CN112562012A - Calibration plate, vehicle camera calibration method and related device - Google Patents
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Abstract
The application discloses a calibration plate, a vehicle camera calibration method and a related device, wherein a calibration pattern is arranged on the calibration plate; the calibration pattern is an elliptical calibration point which is regularly arranged according to the distance from a preset reference point. According to the method, the calibration pattern in the calibration plate is set to be the oval calibration point, so that the oval calibration point is projected on the image and approaches to a circle, and the problem of deformation of the calibration point after projection is avoided; the oval calibration points are arranged according to the rule of the distance from the preset reference point, so that the oval calibration points far away from the preset reference point can be clearly projected onto an image, the calibration precision is further improved, and the technical problem that the calibration result precision is low because the existing calibration plate adopts calibration patterns of round calibration points with the same size is solved.
Description
Technical Field
The application relates to the technical field of camera calibration, in particular to a calibration plate, a vehicle camera calibration method and a related device.
Background
The camera is an important and commonly used device in a sensor for an automatic driving vehicle, and in practical application, calibration of the camera is required to obtain accurate calibration parameters. At present, a calibration plate for camera calibration is mostly a circular array, wherein, the calibration plate pattern of the circular array is a circular calibration point with the same size, in the camera calibration process, the projection of the circular calibration point on an image can deform, and the projection of the calibration point far away from the camera on the image is small, so that the image position of the calibration point is difficult to accurately detect, and the precision of the calibration result is low.
Disclosure of Invention
The application provides a calibration plate, a vehicle camera calibration method and a related device, which are used for solving the technical problem that the existing calibration plate adopts calibration patterns of circular calibration points with the same size, so that the calibration result is not high in precision.
In view of the above, a first aspect of the present application provides a calibration plate, including:
a calibration pattern is arranged on the calibration plate;
the calibration pattern is an elliptical calibration point which is regularly arranged according to the distance from a preset reference point.
Optionally, the elliptical calibration points are unevenly distributed on the calibration plate.
The second aspect of the present application provides a vehicle camera calibration method, including:
taking a point on a camera to be calibrated of a vehicle as a preset reference point, and determining the position of a calibration plate according to the preset reference point, wherein the calibration plate is any one of the calibration plates in the first aspect;
shooting the calibration plate at the position of the calibration plate through the camera to be calibrated to obtain a calibration plate image;
and calculating calibration parameters of the camera to be calibrated based on the calibration plate image.
Optionally, the calculating calibration parameters based on the calibration plate image includes:
selecting a plurality of circular calibration points from the calibration plate image as target calibration points, and detecting image coordinates of the target calibration points in an image coordinate system;
calculating world coordinates of the elliptical calibration points corresponding to the target calibration points in a vehicle coordinate system;
and calculating calibration parameters of the camera to be calibrated according to the image coordinates and the world coordinates.
Optionally, the selecting a plurality of circular calibration points in the calibration plate image as target calibration points includes:
selecting more than 4 circular calibration points from the calibration plate image as target calibration points, wherein any 3 circular calibration points in the target calibration points are not collinear.
Optionally, the calculating calibration parameters of the camera to be calibrated according to the image coordinates and the world coordinates includes:
calculating a homography matrix according to the image coordinates and the world coordinates;
and determining the calibration parameters of the camera to be calibrated according to the homography matrix, wherein the calibration parameters of the camera to be calibrated comprise internal parameters and external parameters of the camera to be calibrated.
The third aspect of the present application provides a vehicle camera calibration apparatus, including:
the calibration device comprises a determining unit, a calibration unit and a calibration unit, wherein the determining unit is used for determining the position of a calibration plate according to a preset reference point which is a point on a camera to be calibrated of a vehicle, and the calibration plate is any one of the calibration plates in the first aspect;
the shooting unit is used for shooting the calibration plate at the position of the calibration plate through the camera to be calibrated to obtain a calibration plate image;
and the calculating unit is used for calculating the calibration parameters of the camera to be calibrated based on the calibration plate image.
Optionally, the calculating unit specifically includes:
the detection subunit is used for selecting a plurality of circular calibration points from the calibration plate image as target calibration points and detecting image coordinates of the target calibration points in an image coordinate system;
the first calculating subunit is used for calculating world coordinates of the elliptical calibration points corresponding to the target calibration points in a vehicle coordinate system;
and the second calculating subunit is used for calculating the calibration parameters of the camera to be calibrated according to the image coordinates and the world coordinates.
A fourth aspect of the present application provides a vehicle camera calibration apparatus, which includes a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the vehicle camera calibration method according to any one of the second aspect according to instructions in the program code.
A fifth aspect of the present application provides a computer-readable storage medium for storing program code for executing the vehicle camera calibration method according to any one of the second aspects.
According to the technical scheme, the method has the following advantages:
the application provides a calibration plate, include: a calibration pattern is arranged on the calibration plate; the calibration pattern is an elliptical calibration point which is regularly arranged according to the distance from a preset reference point.
In the application, the calibration pattern in the calibration plate is set to be the elliptical calibration point, so that the projection of the elliptical calibration point on the image approaches to a circle, and the problem of deformation of the calibration point after projection is avoided; the oval calibration points are arranged according to the rule of the distance from the preset reference point, so that the oval calibration points far away from the preset reference point can be clearly projected onto an image, the calibration precision is further improved, and the technical problem that the calibration result precision is low because the existing calibration plate adopts calibration patterns of round calibration points with the same size is solved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic view of a calibration plate according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a vehicle camera calibration method according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a vehicle camera calibration apparatus according to an embodiment of the present application.
Detailed Description
The application provides a calibration plate, a vehicle camera calibration method and a related device, which are used for solving the technical problem that the existing calibration plate adopts calibration patterns of circular calibration points with the same size, so that the calibration result is not high in precision.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, in an embodiment of the present application, a calibration plate is provided with a calibration pattern; the calibration pattern is an elliptical calibration point which is regularly arranged according to the distance from a preset reference point.
In the existing camera calibration method, a calibration plate with uniformly distributed circular calibration points with consistent sizes is usually adopted, and in the camera calibration process, the circular calibration points on the calibration plate deform when being projected to an image of the calibration plate, so that elliptical calibration points are obtained. When the calibration parameters of the camera are calculated subsequently, the coordinates of the central point of the elliptical calibration point in the calibration image need to be detected, the coordinates of the central point of the elliptical calibration point are difficult to accurately detect through the existing image processing software, deviation is easy to occur, and the calculation precision of the calibration parameters is influenced. In order to improve this problem, the embodiments of the present application set the calibration point in the calibration board as an elliptical calibration point, so that the elliptical calibration point approaches a circle when projected onto the calibration board image. Compared with the detection of the coordinate of the central point of the oval calibration point, the method has the advantages that the coordinate of the central point of the round calibration point is more convenient to detect, the detection result is more accurate, errors are not easy to detect, and therefore the accuracy of the calibration parameters is guaranteed.
Furthermore, because the calibration points in the existing calibration plate are consistent in size, the calibration point projected to an image by the calibration point far away from the camera is small, and under the condition of uneven illumination, the image position of the calibration point is difficult to accurately detect, so that the calibration precision is influenced. In order to improve the problem, in the embodiment of the application, a reference point is preset as a preset reference point, and an elliptical calibration point is set according to a rule of distance from the preset reference point, that is, the farther the distance from the preset reference point is, the larger the elliptical calibration point is, so that the elliptical calibration point farther from the preset reference point can be clearly projected onto an image, and further, the calibration precision is improved. The specific size of the oval calibration point in the calibration plate can be selected according to actual conditions, and is not specifically limited herein. In the practical application process, a preset reference point can be set according to the position of the camera to be calibrated, and then the position of the calibration plate is set according to the preset reference point.
As a further improvement, the elliptical calibration points in the embodiment of the present application are unevenly distributed on the calibration plate. Because the detection precision of the calibration points can affect the accuracy of calibration parameters, the calibration points with proper density can reduce the error caused by individual calibration points, but the calibration points on the calibration plate are too dense, which can cause the increase of calculated amount and further affect the calibration speed of the camera. Therefore, in the embodiment of the application, relatively dense elliptical calibration points are arranged in the important attention area of the camera to be calibrated, relatively sparse elliptical calibration points are arranged in the non-important attention area of the camera to be calibrated, the number of the elliptical calibration points in the important attention area can be set according to the actual situation, and no specific limitation is made herein. The important attention area of the camera to be calibrated is related to the visual range of the camera to be calibrated, and is determined according to the actual situation.
In the embodiment of the application, the calibration pattern in the calibration plate is set to be the elliptical calibration point, so that the projection of the elliptical calibration point on the image approaches to a circle, and the problem of deformation of the calibration point after projection is avoided; the oval calibration points are arranged according to the rule of the distance from the preset reference point, so that the oval calibration points far away from the preset reference point can be clearly projected onto an image, the calibration precision is further improved, and the technical problem that the calibration result precision is low because the existing calibration plate adopts calibration patterns of round calibration points with the same size is solved.
Furthermore, according to the embodiment of the application, appropriate dense calibration points are arranged in the key focus attention area of the camera to be calibrated, and relatively sparse calibration points are arranged in the non-key focus attention area of the camera to be calibrated, so that errors caused by individual calibration points are reduced under the condition that the calibration speed of the camera is not influenced, and the accuracy of a calibration result is further ensured.
The above is an embodiment of a calibration plate provided by the present application, and the following is an embodiment of a vehicle camera calibration method provided by the present application.
For easy understanding, please refer to fig. 2, the present application provides an embodiment of a method for calibrating a vehicle camera by using a calibration board in the above embodiment, including:
When a camera to be calibrated needs to be calibrated, a point on the camera to be calibrated may be used as a preset reference point, and specifically, any point (a central point or an angular point, etc.) of the camera to be calibrated may be used as a preset reference point, and a person skilled in the art may select the point according to actual situations.
After the preset reference point is determined, the position of the calibration plate can be determined according to the preset reference point, so that the elliptical calibration points in the calibration plate are distributed according to the rule of distance from the preset reference point, and the camera to be calibrated can shoot the calibration plate.
In the embodiment of the present application, the camera to be calibrated of the vehicle may be a looking-around camera or a forward-looking camera, and when the camera to be calibrated is a looking-around camera, the calibration plate is usually disposed at the ground, and when the camera to be calibrated is a forward-looking camera, the calibration plate is disposed in front of the vehicle.
In the embodiment of the present application, since the calibration point in the calibration board is an elliptical calibration point, when the elliptical calibration point is projected to the calibration board image, the obtained calibration point is a circular calibration point.
And 103, calculating calibration parameters of the camera to be calibrated based on the calibration plate image.
After the calibration plate image is obtained through shooting, the calibration parameters of the camera to be calibrated can be calculated through the calibration plate image. The method comprises the following specific steps of calculating calibration parameters of a camera to be calibrated based on a calibration plate image:
s1, selecting a plurality of circular calibration points in the calibration plate image as target calibration points, and detecting the image coordinates of the target calibration points in the image coordinate system.
In this embodiment of the application, after the calibration board image is obtained, a plurality of circular calibration points may be selected from the calibration board image as target calibration points. In a real application scenario, the calculated calibration point pairs all contain noise, for example, the position of the calibration point deviates by several pixels, and if less than 4 circular calibration points are selected for camera calibration each time, errors are prone to occur. Therefore, in order to ensure the accuracy of the calibration result, in the embodiment of the present application, it is preferable to select more than 4 circular calibration points as the target calibration points, and any 3 circular calibration points in the target calibration points are not collinear.
Further, for a key focus area of the camera to be calibrated, the circular calibration points in the key focus area are distributed densely, in order to obtain accurate calibration parameters through calculation, more than 4 circular calibration points can be selected as target calibration points each time to gradually calibrate the camera, preferably, 4 circular calibration points are adopted as target calibration points to gradually calibrate the camera, and any 3 circular calibration points in the target calibration points are not collinear.
Further, for a non-key attention area of the camera to be calibrated, since the circular calibration points in the non-key attention area are sparsely distributed, in order to ensure the accuracy of the calibration parameters of the non-key attention area, all the circular calibration points in the non-key attention area can be used as target calibration points for camera calibration.
After the target calibration point is determined, image coordinates of a center point of the target calibration point in an image coordinate system may be detected by image processing software (e.g., OpenCV).
And S2, calculating the world coordinates of the oval calibration points corresponding to the target calibration points in the vehicle coordinate system.
After the target calibration point is determined, the position of the elliptical calibration point in the calibration plate corresponding to the target calibration point can be determined, that is, the physical position of the center point of the elliptical calibration point in the coordinate system of the calibration plate can be determined. According to the relative position relationship between the calibration plate and the vehicle, the physical coordinates of the elliptical calibration point corresponding to the target calibration point in the calibration plate coordinate system can be converted into the world coordinates of the vehicle coordinate system, and the world coordinates of the central point of the elliptical calibration point corresponding to the target calibration point in the vehicle coordinate system can be obtained.
And S3, calculating the calibration parameters of the camera to be calibrated according to the image coordinates and the world coordinates.
After the image coordinates and the world coordinates of the target calibration point are determined, a homography matrix can be calculated according to the image coordinates and the world coordinates; and determining the calibration parameters of the camera to be calibrated according to the homography matrix, wherein the calibration parameters of the camera to be calibrated comprise internal parameters and external parameters of the camera to be calibrated. The specific calculation process of the homography matrix belongs to the prior art, and is not described herein again. After the homography matrix is obtained through calculation, the homography matrix can be optimized and solved to obtain calibration parameters of the camera to be calibrated.
It should be noted that after the calibration board image is obtained by shooting, in addition to the calibration parameter calculated by the method provided in the embodiment of the present application, the calibration parameter may also be calculated by other methods, for example, a two-step method, a DLT (Direct Linear Transform) method, and the like, where the two-step method and the DLT method belong to the prior art and are not illustrated herein.
In the embodiment of the application, the preset reference point is determined based on the camera to be calibrated of the vehicle, the position of the calibration plate is further set, and the elliptical calibration points on the calibration plate are distributed according to the rule that the distance from the preset reference point is large or small, so that the elliptical calibration points far away from the preset reference point can be clearly projected onto the image of the calibration plate, and the calibration precision is further improved; because the calibration pattern in the calibration plate is an elliptical calibration point, the calibration point in the image of the calibration plate obtained by shooting is a circular calibration point, the problem of deformation of the calibration point after projection is avoided, and the technical problem that the calibration result precision is not high because the calibration pattern of the circular calibration point with the same size is adopted in the existing calibration plate is solved.
The above is an embodiment of a vehicle camera calibration method provided by the present application, and the following is an embodiment of a vehicle calibration device provided by the present application.
Referring to fig. 3, an embodiment of the present application provides a vehicle camera calibration apparatus, including:
a determining unit 201, configured to determine, according to a preset reference point, a position of a calibration board that is the calibration board in the foregoing embodiment, by using a point on a camera to be calibrated of a vehicle as the preset reference point;
the shooting unit 202 is used for shooting the calibration plate at the position of the calibration plate through the camera to be calibrated to obtain an image of the calibration plate;
and the calculating unit 203 is used for calculating the calibration parameters of the camera to be calibrated based on the calibration plate image.
As a further improvement, the calculating unit 203 specifically includes:
the detection subunit is used for selecting a plurality of circular calibration points from the calibration plate image as target calibration points and detecting image coordinates of the target calibration points in an image coordinate system;
the first calculating subunit is used for calculating world coordinates of the oval calibration points corresponding to the target calibration points in a vehicle coordinate system;
and the second calculating subunit is used for calculating the calibration parameters of the camera to be calibrated according to the image coordinates and the world coordinates.
As a further improvement, the detection subunit is specifically configured to:
selecting more than 4 circular calibration points from the calibration plate image as target calibration points, wherein any 3 circular calibration points in the target calibration points are not collinear;
and detecting the image coordinates of the target calibration point in the image coordinate system.
As a further improvement, the second calculating subunit is specifically configured to:
calculating a homography matrix according to the image coordinates and the world coordinates;
and determining the calibration parameters of the camera to be calibrated according to the homography matrix, wherein the calibration parameters of the camera to be calibrated comprise internal parameters and external parameters of the camera to be calibrated.
In the embodiment of the application, the vehicle camera calibration device determines the preset reference point based on the camera to be calibrated of the vehicle, and further sets the position of the calibration plate, and the elliptical calibration points on the calibration plate are distributed according to the rule of the distance from the preset reference point to the preset reference point, so that the elliptical calibration points far away from the preset reference point can be clearly projected onto the image of the calibration plate, and further the calibration precision is improved; because the calibration pattern in the calibration plate is an elliptical calibration point, the calibration point in the image of the calibration plate obtained by shooting is a circular calibration point, the problem of deformation of the calibration point after projection is avoided, and the technical problem that the calibration result precision is not high because the calibration pattern of the circular calibration point with the same size is adopted in the existing calibration plate is solved.
The embodiment of the application further provides a vehicle camera calibration device, which comprises a processor and a memory:
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is configured to execute the vehicle camera calibration method in the foregoing method embodiments according to instructions in the program code.
The embodiment of the application also provides a computer-readable storage medium, which is used for storing program codes, and the program codes are used for executing the vehicle camera calibration method in the foregoing method embodiment.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. The calibration plate is characterized in that a calibration pattern is arranged on the calibration plate;
the calibration pattern is an elliptical calibration point which is regularly arranged according to the distance from a preset reference point.
2. Calibration plate according to claim 1, characterized in that the oval calibration points are not evenly distributed on the calibration plate.
3. A vehicle camera calibration method is characterized by comprising the following steps:
taking a point on a camera to be calibrated of a vehicle as a preset reference point, and determining the position of a calibration plate according to the preset reference point, wherein the calibration plate is the calibration plate in any one of claims 1 to 2;
shooting the calibration plate at the position of the calibration plate through the camera to be calibrated to obtain a calibration plate image;
and calculating calibration parameters of the camera to be calibrated based on the calibration plate image.
4. A vehicle camera calibration method according to claim 3, wherein said calculating calibration parameters based on said calibration plate image comprises:
selecting a plurality of circular calibration points from the calibration plate image as target calibration points, and detecting image coordinates of the target calibration points in an image coordinate system;
calculating world coordinates of the elliptical calibration points corresponding to the target calibration points in a vehicle coordinate system;
and calculating calibration parameters of the camera to be calibrated according to the image coordinates and the world coordinates.
5. The vehicle camera calibration method according to claim 4, wherein said selecting a plurality of circular calibration points in the calibration plate image as target calibration points comprises:
selecting more than 4 circular calibration points from the calibration plate image as target calibration points, wherein any 3 circular calibration points in the target calibration points are not collinear.
6. The vehicle camera calibration method according to claim 4, wherein the calculating calibration parameters of the camera to be calibrated according to the image coordinates and the world coordinates comprises:
calculating a homography matrix according to the image coordinates and the world coordinates;
and determining the calibration parameters of the camera to be calibrated according to the homography matrix, wherein the calibration parameters of the camera to be calibrated comprise internal parameters and external parameters of the camera to be calibrated.
7. A vehicle camera calibration device, comprising:
a determination unit, configured to determine a position of a calibration board according to a preset reference point, where the preset reference point is a point on a camera to be calibrated of a vehicle, where the calibration board is the calibration board according to any one of claims 1 to 2;
the shooting unit is used for shooting the calibration plate at the position of the calibration plate through the camera to be calibrated to obtain a calibration plate image;
and the calculating unit is used for calculating the calibration parameters of the camera to be calibrated based on the calibration plate image.
8. The vehicle camera calibration device according to claim 7, wherein the calculation unit specifically comprises:
the detection subunit is used for selecting a plurality of circular calibration points from the calibration plate image as target calibration points and detecting image coordinates of the target calibration points in an image coordinate system;
the first calculating subunit is used for calculating world coordinates of the elliptical calibration points corresponding to the target calibration points in a vehicle coordinate system;
and the second calculating subunit is used for calculating the calibration parameters of the camera to be calibrated according to the image coordinates and the world coordinates.
9. A vehicle camera calibration apparatus, characterized in that the apparatus comprises a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the vehicle camera calibration method of any one of claims 3 to 6 according to instructions in the program code.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium is configured to store program code for executing the vehicle camera calibration method according to any one of claims 3 to 6.
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| CN113822950A (en) * | 2021-11-22 | 2021-12-21 | 天远三维（天津）科技有限公司 | Calibration point distribution determination method, device, equipment and storage medium of calibration plate |
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| CN111429532A (en) * | 2020-04-30 | 2020-07-17 | 南京大学 | Method for improving camera calibration accuracy by utilizing multi-plane calibration plate |
| CN111754568A (en) * | 2020-06-19 | 2020-10-09 | 上海保隆汽车科技股份有限公司 | Calibration pattern, calibration method and calibration plate device thereof |
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