CN110706282A - Automatic calibration method and device for panoramic system, readable storage medium and electronic equipment - Google Patents
Automatic calibration method and device for panoramic system, readable storage medium and electronic equipment Download PDFInfo
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Abstract
The disclosure relates to an automatic calibration method and device for a panoramic system, a readable storage medium and an electronic device. The method comprises the following steps: acquiring a panoramic image currently output by a panoramic system of a vehicle; evaluating the image quality of the panoramic image; if the image quality evaluation value is smaller than a first preset threshold value, updating target parameters of an image acquisition device of the vehicle according to the panoramic image and the multi-frame image; splicing the multi-frame images again according to the target parameters to obtain an updated panoramic image; re-executing the step of evaluating the image quality of the panoramic image until the image quality evaluation value is greater than or equal to a first preset threshold value; and calibrating the panoramic system of the vehicle according to the target parameters. Therefore, after the quality of the panoramic image is reduced, the panoramic system can be automatically recalibrated in time, and the quality of the panoramic image is recovered, so that the safety accident caused by the fact that a user cannot clearly observe scenes around a vehicle due to the reduction of the quality of the panoramic image is avoided.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to an automatic calibration method and apparatus for a panoramic system, a readable storage medium, and an electronic device.
Background
In the daily driving process, a driver is positioned in a cabin, and needs to observe the peripheral conditions of the automobile body by means of a left rear-view mirror, a right rear-view mirror, a central rear-view mirror, a window and a windshield when observing the peripheral conditions of the automobile body, so that a lot of visual blind areas exist, and the distance between the automobile body and the periphery cannot be reasonably judged. In order to reasonably judge the distance between the vehicle body and the periphery, the vehicle vision auxiliary system has observed a reversing image behind the vehicle from a rear-view camera, and develops into a panoramic system for observing images around the vehicle through four cameras around the vehicle.
The panoramic system is also called panoramic all-round-looking system, and it usually uses 4 super wide-angle cameras, which are installed in front, back, left and right positions of the car to cover all the view angles around the car. It carries out distortion removal, projection, splicing, fusion and color correction on multi-channel videos collected at the same time to form an LUT (Look Up Table). In the driving process of the vehicle, pixels in each frame of video in the camera video are directly mapped to the display screen by inquiring the LUT, and finally a vehicle body aerial view and a 3DARView angle map of 360 degrees around the vehicle are formed and displayed on the control screen in the vehicle, so that a driver can find whether obstacles exist around the vehicle body and the relative direction and distance of the obstacles, and the driver can park the vehicle and pass through narrow road sections, and the occurrence of accidents such as scraping, collision, sinking and the like is effectively reduced.
Disclosure of Invention
The disclosure aims to provide an automatic calibration method and device for a panoramic system, a readable storage medium and electronic equipment, so that the panoramic system can be automatically calibrated in time after the quality of a panoramic image is reduced.
In order to achieve the above object, a first aspect of the present disclosure provides an automatic calibration method for a panoramic system, including:
acquiring a panoramic image currently output by a panoramic system of a vehicle;
performing image quality evaluation on the panoramic image to obtain an image quality evaluation value of the panoramic image;
if the image quality evaluation value is smaller than a first preset threshold value, updating target parameters of an image acquisition device of the vehicle according to the panoramic image and multi-frame images, wherein the multi-frame images are images spliced into the panoramic image;
splicing the multi-frame images again according to the target parameters to obtain an updated panoramic image;
re-executing the step of evaluating the image quality of the panoramic image to obtain an image quality evaluation value of the panoramic image until the image quality evaluation value is greater than or equal to the first preset threshold;
and calibrating the panoramic system of the vehicle according to the target parameters.
Optionally, the method further comprises:
in the running process of a vehicle, detecting whether a target area meeting a calibration condition exists on a current running road of the vehicle;
if the target area exists on the current running road of the vehicle, acquiring a multi-frame image of the target area acquired by the image acquisition device at the current moment;
and inputting the multi-frame images to a panoramic system of the vehicle to obtain the panoramic image.
Optionally, in the process of driving the vehicle, detecting whether a target area meeting a calibration condition exists on a current driving road of the vehicle includes:
in the running process of a vehicle, at least acquiring scene data of a current running road of the vehicle through the image acquisition device;
determining whether a preset marker exists on the current driving road of the vehicle according to the scene data;
and if the preset marker exists, determining that a target area meeting the calibration condition exists on the current running road of the vehicle.
Optionally, the method further comprises:
detecting whether the pose of the image acquisition device changes;
if the image quality evaluation value is smaller than a preset threshold value, updating the target parameters of the image acquisition device according to the panoramic image and the multi-frame image, wherein the updating comprises the following steps:
and if the image quality evaluation value is smaller than a preset threshold value and the pose of the image acquisition device changes, updating the target parameters of the image acquisition device according to the panoramic image and the multi-frame image.
Optionally, the detecting whether the pose of the image capturing device changes includes:
counting the times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold value within a first preset time length;
and if the times are greater than the preset times, determining that the pose of the image acquisition device changes.
Optionally, the detecting whether the pose of the image capturing device changes includes:
counting the times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold value within a second preset time length;
and when the times are greater than the preset times, detecting whether the pose of the image acquisition device is changed or not by using an SLAM technology.
Optionally, the method further comprises:
when detecting that the pose of the image acquisition device changes, outputting first prompt information to prompt a vehicle owner that the pose of the image acquisition device changes.
Optionally, the image capturing device includes a plurality of cameras, and the method further includes:
evaluating the image quality of the image collected by each camera;
and if the image quality evaluation value of the image acquired by at least one camera is smaller than a second preset threshold, outputting second prompt information, wherein the second prompt information comprises the identification of the camera corresponding to the image of which the image quality evaluation value is smaller than the second preset threshold.
The second aspect of the present disclosure provides an automatic calibration device for a panoramic system, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a panoramic image currently output by a panoramic system of the vehicle;
the first evaluation module is used for evaluating the image quality of the panoramic image to obtain an image quality evaluation value of the panoramic image;
the updating module is used for updating target parameters of the image acquisition device of the vehicle according to the panoramic image and multi-frame images if the image quality evaluation value is smaller than a first preset threshold value, wherein the multi-frame images are images spliced into the panoramic image;
the splicing module is used for splicing the multi-frame images again according to the target parameters to obtain an updated panoramic image;
the driving module is used for driving the evaluation module to re-execute the step of evaluating the image quality of the panoramic image to obtain the image quality evaluation value of the panoramic image until the image quality evaluation value is greater than or equal to the first preset threshold;
and the calibration module is used for calibrating the panoramic system of the vehicle according to the target parameters.
Optionally, the apparatus further comprises:
the first detection module is used for detecting whether a target area meeting a calibration condition exists on a current driving road of the vehicle or not in the driving process of the vehicle;
the second acquisition module is used for acquiring a multi-frame image of the target area acquired by the image acquisition device at the current moment if the target area exists on the current running road of the vehicle;
and the input module is used for inputting the multi-frame images to a panoramic system of the vehicle so as to obtain the panoramic image.
Optionally, the first detection module includes:
the acquisition submodule is used for acquiring scene data of a current driving road of the vehicle at least through the image acquisition device in the driving process of the vehicle;
the first determining submodule is used for determining whether a preset marker exists on the current driving road of the vehicle according to the scene data;
and the second determining submodule is used for determining that a target area meeting the calibration condition exists on the current running road of the vehicle if the preset marker exists.
Optionally, the apparatus further comprises:
the second detection module is used for detecting whether the pose of the image acquisition device changes;
and the updating module is used for updating the target parameters of the image acquisition device according to the panoramic image and the multi-frame image if the image quality evaluation value is smaller than a preset threshold value and the pose of the image acquisition device changes.
Optionally, the second detection module includes:
the first statistic submodule is used for counting the times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold value within a first preset time length;
and the third determining submodule is used for determining that the pose of the image acquisition device changes if the times are greater than the preset times.
Optionally, the second detection module includes:
the second counting submodule is used for counting the times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold value within a second preset time length;
and the detection submodule is used for detecting whether the pose of the image acquisition device changes or not through an SLAM technology when the times are greater than the preset times.
Optionally, the apparatus further comprises:
the first output module is used for outputting first prompt information when detecting that the pose of the image acquisition device changes so as to prompt a vehicle owner that the pose of the image acquisition device changes.
Optionally, the image capturing device includes a plurality of cameras, and the device further includes:
the second evaluation module is used for evaluating the image quality of the image acquired by each camera;
and the second output module is used for outputting second prompt information if the image quality evaluation value of the image acquired by at least one camera is smaller than a second preset threshold, wherein the second prompt information comprises an identifier of the camera corresponding to the image of which the image quality evaluation value is smaller than the second preset threshold.
The third aspect of the present disclosure also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the first aspect of the present disclosure.
The fourth aspect of the present disclosure also provides an electronic device, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.
According to the technical scheme, firstly, image quality evaluation is carried out on a panoramic image currently output by a panoramic system, then, the image quality evaluation value of the panoramic image is smaller than a first preset threshold value, target parameters of an image acquisition device of a vehicle are updated according to the panoramic image and multi-frame images, the multi-frame images are spliced again according to the target parameters to obtain an updated panoramic image, then, the image quality evaluation is carried out on the updated panoramic image again until the image quality evaluation value is larger than or equal to the first preset threshold value, and finally, the panoramic system of the vehicle is calibrated according to the target parameters. That is, whether to update the target parameter of the image capturing apparatus may be automatically determined according to the image quality evaluation value of the panoramic image, and after the target parameter is updated, the image quality evaluation may be performed again on the panoramic image generated according to the updated target parameter to determine whether the updated target parameter is accurate. Therefore, after the quality of the panoramic image is reduced, the panoramic system controller can automatically calibrate the panoramic system in time and restore the quality of the panoramic image, so that the safety accident caused by the fact that a user cannot clearly observe the surrounding scenes of the vehicle due to the reduction of the quality of the panoramic image is avoided.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart illustrating an automatic calibration method for a panoramic system according to an exemplary embodiment.
Fig. 2 is a flowchart illustrating an automatic calibration method of a panoramic system according to another exemplary embodiment.
Fig. 3 is a flowchart illustrating a method for automatic calibration of a panoramic system according to another exemplary embodiment.
Fig. 4 is a block diagram illustrating an automatic calibration apparatus for a panoramic system according to an exemplary embodiment.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
The vehicle provided with the panoramic system is calibrated by technicians according to images of scenes shot by four cameras arranged at the front, the rear, the left and the right of the vehicle, if the position of any camera changes in the process of using the vehicle by a user, the angle or the range of the shot image will change, if the panoramic system of the vehicle still splices the images of the scenes shot by the four cameras at the front, the rear, the left and the right of the vehicle according to the calibration result finished before the vehicle is off line, the panoramic image is deformed, the user cannot clearly observe the scenes around the vehicle, and a safety accident can be caused in serious cases.
In the related art, after the vehicle leaves the factory, if the panoramic system still needs to be recalibrated, the vehicle needs to be sent to a 4S store to be recalibrated by a professional technician. Specifically, the technician simply lays out a checkerboard on the ground and performs one pass of the auto-calibration procedure to update the LUT so that the updated LUT conforms to the current camera position and angle for the vehicle. However, compared with the original factory calibration, the 4S shop calibration process has differences in light, placement position, and professional skills, which results in a poorer effect than the original factory calibration.
Therefore, when the method is adopted to calibrate the panoramic system, the quality of the panoramic image is reduced, and the phenomena of double images, uneven color and brightness, image distortion and the like occur. In addition, the panoramic system can be recalibrated only during vehicle maintenance, and if camera head loosens during non-maintenance, the panoramic system cannot be corrected in time. Moreover, the calibration is performed in a 4S store, which increases the vehicle maintenance cost.
In view of the above, the present disclosure provides an automatic calibration method and apparatus for a panoramic system, a readable storage medium, and an electronic device, so as to solve the above problems in the prior art.
Fig. 1 is a flow chart illustrating a method for automatic calibration of a panoramic system, which may be used in an electronic device with processing capability, such as a vehicle controller, a panoramic system controller, etc., according to an exemplary embodiment. As shown in fig. 1, the method may include the following steps.
In step 101, a panoramic image currently output by a panoramic system of a vehicle is acquired.
The panoramic image is an image which is generated by a panoramic system after operations of distortion removal, projection, splicing, fusion and color correction are carried out on a plurality of frames of images and can represent the surrounding scenes of the vehicle.
In step 102, image quality evaluation is performed on the panoramic image to obtain an image quality evaluation value of the panoramic image.
In the present disclosure, an image quality evaluation method may be selected to perform quality evaluation on the panoramic image acquired in step 101. The image quality evaluation method may be a full-reference image quality evaluation method, a half-reference image quality evaluation method, and a no-reference image quality evaluation method. At present, more classical image quality evaluation methods include MSE (Mean-Square Error), SSIM (Structural Similarity Index), FSIM (Feature Similarity), BLINDS, BIQI, and the like. The present disclosure does not specifically limit the image quality evaluation method. Further, since the image quality evaluation is a relatively mature technology at present, the present disclosure does not describe in detail the specific manner of the image quality evaluation.
In step 103, if the image quality evaluation value is smaller than a first preset threshold, the target parameters of the image capturing device of the vehicle are updated according to the panoramic image and the multi-frame image. The multi-frame images are images spliced into a panoramic image.
In order to represent the splicing effect when multiple frames of images are spliced into a panoramic image, a first preset threshold value is preset in the disclosure, and the first preset threshold value is a parameter representing the quality of the panoramic image. Specifically, when the image quality evaluation value of the panoramic image is greater than or equal to a first preset threshold value, the splicing effect representing the panoramic image is good, the quality of the panoramic image is good, and an owner can clearly observe the scene around the vehicle through the panoramic image; when the image quality evaluation value of the panoramic image is smaller than a first preset threshold value, the splicing effect of the panoramic image is represented to be poor, and the scenes around the vehicle cannot be clearly reflected, at the moment, the panoramic system needs to be calibrated again, namely, the target parameters of the image acquisition device of the vehicle are adjusted.
The image acquisition device may include a camera, an ultrasonic radar, a millimeter wave radar, a laser radar, an IMU (Inertial Measurement Unit) sensor, a GPS (Global Positioning System) sensor, and the like, and the disclosure does not specifically limit the image acquisition device. For convenience of description, the image capturing device is taken as an example for illustration in the present disclosure.
Further, the target parameter may be a position, an angle, an internal reference, and the like of the camera. Considering that the effect of the panoramic image spliced by the panoramic system is mainly related to the position, angle and exposure of the camera of the image acquisition device, in the present disclosure, the target parameters may include a target position, a target angle and a target exposure.
It should be noted that the method for updating the target parameter of the image capturing device of the vehicle according to the panoramic image and the multi-frame image is common knowledge in the art, and will not be described in detail here.
In step 104, the multi-frame images are spliced again according to the target parameter to obtain an updated panoramic image.
In step 105, the step of performing image quality evaluation on the panoramic image to obtain an image quality evaluation value of the panoramic image is performed again until the image quality evaluation value is greater than or equal to the first preset threshold.
In order to detect whether the quality of the panoramic image spliced according to the updated target parameters of the camera meets the requirements, in the present disclosure, after the target parameters of the camera are updated, the multi-frame images need to be spliced again according to the updated target parameters to obtain an updated panoramic image, and the image quality evaluation is performed on the updated panoramic image to determine whether the image quality evaluation value is greater than or equal to a first preset threshold.
And if the image quality evaluation value of the updated panoramic image is still smaller than the first preset threshold, continuing to update the target parameter, splicing the multi-frame images again to obtain the updated panoramic image, and performing image quality evaluation on the panoramic image until the obtained image quality evaluation value is larger than or equal to the first preset threshold, and ending updating the target parameter.
In step 106, the vehicle's panoramic system is calibrated according to the target parameters.
When the image quality evaluation value is greater than or equal to the first preset threshold value, it indicates that the quality of the panoramic image formed by splicing the panoramic systems meets the requirement, at this time, the updating of the target parameters can be finished, and the target parameters obtained at the last time are determined as the parameters used for calibrating the panoramic systems of the vehicles.
According to the technical scheme, firstly, image quality evaluation is carried out on a panoramic image currently output by a panoramic system, then, the image quality evaluation value of the panoramic image is smaller than a first preset threshold value, target parameters of an image acquisition device of a vehicle are updated according to the panoramic image and multi-frame images, the multi-frame images are spliced again according to the target parameters to obtain an updated panoramic image, then, image quality evaluation is carried out on the updated panoramic image again until the image quality evaluation value is larger than or equal to the first preset threshold value, and finally, the panoramic system of the vehicle is calibrated according to the target parameters. That is, whether to update the target parameter of the image capturing apparatus may be automatically determined according to the image quality evaluation value of the panoramic image, and after the target parameter is updated, the image quality evaluation may be performed again on the panoramic image generated according to the updated target parameter to determine whether the updated target parameter is accurate. Therefore, after the quality of the panoramic image is reduced, the panoramic system controller can automatically calibrate the panoramic system in time and restore the quality of the panoramic image, so that the safety accident caused by the fact that a user cannot clearly observe the surrounding scenes of the vehicle due to the reduction of the quality of the panoramic image is avoided.
In order to better understand the automatic calibration method of the panoramic system provided by the present disclosure, a complete embodiment is described below.
In view of the fact that when the panoramic system is calibrated, a feature point pair in a multi-frame image needs to be identified, and when the panoramic image is evaluated in image quality, the coincidence effect of the feature point pair in the panoramic image needs to be detected, in the present disclosure, in order to facilitate the identification of the feature point pair in the multi-frame image, during the running of the vehicle, before the panoramic system of the vehicle is calibrated, scene data on the current running road of the vehicle needs to be detected, so as to determine whether a target area in which the feature point pair is easy to identify exists on the current running road.
Specifically, as shown in fig. 2, before step 101, the method may further include steps 107 to 109.
In step 107, during the running of the vehicle, it is detected whether a target area satisfying a calibration condition exists on the current running road of the vehicle.
Specifically, the specific implementation of detecting whether there is a target region satisfying the calibration condition may be: firstly, in the running process of a vehicle, scene data of a current running road of the vehicle is acquired at least through an image acquisition device. The scene data may be data of some markers on the road, and may include, for example, the width of a lane line, the width of a zebra crossing, the position of a railing and the height, width, etc. thereof, the position of a pillar and the diameter thereof, and the like. Then, according to the scene data, it is determined whether a preset marker exists on the current driving road of the vehicle, wherein the preset marker can be an object with a mark, such as a lane line, a zebra crossing, a parking space, a railing, a pillar and the like. For example, the scene data may be analyzed according to deep learning, image processing, and SLAM technology (Simultaneous Localization and Mapping) to determine whether the preset marker exists on the current driving road. And finally, if the preset marker exists, determining that a target area meeting the calibration condition exists on the current driving road of the vehicle.
In addition, during the driving of the vehicle, at least the scene data of the current driving road of the vehicle is acquired by the image acquisition device, and the embodiments are not limited to the following two.
In the first embodiment, the image acquisition device on the vehicle is controlled to capture a scene image of the current driving road, and scene data is acquired from the scene image by using an image processing technology. In the second embodiment, in order to improve the accuracy of the acquired scene data, after the image acquisition device on the vehicle is controlled to capture a scene image of a current driving road, an identifier representing the road may be identified from the scene image, and the scene data corresponding to the identifier may be found in a preset database (e.g., a high-precision map, a network picture) according to the identifier.
In step 108, if there is a target area on the current driving road of the vehicle, acquiring a multi-frame image of the target area acquired by the image acquisition device at the current time.
In step 109, the multi-frame images are input to a panoramic system of the vehicle to obtain a panoramic image.
The method comprises the steps of obtaining a target area on a current driving road of a vehicle, representing that characteristic point pairs which are easy to identify exist in an image of the current driving road, and detecting the quality of a panoramic image.
Further, as shown in fig. 3, the method may further include step 110. In step 110, it is detected whether the pose of the image capturing device is changed.
In practical application, mainly because the camera head is loosened, the position and the angle of the camera head are changed, and the quality of the panoramic image is reduced, therefore, in the disclosure, before adjusting the target parameters of the image acquisition device, it is further required to detect whether the image acquisition device is loosened, that is, whether the pose of the image acquisition device is changed.
In the disclosure, whether the pose of the image acquisition device changes can be detected by detecting the frequency of the quality of the panoramic image which sharply decreases after adjustment within a preset time length. For example, if the frequency is large, it indicates that after the target parameter of the camera is adjusted, the position of the camera on the vehicle changes, and the panoramic system still needs to be calibrated again.
Specifically, in an embodiment, the number of times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold is counted within a first preset duration, and if the number of times is larger than a preset number of times, it is determined that the pose of the image capturing device changes.
In another embodiment, counting the number of times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold within the second preset duration, and detecting whether the pose of the image acquisition device changes or not by using the SLAM technology when the number of times is larger than the preset number. In this embodiment, after determining the number of times that the image quality evaluation value is smaller than the first preset threshold, it may be further detected by the SLAM technique whether the pose of the image capturing apparatus changes.
It should be noted that, whether the pose of the image capturing device changes may also be detected in other manners, which is not specifically limited by the present disclosure.
After detecting that the image capturing device is changed in any one of the above manners, step 1031 is performed.
In step 1031, if the image quality evaluation value is smaller than the preset threshold and the pose of the image capturing device changes, the target parameters of the image capturing device are updated according to the panoramic image and the multi-frame image.
In this embodiment, if the image quality evaluation value is smaller than the preset threshold, it may further be detected whether the image capturing device is loosened, and when the image quality evaluation value is smaller than the preset threshold and the pose of the image capturing device changes, the target parameter of the image capturing device is updated according to the panoramic image and the multi-frame image. Therefore, when the quality of the panoramic image is detected to be reduced, the reason causing the quality reduction of the panoramic image can be further determined, and then the adjustment can be carried out in a targeted manner, so that the panoramic image with better quality can be obtained.
In addition, as shown in fig. 3, after detecting that the image capturing device is changed, step 111 may be further performed.
In step 111, when the change of the pose of the image acquisition device is detected, outputting first prompt information to prompt the change of the pose of the image acquisition of the vehicle owner.
In the embodiment, in order to enable a vehicle owner to timely know that the image acquisition device is loosened and then timely maintain, when the change of the pose of the image acquisition device is detected, first prompt information can be output to prompt the vehicle owner that the pose of the image acquisition device is changed.
Further, the image capturing apparatus may include a plurality of image capturing components, and in order to further determine which of the plurality of image capturing components are abnormal, in the present disclosure, the image quality evaluation may be performed on the image captured by each image capturing component. Specifically, the image capturing device includes a plurality of cameras, performs image quality evaluation on an image captured by each camera, and outputs second prompt information if an image quality evaluation value of an image captured by at least one camera is smaller than a second preset threshold, where the second prompt information may include an identifier of a camera corresponding to an image whose image quality evaluation value is smaller than the second preset threshold.
In addition, the second preset threshold may be smaller than the first preset threshold, so that when the image quality evaluation value of an image acquired by a certain camera is smaller than the second preset threshold, it may be considered that the image quality cannot be effectively improved by adjusting the target parameter of the camera, and at this time, it may be considered that the camera has a fault and needs to be replaced. And, because the second prompt message includes the mark of the camera that breaks down, therefore, the car owner can in time learn the camera that breaks down after receiving this second prompt message, and then can in time change the camera.
Based on the same invention concept, the invention also provides an automatic calibration device of the panoramic system. Fig. 4 is a block diagram illustrating an automatic calibration apparatus for a panoramic system according to an exemplary embodiment. The apparatus may include:
a first obtaining module 401, configured to obtain a panoramic image currently output by a vehicle panoramic system;
a first evaluation module 402, configured to perform image quality evaluation on the panoramic image to obtain an image quality evaluation value of the panoramic image;
an updating module 403, configured to update a target parameter of an image acquisition device of the vehicle according to the panoramic image and multi-frame images if the image quality evaluation value is smaller than a first preset threshold, where the multi-frame images are images spliced into the panoramic image;
a splicing module 404, configured to splice the multiple frames of images again according to the target parameter to obtain an updated panoramic image;
a driving module 405, configured to drive the evaluation module to perform the step of performing image quality evaluation on the panoramic image again to obtain an image quality evaluation value of the panoramic image until the image quality evaluation value is greater than or equal to the first preset threshold;
and a calibration module 406, configured to calibrate the panoramic system of the vehicle according to the target parameter.
Optionally, the apparatus may further include:
the first detection module is used for detecting whether a target area meeting a calibration condition exists on a current driving road of the vehicle or not in the driving process of the vehicle;
the second acquisition module is used for acquiring a multi-frame image of the target area acquired by the image acquisition device at the current moment if the target area exists on the current running road of the vehicle;
and the input module is used for inputting the multi-frame images to a panoramic system of the vehicle so as to obtain the panoramic image.
Optionally, the first detection module may include:
the acquisition submodule is used for acquiring scene data of a current driving road of the vehicle at least through the image acquisition device in the driving process of the vehicle;
the first determining submodule is used for determining whether a preset marker exists on the current driving road of the vehicle according to the scene data;
and the second determining submodule is used for determining that a target area meeting the calibration condition exists on the current running road of the vehicle if the preset marker exists.
Optionally, the apparatus may further include:
the second detection module is used for detecting whether the pose of the image acquisition device changes;
and the updating module is used for updating the target parameters of the image acquisition device according to the panoramic image and the multi-frame image if the image quality evaluation value is smaller than a preset threshold value and the pose of the image acquisition device changes.
Optionally, the second detection module may include:
the first statistic submodule is used for counting the times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold value within a first preset time length;
and the third determining submodule is used for determining that the pose of the image acquisition device changes if the times are greater than the preset times.
Optionally, the second detection module may include:
the second counting submodule is used for counting the times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold value within a second preset time length;
and the detection submodule is used for detecting whether the pose of the image acquisition device changes or not through an SLAM technology when the times are greater than the preset times.
Optionally, the apparatus may further include:
the first output module is used for outputting first prompt information when detecting that the pose of the image acquisition device changes so as to prompt a vehicle owner that the pose of the image acquisition device changes.
Optionally, the image capturing apparatus includes a plurality of cameras, and the apparatus may further include:
the second evaluation module is used for evaluating the image quality of the image acquired by each camera;
and the second output module is used for outputting second prompt information if the image quality evaluation value of the image acquired by at least one camera is smaller than a second preset threshold, wherein the second prompt information comprises an identifier of the camera corresponding to the image of which the image quality evaluation value is smaller than the second preset threshold.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 5 is a block diagram illustrating an electronic device 500 in accordance with an example embodiment. As shown in fig. 5, the electronic device 500 may include: a processor 501 and a memory 502. The electronic device 500 may also include one or more of a multimedia component 503, an input/output (I/O) interface 504, and a communication component 505.
The processor 501 is configured to control the overall operation of the electronic device 500, so as to complete all or part of the steps in the above-mentioned panoramic system automatic calibration method. The memory 502 is used to store various types of data to support operation at the electronic device 500, such as instructions for any application or method operating on the electronic device 500 and application-related data, such as contact data, messaging, pictures, audio, video, and so forth. The Memory 502 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia component 503 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 502 or transmitted through the communication component 505. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 504 provides an interface between the processor 501 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 505 is used for wired or wireless communication between the electronic device 500 and other devices. Wireless communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 505 may thus comprise: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, for performing the above-mentioned automatic calibration method of the panoramic system.
In another exemplary embodiment, a computer readable storage medium including program instructions, which when executed by a processor, implement the steps of the above-mentioned panoramic system automatic calibration method, is also provided. For example, the computer readable storage medium may be the memory 502 described above that includes program instructions executable by the processor 501 of the electronic device 500 to perform the panoramic system auto-calibration method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned panoramic system auto-calibration method when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (11)
1. An automatic calibration method for a panoramic system is characterized by comprising the following steps:
acquiring a panoramic image currently output by a panoramic system of a vehicle;
performing image quality evaluation on the panoramic image to obtain an image quality evaluation value of the panoramic image;
if the image quality evaluation value is smaller than a first preset threshold value, updating target parameters of an image acquisition device of the vehicle according to the panoramic image and multi-frame images, wherein the multi-frame images are images spliced into the panoramic image;
splicing the multi-frame images again according to the target parameters to obtain an updated panoramic image;
re-executing the step of evaluating the image quality of the panoramic image to obtain an image quality evaluation value of the panoramic image until the image quality evaluation value is greater than or equal to the first preset threshold;
and calibrating the panoramic system of the vehicle according to the target parameters.
2. The method of claim 1, further comprising:
in the running process of a vehicle, detecting whether a target area meeting a calibration condition exists on a current running road of the vehicle;
if the target area exists on the current running road of the vehicle, acquiring a multi-frame image of the target area acquired by the image acquisition device at the current moment;
and inputting the multi-frame images to a panoramic system of the vehicle to obtain the panoramic image.
3. The method according to claim 2, wherein the detecting whether the target area meeting the calibration condition exists on the current driving road of the vehicle during the driving of the vehicle comprises:
in the running process of a vehicle, at least acquiring scene data of a current running road of the vehicle through the image acquisition device;
determining whether a preset marker exists on the current driving road of the vehicle according to the scene data;
and if the preset marker exists, determining that a target area meeting the calibration condition exists on the current running road of the vehicle.
4. The method of claim 1, further comprising:
detecting whether the pose of the image acquisition device changes;
if the image quality evaluation value is smaller than a preset threshold value, updating the target parameters of the image acquisition device according to the panoramic image and the multi-frame image, wherein the updating comprises the following steps:
and if the image quality evaluation value is smaller than a preset threshold value and the pose of the image acquisition device changes, updating the target parameters of the image acquisition device according to the panoramic image and the multi-frame image.
5. The method according to claim 4, wherein the detecting whether the pose of the image capture device changes comprises:
counting the times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold value within a first preset time length;
and if the times are greater than the preset times, determining that the pose of the image acquisition device changes.
6. The method according to claim 4, wherein the detecting whether the pose of the image capture device changes comprises:
counting the times that the image quality evaluation value of the panoramic image output by the panoramic system is smaller than the first preset threshold value within a second preset time length;
and when the times are greater than the preset times, detecting whether the pose of the image acquisition device is changed or not by using an SLAM technology.
7. The method of claim 4, further comprising:
when detecting that the pose of the image acquisition device changes, outputting first prompt information to prompt a vehicle owner that the pose of the image acquisition device changes.
8. The method of any one of claims 1-7, wherein the image acquisition device includes a plurality of cameras, the method further comprising:
evaluating the image quality of the image collected by each camera;
and if the image quality evaluation value of the image acquired by at least one camera is smaller than a second preset threshold, outputting second prompt information, wherein the second prompt information comprises the identification of the camera corresponding to the image of which the image quality evaluation value is smaller than the second preset threshold.
9. An automatic calibration device of a panoramic system is characterized by comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a panoramic image currently output by a panoramic system of the vehicle;
the first evaluation module is used for evaluating the image quality of the panoramic image to obtain an image quality evaluation value of the panoramic image;
the updating module is used for updating target parameters of the image acquisition device of the vehicle according to the panoramic image and multi-frame images if the image quality evaluation value is smaller than a first preset threshold value, wherein the multi-frame images are images spliced into the panoramic image;
the splicing module is used for splicing the multi-frame images again according to the target parameters to obtain an updated panoramic image;
the driving module is used for driving the evaluation module to re-execute the step of evaluating the image quality of the panoramic image to obtain the image quality evaluation value of the panoramic image until the image quality evaluation value is greater than or equal to the first preset threshold;
and the calibration module is used for calibrating the panoramic system of the vehicle according to the target parameters.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
11. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 8.
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