CN110176040B - Automatic calibration method for panoramic all-around system - Google Patents
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Abstract
The invention provides an automatic calibration method of a panoramic all-around system, which comprises the following steps: step 1, performing first manual calibration on a panoramic all-around system to obtain reference calibration parameters; step 2, acquiring a coordinate position of a reference mark position in a manual calibration camera coordinate system; step 3, downloading the reference calibration parameters into a panoramic looking-around system to be calibrated; step 4, obtaining new calibration parameters; and 5, performing image stitching according to the new calibration parameters. The invention realizes the automatic calibration of the panoramic looking-around system and improves the calibration efficiency.
Description
Technical Field
The invention relates to the technical field of auxiliary driving, in particular to an automatic calibration method of a panoramic all-around system.
Background
Currently, panoramic looking around system technology is rapidly developed, but many key technical problems still have no mature solution because of the complexity of the technology involved. For example, because the cameras and related molds are not completely consistent, and the mounting positions and angles of the cameras of each vehicle are offset to different degrees, even for the same vehicle type of the panoramic all-round system with the cameras with the same specification parameters, each vehicle generally needs to manually calibrate the carried panoramic all-round system at a specific calibration site before leaving the factory, calibrate the cameras, generate distortion correction and perspective transformation parameters and splicing parameters of the aerial view, correct the deviation between the distortion correction and perspective transformation parameters and the default parameters in the system, and ensure that images in all directions can be normally spliced into a panoramic all-round view. The manual calibration mode is required for each automobile, and the efficiency is extremely low.
Accordingly, there is a need for further improvements in the art.
Disclosure of Invention
The invention provides an automatic calibration method of a panoramic all-around system, which aims to overcome the defects in the prior art, realize the automatic calibration of the panoramic all-around system and improve the calibration efficiency.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the invention provides an automatic calibration method of a panoramic all-around system, which comprises the following steps:
and step 1, manually calibrating the panoramic all-around system for the first time to obtain reference calibration parameters.
And 2, acquiring the coordinate position of the reference mark position in the manual calibration camera coordinate system.
And step 3, downloading the reference calibration parameters into a panoramic looking-around system to be calibrated.
And 4, obtaining new calibration parameters.
And 5, performing image stitching according to the new calibration parameters.
Specifically, the step 4 includes:
and A1, determining an offset component of the X-axis direction and an offset component of the Y-axis direction of a manual calibration camera coordinate system corresponding to the offset angle of the optical axis of the camera.
And A2, acquiring pixel offset of the same pixel in the manual calibration pixel coordinate system and the automatic calibration pixel coordinate system according to offset components of the X axis direction and the Y axis direction of the manual calibration camera coordinate system corresponding to the offset angle of the optical axis of the camera.
And A3, determining the pixel offset of the effective pixel starting coordinate transmitted by the camera in the manual calibration pixel coordinate system and the automatic calibration pixel coordinate system according to the pixel offset of the same pixel in the manual calibration pixel coordinate system and the automatic calibration pixel coordinate system.
And A4, determining the blanking coordinates of the camera image according to the starting coordinates of the effective pixels transmitted by the camera and the effective pixels transmitted by the camera.
And A5, adjusting the blanking coordinates of the camera image during automatic calibration, and compensating the pixel offset of the effective pixels transmitted by the camera in the automatic calibration pixel coordinate system.
Specifically, the step A4 includes:
and step A401, acquiring physical pixels of the camera sensor during first manual calibration, and establishing a manual calibration pixel coordinate system.
And step A402, acquiring coordinates of a starting pixel of the effective pixel transmitted by the camera in the manual calibration pixel coordinate system.
And step A403, determining the blanking coordinates of the camera image according to the coordinates of the physical pixel of the camera sensor and the initial pixel of the effective pixel transmitted by the camera in the manual calibration pixel coordinate system.
Specifically, the step A5 includes:
step A501, acquiring the coordinates of the initial pixel of the physical pixel of the camera sensor in an artificial calibration pixel coordinate system during automatic calibration;
step A502, the coordinates of the initial pixel of the physical pixel of the camera sensor in the manual calibration pixel coordinate system are taken as an origin O2, and an automatic calibration pixel coordinate system is established;
and A503, calculating the pixel row offset and the pixel column offset of the initial pixel coordinate of the effective data transmitted by the camera in automatic calibration relative to the initial pixel coordinate of the effective data transmitted by the camera in manual calibration.
And step A504, adjusting the blanking coordinates of the camera image during automatic calibration according to the pixel row offset and the pixel column offset.
Specifically, the step 4 includes:
and B1, generating a top view corresponding to each camera by using the reference calibration parameters.
And B2, processing the top view corresponding to each camera to obtain corresponding view processing parameters.
And B3, obtaining new splicing parameters according to the view processing parameters, and replacing corresponding splicing parameters in the reference calibration parameters with the new splicing parameters to generate new calibration parameters.
Specifically, the step B2 includes:
and step B201, taking the reference mark position as a reference point, and taking a straight line forming a preset angle with the vehicle body as an image splicing center line.
And step B202, cutting images on two sides of the image splicing center line by taking the image splicing center line as a boundary to obtain corresponding view cutting parameters.
Specifically, the reference calibration parameters are: distortion correction parameters, perspective transformation parameters, splicing parameters and the like of each camera.
The invention has the beneficial effects that: according to the invention, the reference calibration parameters are obtained by a manual calibration method in a specific field, and then the reference calibration parameters are downloaded into the panoramic looking-around system to be calibrated, so that new calibration parameters are automatically obtained, the automatic calibration of the panoramic looking-around system is realized, and the calibration efficiency is improved.
Drawings
FIG. 1 is a flow chart of the automatic calibration method of the panoramic all-around system of the invention.
Detailed Description
Embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which are for reference and illustration only, and are not intended to limit the scope of the invention.
Panoramic looking around system calibration involves a world coordinate system, a camera coordinate system, an image coordinate system, and a pixel coordinate system. In the manual calibration, a camera coordinate system is defined as an manual calibration camera coordinate system, an image coordinate system is defined as an manual calibration image coordinate system, and a pixel coordinate system is defined as an manual calibration pixel coordinate system; in the automatic calibration, the camera coordinate system is defined as an automatic calibration camera coordinate system, the image coordinate system is defined as an automatic calibration image coordinate system, and the pixel coordinate system is defined as an automatic calibration pixel coordinate system.
And establishing a camera coordinate system by taking the optical center of the camera as an origin and taking the optical axis as a Z axis. The manual calibration camera coordinate system is O-XYZ, and the automatic calibration camera coordinate system is O-X1Y1Z1.
Example 1
As shown in fig. 1, the automatic calibration method for the panoramic looking-around system provided in this embodiment includes:
and step 1, manually calibrating the panoramic all-around system for the first time to obtain reference calibration parameters.
The first manual calibration is completed manually at a specific calibration site, and the first manual calibration is only required to be carried out on one automobile for vehicles of the same model and with panoramic all-around systems provided with cameras with the same specification parameters.
The first manual calibration aims at obtaining reference calibration parameters, including: distortion correction parameters, perspective transformation parameters, stitching parameters (such as image clipping position, size, etc.) and the like of each camera.
And 2, acquiring a coordinate position C (a, b, C) of the reference mark position in a manual calibration camera coordinate system.
The reference mark position is a position which is easily identified outside the vehicle, such as a vehicle lamp or an outside rear view mirror.
And when manual calibration is performed for the first time, each camera of the panoramic looking-around system shoots an image by using reference calibration parameters, and then the panoramic looking-around system identifies the coordinate position of the reference marking position in the manual calibration camera coordinate system by using image identification and monocular camera ranging.
And step 3, downloading the reference calibration parameters into a panoramic looking-around system to be calibrated.
The panoramic looking-around system to be calibrated and the panoramic looking-around system for performing first manual calibration are installed on the same vehicle model and have the same camera parameters.
And 4, obtaining new calibration parameters.
The step 4 comprises the following steps:
and A1, determining an offset component delta beta of the X-axis direction and an offset component delta gamma of the Y-axis direction of a manual calibration camera coordinate system corresponding to the offset angle of the optical axis of the camera.
The specific method comprises the following steps:
and A101, acquiring coordinates of the reference mark position in an automatic calibration pixel coordinate system, and calculating coordinates C '(a', b ', C') of the reference mark position in the automatic calibration camera coordinate system.
In the implementation, the image recognition technology can be used for obtaining the coordinates of the reference mark position in the automatic calibration pixel coordinate system, and then the conversion from the pixel coordinate system to the camera coordinate system can be realized through the monocular camera ranging method, so that the coordinates of the reference mark position in the camera coordinate system can be obtained.
And step A102, calculating an offset component delta beta of the camera optical axis offset angle on the X axis and an offset component delta gamma of the Y axis of the manual calibration camera coordinate system according to the coordinates C (a, b and C) of the reference mark position in the manual calibration camera coordinate system and the coordinates C '(a', b ', C') of the reference mark position in the automatic calibration camera coordinate system.
Since the Z axis of the camera coordinate system is the optical axis, the angular offset of the camera optical axis can be equivalently expressed as first rotating around the X axis and then rotating around the Y axis, and the rotation angles around the X and Y axes are Δβ and Δγ, respectively, then:
rotating around the X axis:
Δβ is the rotation angle; />
Rotating around the Y axis:
Δγ is the rotation angle.
Substituting C (a, b, C) and C '(a', b ', C') into the above formula to obtain
a'＝acos△γ+bsin△βsin△γ+ccos△βsin△γ；
b'＝bcos△β-csin△β；
c'＝bsin△βcos△γ+ccos△βcos△γ-asin△γ；
The above formula is the relation between the offset component delta beta of the camera optical axis offset angle in the X axis of the manual calibration camera coordinate system, the offset component delta gamma of the Y axis and the position offset of the reference mark position in the manual calibration camera coordinate system and the automatic calibration camera coordinate system.
To further improve the accuracy of the automatic calibration, step a102 further includes:
and step A103, acquiring offset coordinates of the reference mark position in a world coordinate system.
The world coordinate system takes a camera as a coordinate origin.
And A2, acquiring pixel offset of the same pixel in an artificial calibration pixel coordinate system and an automatic calibration pixel coordinate system according to offset components delta beta of the camera optical axis offset angle corresponding to the X-axis direction and offset components delta gamma of the Y-axis of the artificial calibration camera coordinate system.
The coordinate variation difference of the same position (for example, the reference mark position) in the manual calibration camera coordinate system O-XYZ and the automatic calibration camera coordinate system O-X1Y1Z1 can be known according to the following formula:
and converting the camera coordinate system into a corresponding image coordinate system, and calculating a coordinate variation difference value of the same position in the corresponding image coordinate system, wherein the coordinate variation difference value is the offset of the same position in the image coordinate system. The conversion of a camera coordinate system into an image coordinate system is known in the art.
And mapping the image coordinate system to the pixel coordinate system to obtain the pixel offset of the same position. The conversion of an image coordinate system into a pixel coordinate system is known in the art.
And A3, determining the pixel offset of the effective pixel starting coordinate transmitted by the camera in the manual calibration pixel coordinate system and the automatic calibration pixel coordinate system according to the pixel offset of the same pixel in the manual calibration pixel coordinate system and the automatic calibration pixel coordinate system.
The pixel offset of the effective pixel initial coordinate transmitted by the camera in the manual calibration pixel coordinate system and the automatic calibration pixel coordinate system has the same relation with the pixel offset of the same pixel in the manual calibration pixel coordinate system and the automatic calibration pixel coordinate system.
And A4, determining the blanking coordinates of the camera image according to the starting coordinates of the effective pixels transmitted by the camera and the effective pixels transmitted by the camera.
The starting coordinates of the effective pixels transmitted by the camera can be preset, and the set principle is as follows: the effective pixel area transmitted by the camera is positioned in the center of the physical pixel of the camera sensor.
Assuming that physical pixels of the camera sensor are 1344h×968v, effective pixels transmitted by the camera are often smaller than physical pixels of the sensor, for example, effective pixels transmitted by the camera are 1280h×720v, redundant pixel points of the camera sensor are invalid data, and blanking processing is adopted, and coordinates of the blanked pixels are called blanking coordinates.
Because the distortion of the central pixel is smaller, the effective pixel of the camera is generally symmetrical around the center of the optical axis of the camera as the center point of the image.
The step A4 comprises the following steps:
step a401, obtaining a physical pixel m×n of the camera sensor during the first manual calibration (for example
1344 h.968v) to establish an artificially calibrated pixel coordinate system uOv.
Step a402, obtaining coordinates p1 (u 1, v 1) of a start pixel of an effective pixel p×q (e.g. 1280h×720 v) transmitted by the camera in the manual calibration pixel coordinate system uOv.
And step a403, determining the blanking coordinates (ub, vb) of the camera image according to the physical pixel m×n of the camera sensor and the coordinates p1 (u 1, v 1) of the starting pixel of the effective pixel transmitted by the camera in the manual calibration pixel coordinate system uOv.
The blanking coordinates (ub, vb) are: 0.ltoreq.ub.ltoreq.m, 0.ltoreq.vb.ltoreq.v1 or v1+q.ltoreq.vb.ltoreq.n; ub is more than or equal to 0 and less than u1 or u1+p is more than or equal to u m, v1 is more than or equal to vb and less than or equal to q+v1.
And A5, adjusting the blanking coordinates of the camera image during automatic calibration, and compensating the pixel offset of the effective pixels transmitted by the camera in the automatic calibration pixel coordinate system.
In order to make the effective data transmitted by the camera in automatic calibration consistent with the effective data transmitted by the camera in manual calibration (i.e. to transmit the same pixel points), the blanking coordinates of the camera image in automatic calibration need to be adjusted.
The step A5 comprises the following steps:
step A501, acquiring a coordinate p2 (u 2, v 2) of a physical pixel starting pixel of a camera sensor in an artificial calibration pixel coordinate system during automatic calibration;
step A502, using the coordinates p2 (u 2, v 2) of the initial pixel of the physical pixel of the camera sensor in the manual calibration pixel coordinate system as an origin O2, and establishing an automatic calibration pixel coordinate system u 'O2v';
and A503, calculating a pixel row offset delta u and a pixel column offset delta v of the initial pixel coordinate of the effective data transmitted by the camera in automatic calibration relative to the initial pixel coordinate of the effective data transmitted by the camera in manual calibration.
Δu＝u1-u2，Δv＝v1-v2。
And step A504, adjusting the blanking coordinates of the camera image during automatic calibration according to the pixel row offset Deltau and the pixel column offset Deltv.
The adjusted blanking coordinates (ub ', vb') are: 0.ltoreq.ub '.ltoreq.m, 0.ltoreq.vb' < Deltav or Deltav+q < vb '.ltoreq.n) and 0.ltoreq.ub' < Deltau or Deltau+p < ub '. Ltoreq.m, deltav < vb'. Ltoreq.q+Deltav.
And 5, performing image stitching according to the new calibration parameters.
And 6, fusing the image splicing seams.
Such as by using a weighted average fusion method to eliminate the splice seam, is known in the art.
And 7, carrying out illumination homogenization treatment.
Such as image histogram equalization processing, gamma correction, etc., which are known in the art.
Example 2
The difference between this embodiment and embodiment 1 is that the method for obtaining the new calibration parameters in step 4 is different.
The step 4 comprises the following steps:
and B1, generating a top view corresponding to each camera by using the reference calibration parameters.
In this step, mainly the distortion correction parameter and the perspective transformation parameter in the reference calibration parameter are used.
And B2, processing the top view corresponding to each camera to obtain corresponding view processing parameters.
The specific method comprises the following steps:
and step B201, taking a reference mark position (such as a car lamp) as a reference point, and taking a straight line forming a preset angle alpha (alpha can be selected according to relevant calibration experience) with the car body as an image splicing center line.
And step B202, cutting out images on two sides of the image stitching center line by taking the image stitching center line as a boundary to obtain corresponding view cutting parameters (such as cutting size and cutting position).
Taking a top view of the front right camera as an example, the image of the area above the center line of the front camera and the image of the area below the center line of the rear right camera are cut.
And if the coordinate positions of the reference mark positions in the top views corresponding to the cameras are different, the clipping parameters of the corresponding views are different.
And B3, obtaining new splicing parameters according to the view processing parameters, and replacing corresponding splicing parameters in the reference calibration parameters with the new splicing parameters to generate new calibration parameters.
The above disclosure is illustrative of the preferred embodiments of the present invention and should not be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (4)
1. An automatic calibration method for a panoramic all-around system is characterized by comprising the following steps:
step 1, carrying out first manual calibration on a panoramic all-around system to obtain reference calibration parameters, wherein the reference calibration parameters are as follows: distortion correction parameters, perspective transformation parameters and splicing parameters of each camera;
step 2, acquiring a coordinate position of a reference mark position in a manual calibration camera coordinate system, wherein the reference mark position is a part which is easy to identify on the vehicle for performing the first manual calibration;
step 3, downloading the reference calibration parameters into a panoramic looking-around system to be calibrated, wherein the panoramic looking-around system to be calibrated and the panoramic looking-around system for the first manual calibration have cameras with the same specification parameters, and the installed vehicle type is the same as the vehicle for the first manual calibration;
step 4, obtaining new calibration parameters;
step 5, image stitching is carried out according to the new calibration parameters;
the step 4 comprises the following steps:
a1, determining an offset component in the X-axis direction and an offset component in the Y-axis direction of a manual calibration camera coordinate system corresponding to an offset angle of an optical axis of a camera;
a2, acquiring pixel offset of the same pixel in an artificial calibration pixel coordinate system and an automatic calibration pixel coordinate system according to offset components of the X axis direction and the Y axis direction of the artificial calibration camera coordinate system corresponding to the offset angle of the optical axis of the camera;
a3, determining the pixel offset of the effective pixel starting coordinate transmitted by the camera in the manual calibration pixel coordinate system and the automatic calibration pixel coordinate system according to the pixel offset of the same pixel in the manual calibration pixel coordinate system and the automatic calibration pixel coordinate system;
step A4, determining blanking coordinates of the camera image according to the starting coordinates of the effective pixels transmitted by the camera and the effective pixels transmitted by the camera;
a5, adjusting blanking coordinates of the camera image during automatic calibration, wherein the blanking coordinates are used for compensating pixel offset of effective pixels transmitted by the camera in an automatic calibration pixel coordinate system;
the step A1 comprises the following steps:
a101, acquiring coordinates of a reference mark position in an automatic calibration pixel coordinate system, and calculating the coordinates of the reference mark position in the automatic calibration camera coordinate system;
step A102, calculating an offset component of a camera optical axis offset angle in an X axis and an offset component of a Y axis of the manual calibration camera coordinate system according to the coordinates of the reference mark position in the manual calibration camera coordinate system and the coordinates of the reference mark position in the automatic calibration camera coordinate system;
step A103, obtaining offset coordinates of the reference mark position in a world coordinate system;
the step A4 comprises the following steps:
step A401, obtaining physical pixels of a camera sensor during first manual calibration, and establishing a manual calibration pixel coordinate system;
step A402, acquiring coordinates of a starting pixel of an effective pixel transmitted by a camera in the manual calibration pixel coordinate system;
and step A403, determining the blanking coordinates of the camera image according to the coordinates of the physical pixel of the camera sensor and the initial pixel of the effective pixel transmitted by the camera in the manual calibration pixel coordinate system.
2. The automatic calibration method of a panoramic all-around system according to claim 1, wherein the step A5 comprises:
step A501, acquiring the coordinates of the initial pixel of the physical pixel of the camera sensor in an artificial calibration pixel coordinate system during automatic calibration;
step A502, the coordinates of the initial pixel of the physical pixel of the camera sensor in the manual calibration pixel coordinate system are taken as an origin O2, and an automatic calibration pixel coordinate system is established;
step A503, calculating a pixel row offset and a pixel column offset of an initial pixel coordinate of effective data transmitted by a camera in automatic calibration relative to an initial pixel coordinate of effective data transmitted by the camera in manual calibration;
and step A504, adjusting the blanking coordinates of the camera image during automatic calibration according to the pixel row offset and the pixel column offset.
3. The automatic calibration method of the panoramic all-around system according to claim 1, wherein the step 4 comprises:
step B1, generating a top view corresponding to each camera by using the reference calibration parameters;
step B2, processing the top view corresponding to each camera to obtain corresponding view processing parameters;
and B3, obtaining new splicing parameters according to the view processing parameters, and replacing corresponding splicing parameters in the reference calibration parameters with the new splicing parameters to generate new calibration parameters.
4. The automatic calibration method of the panoramic all-around system according to claim 3, wherein the step B2 comprises:
step B201, taking a reference mark position as a reference point, and taking a straight line forming a preset angle with the vehicle body as an image splicing center line;
and step B202, cutting images on two sides of the image splicing center line by taking the image splicing center line as a boundary to obtain corresponding view cutting parameters.
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