less than -150.
Wherein corner (x, y) indicates the angular coordinate (x, y) that extracts, and numerical value is equal to the specific of the direction x or the direction y
NeighborhoodInterior maximum valueOr minimum value
Subpixel coordinates extraction is carried out to the angular coordinate (x, y) that formula (1) obtains.As preferred embodiment, Fig. 3
Indicate the accurate extracting method schematic diagram of angular-point sub-pixel described in the embodiment of the present invention.
It is shown in Figure 3, it is assumed that a starting angle point q is near practical sub-pix angle point.Neighborhood of the p point near q point
In, if p point, inside homogeneous area, the case where the Neighorhood as shown in (a) figure, then the gradient of p point is 0,If p point is on edge, as shown in (b) figure the case where Gradient on edge, then the gradient direction of p point hangs down
Straight edge direction,Straight up.If the direction vector q-p is consistent with edge direction, the ladder of q-p vector and p point
Spending dot product operation result is 0.Many group points can be nearby collected in initial angle point (initial angle point may not be on edge)
Gradient and associated vector q-p, q at this time be exactly more accurate corner location required by us, then each group of vector
Dot product is set as 0, is based on this thought, and the equation that dot product is 0 is combined to form a system equation, the system side
The solution of journey is exactly more accurate angular-point sub-pixel position.Using new q point as the center in region, this method can be continued to use
It is iterated, obtains very high-precision angular-point sub-pixel coordinate.
In step s 103, first time calibration is carried out to subpixel coordinates acquired in step S101, obtains the Asia
The original intrinsic parameter of pixel coordinate and original outer parameter.In step s105, to the subpixel coordinates, the original intrinsic parameter
And after the original outer parameter adds random noise, carry out second and demarcate, obtains new intrinsic parameter and new outer parameter.
Specifically, to the random Uniform noise between subpixel coordinates addition [- 0.1,0.1].
Further, to the transverse and longitudinal coordinate of each angular coordinate (x, y) respectively according to following formula (2) addition Δ ∈ [-
0.1,0.1 the uniform random noise between].
X=x+ Δ, y=y+ Δ formula (2)
Further, random Uniform noise is added to original outer parameter, the method is as follows:
To original outer parameter, according to the random Uniform noise between formula (3) addition [- 1,1].
Wherein om1 indicates to surround the rotation angle of x-axis, and om2 indicates to surround the rotation angle of y-axis, and om3 indicates to surround the rotation of z-axis
Corner；T1 indicates the translation in x-axis direction, and t2 indicates the translation in y-axis direction, and t3 indicates the translation in z-axis direction；Δ∈[-
0.1,0.1 the uniform random noise between].
In step S107 into step S109, by the new intrinsic parameter and the new outer parameter respectively with it is described original
Intrinsic parameter and the original outer parameter compare, and obtain comparing result；Then it is pre- to judge whether the comparison result meets
If threshold condition, when the comparison result meets preset threshold condition, the original intrinsic parameter and described original outer is determined
The correctness of parameter.
Subpixel coordinates and original intrinsic parameter after the above-mentioned uniform random noise to addition re-start calibration, obtain
Calibration intrinsic parameter should with addition random noise before calibration intrinsic parameter it is approximately equal.If meeting this condition, illustrate
Original intrinsic parameter and original external parameters calibration are steady, correct.Otherwise illustrate that original intrinsic parameter and original external parameters calibration are incorrect.
As preferred embodiment, by the new intrinsic parameter and the new outer parameter respectively with the original internal reference
The several and described original outer parameter compares, and obtains comparing result；Then judge whether the comparison result meets default threshold
Value condition, when the comparison result is unsatisfactory for preset threshold condition, the detection method further include:
By the angular coordinate of the binocular image with new intrinsic parameter and the new outer parameter, parameter and internal reference except going
Number, obtains original coordinates；
Binocular calibration is re-started again to the original coordinates.
Specifically, except the angular coordinate of the binocular image with new intrinsic parameter and the new outer parameter is gone
Parameter and intrinsic parameter, obtain original coordinates include: parameter except as noted method it is as follows:
Left figure angular coordinate LeftPoint0 is constant, parameter spin moment except right figure angular coordinate RightPoint0 is gone
The influence of battle array R and translation matrix T, as shown in formula (4):
The method for removing the intrinsic parameter is as follows:
Left figure, right figure are respectively mapped to the angular coordinate under normalized coordinates system；
Wherein, C refers to that principal point coordinate in internal reference calibration, f refer to the equivalent focal length in internal reference calibration.
For LeftPoint2 and RightPoint2, a sequence being made of two-dimensional points coordinate, wherein each
A angular coordinate can be expressed as (xi,yi), wherein xiIndicate i-th point in LeftPoint2 (or RightPoint2) of horizontal seat
Mark, yiIndicate i-th point in LeftPoint2 (or RightPoint2) of ordinate.It is abnormal further according to following formula addition camera lens
Become.Radial distortion:
Tangential distortion:
Wherein k1 and k2 is radial distortion parameter, and p1 and p2 are tangential distortion parameters, and distortion parameter is demarcated by Zhang Zhengyou
What method was calculated together when demarcating internal reference.
According to above-mentioned formula (6) and formula (7), it is available addition distortion after angular coordinate LeftPoint3 and
RightPoint3.Then angular coordinate on original image can be acquired using formula (8).
Binocular calibration based on Zhang Zhengyou method is executed to the original image angular coordinate sought through formula (8), is used
Intrinsic parameter be original calibration intrinsic parameter, the outer parameter of generation should be not much different with parameter outside original calibration.Otherwise recognize
It is incorrect for the outer parameter of original calibration.
By the above verification step, so that it may the correctness of interior number, external parameters calibration in binocular camera calibration process is verified,
Meet the constraint of above-mentioned two verifying simultaneously, this illustrates that the inside and outside ginseng calibration of binocular camera is correct, stablizes.
Fig. 4 indicates the structure of the detecting device schematic diagram of binocular camera calibrating parameters described in the embodiment of the present invention.
Shown in Figure 4, the detection device of binocular camera calibrating parameters includes: to obtain module 40, for obtaining pre- bidding
The angular-point sub-pixel coordinate of fixed board；First demarcating module 42 obtains institute for carrying out first time calibration to the subpixel coordinates
State subpixel coordinates original intrinsic parameter and original outer parameter；Second demarcating module 44 is used for the subpixel coordinates, described
After original intrinsic parameter and the original outer parameter add random noise, carry out second and demarcate, obtain new intrinsic parameter with
New outer parameter；Contrast module 46, for by the new intrinsic parameter and the new outer parameter respectively with the original internal reference
The several and described original outer parameter compares, and obtains comparing result；Determining module 48, for whether judging the comparison result
Meet preset threshold condition, when the comparison result meets preset threshold condition, determines the original intrinsic parameter and described
The correctness of original outer parameter.
Optionally, the acquisition module 40 includes: shooting module (not shown), for carrying out to the preset calibrations plate
Preset times shooting under different spaces pose, obtains shooting image；Locating module (not shown), for using based on gray scale
The mode of gradient carries out the Primary Location of angle steel joint position to the shooting image, i.e., carries out respectively through row from a left side to gray level image
To first-order difference right and from top to bottom, and the local extremum such as formula (1) of first-order difference figure is extracted, and require these extreme value positions
The differential pixel values set should be greater than 150 or be less than -150:
Wherein cornerx, y indicate that the angular coordinate (x, y) extracted, numerical value are equal to the particular neighborhood in the direction x or the direction yInterior
Maximum valueOr minimum value
Optionally, second demarcating module 44 is also used to:
To the random Uniform noise between subpixel coordinates addition [- 0.1,0.1]；
The transverse and longitudinal coordinate of each angular coordinate (x, y) of the original intrinsic parameter is added according to following formula (2) respectively
Add the uniform random noise between Δ ∈ [- 0.1,0.1]；
X=x+ Δ, y=y+ Δ formula (2)
To the original outer parameter, according to the random Uniform noise between formula (3) addition [- 1,1]；
Wherein om1 indicates to surround the rotation angle of x-axis, and om2 indicates to surround the rotation angle of y-axis, and om3 indicates to surround the rotation of z-axis
Corner；T1 indicates the translation in x-axis direction, and t2 indicates the translation in y-axis direction, and t3 indicates the translation in z-axis direction；Δ∈[-
0.1,0.1 the uniform random noise between].
The optionally detection device further include: removal module (not shown), for the binocular image after correcting
Angular coordinate, parameter and intrinsic parameter, obtain original coordinates except going；Module (not shown) is re-scaled, for described
Original coordinates re-start binocular calibration again.
Automated driving system provided by the invention includes above-mentioned detection device.
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 easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of detection method of binocular camera calibrating parameters characterized by comprising
Obtain the angular-point sub-pixel coordinate of preset calibrations plate；
To the subpixel coordinates carry out first time calibration, obtain the subpixel coordinates original intrinsic parameter and original outer ginseng
Number；
To the subpixel coordinates, after the original intrinsic parameter and the original outer parameter add random noise, the is carried out
Secondary calibration obtains new intrinsic parameter and new outer parameter；
By the new intrinsic parameter and the new outer parameter respectively with the original intrinsic parameter and the original outer parameter into
Row comparison, obtains comparing result；
Judge whether the comparison result meets preset threshold condition, when the comparison result meets preset threshold condition, really
The correctness of the fixed original intrinsic parameter and the original outer parameter.
2. detection method as described in claim 1, which is characterized in that the angular-point sub-pixel coordinate for obtaining preset calibrations plate
Include:
Preset times shooting under different spaces pose is carried out to the preset calibrations plate, obtains shooting image；
The Primary Location for carrying out angle steel joint position to the shooting image using the mode based on shade of gray, i.e., to gray level image
First-order difference from left to right and from top to bottom is carried out respectively, and the local extremum of first-order difference figure is extracted by formula (1), and
It is required that the differential pixel values of these extreme value places should be greater than 150 or be less than -150:
Wherein corner (x, y) indicates that the angular coordinate (x, y) extracted, numerical value are equal to the particular neighborhood in the direction x or the direction yInterior maximum valueOr minimum value
3. detection method as described in claim 1, which is characterized in that described to the subpixel coordinates, the original internal reference
It after the several and described original outer parameter adds random noise, carries out second and demarcates, obtain new intrinsic parameter and new outer ginseng
Number includes:
To the random Uniform noise between subpixel coordinates addition [- 0.1,0.1]；
Δ is added according to following formula (2) respectively to the transverse and longitudinal coordinate of each angular coordinate (x, y) of the original intrinsic parameter
Uniform random noise between ∈ [- 0.1,0.1]；
X=x+ Δ, y=y+ Δ formula (2)
To the original outer parameter, according to the random Uniform noise between formula (3) addition [- 1,1]；
Wherein om1 indicates to surround the rotation angle of x-axis, and om2 indicates to surround the rotation angle of y-axis, and om3 indicates to surround the rotation angle of z-axis；
T1 indicates the translation in x-axis direction, and t2 indicates the translation in y-axis direction, and t3 indicates the translation in z-axis direction；Δ∈[-0.1,
0.1] uniform random noise between.
4. detection method as described in claim 1, which is characterized in that be unsatisfactory for preset threshold condition in the comparison result
When, the detection method further include:
By the angular coordinate of the binocular image with new intrinsic parameter and new outer parameter, parameter and intrinsic parameter, are obtained except going
Original coordinates；
Binocular calibration is re-started again to the original coordinates.
5. detection method as claimed in claim 4, which is characterized in that described to have new intrinsic parameter and new outer parameter
The angular coordinate of binocular image, parameter and intrinsic parameter except going, obtaining original coordinates includes:
The method for going parameter except as noted is as follows:
By formula (4), left figure angular coordinate LeftPoint0 is constant, right figure angular coordinate RightPoint0 joins except going
The influence of number spin matrix R and translation matrix T:
The method for removing the intrinsic parameter is as follows:
Left figure, right figure are respectively mapped to the angular coordinate under normalized coordinates system；
Wherein, C refers to that principal point coordinate in internal reference calibration, f refer to the equivalent focal length in internal reference calibration.
6. a kind of detection device of binocular camera calibrating parameters characterized by comprising
Module is obtained, for obtaining the angular-point sub-pixel coordinate of preset calibrations plate；
First demarcating module obtains the original of the subpixel coordinates for carrying out first time calibration to the subpixel coordinates
Intrinsic parameter and original outer parameter；
Second demarcating module, for being added to the subpixel coordinates, the original intrinsic parameter and the original outer parameter
It after random noise, carries out second and demarcates, obtain new intrinsic parameter and new outer parameter；
Contrast module, for by the new intrinsic parameter and the new outer parameter respectively with the original intrinsic parameter and described
Original outer parameter compares, and obtains comparing result；
Determining module meets default for judging whether the comparison result meets preset threshold condition in the comparison result
When threshold condition, the correctness of the original intrinsic parameter and the original outer parameter is determined.
7. detection device as claimed in claim 6, which is characterized in that the acquisition module includes:
Shooting module, the preset times for being carried out under different spaces pose to the preset calibrations plate are shot, and obtain shooting figure
Picture；
Locating module, for using the mode based on shade of gray to carry out the preliminary fixed of angle steel joint position to the shooting image
Position carries out first-order difference from left to right and from top to bottom through row respectively to gray level image, and extracts single order by formula (1)
The local extremum of difference diagram, and the differential pixel values of these extreme value places is required to should be greater than 150 or be less than -150:
Wherein corner (x, y) indicates that the angular coordinate (x, y) extracted, numerical value are equal to the particular neighborhood in the direction x or the direction yInterior maximum valueOr minimum value
8. detection module as claimed in claim 6, which is characterized in that second demarcating module is also used to: to the sub- picture
Random Uniform noise between plain coordinate addition [- 0.1,0.1]；
Δ is added according to following formula (2) respectively to the transverse and longitudinal coordinate of each angular coordinate (x, y) of the original intrinsic parameter
Uniform random noise between ∈ [- 0.1,0.1]；
X=x+ Δ, y=y+ Δ formula (2)
To the original outer parameter, according to the random Uniform noise between formula (3) addition [- 1,1]；
Wherein om1 indicates to surround the rotation angle of x-axis, and om2 indicates to surround the rotation angle of y-axis, and om3 indicates to surround the rotation angle of z-axis；
T1 indicates the translation in x-axis direction, and t2 indicates the translation in y-axis direction, and t3 indicates the translation in z-axis direction；Δ∈[-0.1,
0.1] uniform random noise between.
9. detection device as described in claim 1, which is characterized in that further include:
Module is removed, for that will join the angular coordinate of the binocular image with new intrinsic parameter and new outer parameter except going
Several and intrinsic parameter, obtains original coordinates；
Module is re-scaled, for re-starting binocular calibration again to the original coordinates.
10. a kind of automated driving system, which is characterized in that including the described in any item detection devices of claim 6 to 9.
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| CN108629810A (en) * | 2017-03-23 | 2018-10-09 | 展讯通信（上海）有限公司 | Scaling method, device and the terminal of binocular camera |
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| WO2012019370A1 (en) * | 2010-08-13 | 2012-02-16 | 武汉大学 | Camera calibration method, image processing device and motor vehicle |
| CN105631853A (en) * | 2015-11-06 | 2016-06-01 | 湖北工业大学 | Vehicle-mounted binocular camera calibration and parameter verification method |
| CN105608693A (en) * | 2015-12-18 | 2016-05-25 | 上海欧菲智能车联科技有限公司 | Vehicle-mounted panoramic around view calibration system and method |
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