CN113223076B - Coordinate system calibration method, device and storage medium for vehicle and vehicle-mounted camera - Google Patents
Coordinate system calibration method, device and storage medium for vehicle and vehicle-mounted camera Download PDFInfo
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- CN113223076B CN113223076B CN202110373169.1A CN202110373169A CN113223076B CN 113223076 B CN113223076 B CN 113223076B CN 202110373169 A CN202110373169 A CN 202110373169A CN 113223076 B CN113223076 B CN 113223076B
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- G06T7/00—Image analysis
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Abstract
The invention discloses a coordinate system calibration method, equipment and storage medium for a vehicle and a vehicle-mounted camera, wherein the method comprises the following steps: determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view of the external camera and the vehicle-mounted camera, wherein the external camera to which the external camera coordinate system belongs is positioned outside a target vehicle; and determining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, wherein the second conversion relation comprises a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle. The invention can accurately determine the conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system, and further provide an accurate basis for shooting objects and the like in the external environment by using the vehicle-mounted camera mounted on the vehicle, and further determining the position relation between the objects and the vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a coordinate system calibration method, equipment and a storage medium for a vehicle and a vehicle-mounted camera.
Background
With the development of the technology of automatic driving vehicles, the driving requirements of the automatic driving vehicles are also increasing. In the related automatic driving technology, an object in the external environment and the like can be photographed by using an onboard camera mounted on a vehicle, and then the positional relationship between the object and the vehicle is determined, so that the transformation relationship between the coordinate system of the automatic driving vehicle and the coordinate system of the onboard camera needs to be determined. However, since the coordinate system of the autonomous vehicle is a virtual coordinate system, the conversion relationship between the coordinate system of the autonomous vehicle and the coordinate system of the in-vehicle camera cannot be directly determined.
Disclosure of Invention
In view of the above, the present invention provides a method, apparatus and storage medium for calibrating coordinate system of vehicle and vehicle-mounted camera to solve the above-mentioned technical problems.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
according to a first aspect of an embodiment of the present invention, a method for calibrating a coordinate system of a vehicle and a vehicle-mounted camera is provided, including:
Determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view of the external camera and the vehicle-mounted camera, wherein the external camera to which the external camera coordinate system belongs is positioned outside a target vehicle;
and determining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, wherein the second conversion relation comprises a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle.
In an embodiment, the determining the first conversion relation between the coordinate system of the vehicle-external camera and the coordinate system of the vehicle-mounted camera based on the shooting view where the vehicle-external camera and the vehicle-mounted camera are coincident includes:
shooting the target object based on the vehicle-outside camera and the vehicle-mounted camera at the same time so as to obtain a shooting view in which the vehicle-outside camera and the vehicle-mounted camera coincide;
based on the position of the target object on a first calibration plate and the position of the target object on a second calibration plate in the shooting view, respectively determining a first coordinate of the target object under the vehicle-mounted camera coordinate system and a second coordinate of the target object under the vehicle-mounted camera coordinate system, wherein the first calibration plate is positioned in the shooting view of the vehicle-mounted camera, and the second calibration plate is positioned in the shooting view of the vehicle-mounted camera;
And determining a first conversion relation between the vehicle-mounted camera coordinate system and the vehicle-mounted camera coordinate system based on the first coordinate and the second coordinate.
In an embodiment, the method further comprises determining in advance a second conversion relationship between the off-vehicle camera coordinate system and a vehicle coordinate system of the target vehicle based on:
shooting a preset positioning point corresponding to the target vehicle based on the vehicle-outside camera, and determining the coordinate of the target vehicle under the vehicle-outside camera coordinate system based on the position of the preset positioning point on a preset calibration plate;
and determining a second conversion relation between the vehicle coordinate system of the target vehicle and the vehicle coordinate system of the target vehicle based on the coordinates of the target vehicle under the vehicle external camera coordinate system.
In an embodiment, the preset positioning point corresponding to the target vehicle includes a point where a rear axle center point of the target vehicle corresponds to the ground.
In an embodiment, the determining the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relationship and a predetermined second conversion relationship includes:
Determining the coordinates of the calibration points of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system based on the first conversion relation;
converting the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-outside camera coordinate system into the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system based on the two conversion relations;
and obtaining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system.
According to a second aspect of the embodiment of the present invention, a coordinate system calibration device for a vehicle and a vehicle-mounted camera is provided, including:
the first relation determining module is used for determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view field of the superposition of the external camera and the vehicle-mounted camera, and the external camera of the external camera coordinate system is positioned outside a target vehicle;
the conversion relation determining module is used for determining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, and the second conversion relation comprises a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle.
In an embodiment, the first relationship determination module includes:
the shooting view acquisition unit is used for shooting the target object based on the vehicle-mounted camera and the vehicle-mounted camera at the same time so as to obtain a shooting view of the vehicle-mounted camera and the vehicle-mounted camera which are overlapped;
the coordinate information acquisition unit is used for respectively determining a first coordinate of the target object under the vehicle-mounted camera coordinate system and a second coordinate of the target object under the vehicle-mounted camera coordinate system based on the position of the target object on a first calibration plate and the position of the target object on a second calibration plate in the shooting view, wherein the first calibration plate is positioned in the shooting view of the vehicle-mounted camera, and the second calibration plate is positioned in the shooting view of the vehicle-mounted camera;
and the first relation determining unit is used for determining a first conversion relation between the coordinate system of the vehicle-mounted camera and the coordinate system of the vehicle-mounted camera based on the first coordinate and the second coordinate.
In an embodiment, the apparatus further comprises a second relationship determination module;
the second relationship determination module includes:
The vehicle coordinate determining unit is used for shooting a preset positioning point corresponding to the target vehicle based on the vehicle-outside camera, and determining the coordinate of the target vehicle under the vehicle-outside camera coordinate system based on the position of the preset positioning point on a preset calibration plate;
and a second relation determining unit configured to determine a second conversion relation between the vehicle-outside camera coordinate system and a vehicle coordinate system of the target vehicle based on coordinates of the target vehicle in the vehicle-outside camera coordinate system.
In an embodiment, the preset positioning point corresponding to the target vehicle includes a point where a rear axle center point of the target vehicle corresponds to the ground.
In an embodiment, the conversion relation determining module includes:
the calibration point coordinate determining unit is used for determining the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system based on the first conversion relation;
the coordinate conversion unit is used for converting the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system into the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system based on the two conversion relations;
And the conversion relation determining unit is used for obtaining the conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system.
According to a third aspect of an embodiment of the present invention, there is provided an electronic device including:
a processor;
a memory configured to store processor-executable instructions;
wherein the processor is configured to:
determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view of the external camera and the vehicle-mounted camera, wherein the external camera to which the external camera coordinate system belongs is positioned outside a target vehicle;
and determining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, wherein the second conversion relation comprises a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle.
According to a fourth aspect of an embodiment of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when processed by a processor, implements:
Determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view of the external camera and the vehicle-mounted camera, wherein the external camera to which the external camera coordinate system belongs is positioned outside a target vehicle;
and determining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, wherein the second conversion relation comprises a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle.
Compared with the prior art, the method and the device have the advantages that the first conversion relation between the vehicle exterior camera coordinate system and the vehicle-mounted camera coordinate system is determined based on the shooting view field of the vehicle exterior camera and the vehicle-mounted camera, the vehicle exterior camera of the vehicle exterior camera coordinate system is located outside the target vehicle, the conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system is determined based on the first conversion relation and the predetermined second conversion relation, the second conversion relation comprises the conversion relation between the vehicle exterior camera coordinate system and the vehicle coordinate system of the target vehicle, the conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system can be accurately determined based on the shooting view field of the vehicle exterior camera and the vehicle-mounted camera, and then an accurate basis can be provided for the follow-up shooting of objects in the external environment by using the vehicle-mounted camera mounted on the vehicle, and the like, and further the position relation between the objects and the vehicles is determined.
Drawings
FIG. 1 illustrates a flowchart of a method for coordinate system calibration of a vehicle and an onboard camera in accordance with an exemplary embodiment of the present invention;
FIG. 2 shows a schematic diagram of how a first conversion relationship between an off-vehicle camera coordinate system and an on-vehicle camera coordinate system is determined in accordance with the present invention;
FIG. 3 is a schematic diagram showing how a second conversion relationship between the off-board camera coordinate system and the vehicle coordinate system of the target vehicle is determined in accordance with the present invention;
FIG. 4 shows a schematic diagram of how the conversion relationship between the vehicle coordinate system and the onboard camera coordinate system is determined in accordance with the present invention;
FIG. 5 shows a block diagram of a coordinate system calibration device for a vehicle and an onboard camera according to an exemplary embodiment of the present invention;
FIG. 6 shows a block diagram of a coordinate system calibration device for a vehicle and an onboard camera according to another exemplary embodiment of the present invention;
fig. 7 shows a block diagram of an electronic device according to an exemplary embodiment of the invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. The embodiments are not intended to limit the invention and structural, methodological, or functional modifications of the invention based on the embodiments are within the scope of the invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that, although the terms first, second, etc. may be used herein to describe various structures, these structures should not be limited by these terms. These terms are only used to distinguish one type of structure from another.
Fig. 1 shows a flowchart of a coordinate system calibration method of a vehicle and an on-board camera according to an exemplary embodiment of the present invention. The method of the embodiment can be applied to terminal equipment (such as a vehicle-mounted terminal, a smart phone or a tablet computer) or a server (such as a server or a server cluster formed by a plurality of servers) with a data processing function. As shown in fig. 1, the method includes the following steps S101-S102:
in step S101, a first conversion relationship between an external camera coordinate system and an on-vehicle camera coordinate system is determined based on a shooting view where the external camera and the on-vehicle camera overlap, where the external camera to which the external camera coordinate system belongs is located outside the target vehicle.
In the present embodiment, in order to determine the conversion relationship between the vehicle coordinate system of the target vehicle and the camera coordinate system of the in-vehicle camera, the camera installed in the vehicle external environment (i.e., the out-of-vehicle camera) may be used. Specifically, the first conversion relationship between the vehicle-exterior camera coordinate system and the vehicle-exterior camera coordinate system may be determined based on the coincident shooting views of the vehicle-exterior camera and the vehicle-exterior camera. It can be understood that, in order to ensure accuracy of coordinate system conversion, the shooting view of the vehicle-external camera and the shooting view of the vehicle-mounted camera can be generated simultaneously, for example, the vehicle-external camera and the vehicle-mounted camera shoot the same object at the same time, so as to ensure that the coordinate system of the vehicle-external camera and the coordinate system of the vehicle-mounted camera are not changed in the process of shooting the objects.
In step S102, a conversion relationship between the vehicle coordinate system and the in-vehicle camera coordinate system is determined based on the first conversion relationship and a predetermined second conversion relationship, the second conversion relationship including a conversion relationship between the out-of-vehicle camera coordinate system and the vehicle coordinate system of the target vehicle.
In this embodiment, a second conversion relationship between the vehicle-external camera coordinate system and the vehicle coordinate system of the target vehicle may be predetermined, and further coordinate system conversion may be performed based on the second correspondence relationship and the first conversion relationship between the vehicle-external camera coordinate system and the vehicle-mounted camera coordinate system determined in the step S101, so as to obtain a conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system. It can be understood that, since the first conversion relationship is a conversion relationship between the vehicle-exterior camera coordinate system and the vehicle-mounted camera coordinate system, and the second conversion relationship is a conversion relationship between the vehicle-exterior camera coordinate system and the vehicle coordinate system of the target vehicle, the vehicle-exterior camera coordinate system can be used as a medium to obtain the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system.
In another embodiment, the above manner of determining the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relationship and the predetermined second conversion relationship may also refer to the embodiment shown in fig. 4 described below, which will not be described in detail herein.
As can be seen from the foregoing description, in the method of this embodiment, the first conversion relationship between the vehicle exterior camera coordinate system and the vehicle-mounted camera coordinate system is determined based on the shooting view where the vehicle exterior camera and the vehicle-mounted camera coincide, the vehicle exterior camera to which the vehicle exterior camera coordinate system belongs is located outside the target vehicle, and the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system is determined based on the first conversion relationship and the predetermined second conversion relationship, where the second conversion relationship includes the conversion relationship between the vehicle exterior camera coordinate system and the vehicle coordinate system of the target vehicle, so that the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system can be accurately determined based on the shooting view where the vehicle exterior camera and the vehicle-mounted camera coincide, and an accurate basis can be provided for subsequently using the vehicle-mounted camera mounted on the vehicle to shoot an object in the external environment, and the like, and further determining the positional relationship between the object and the vehicle.
FIG. 2 shows a schematic diagram of how a first conversion relationship between an off-vehicle camera coordinate system and an on-vehicle camera coordinate system is determined in accordance with the present invention; the present embodiment is exemplified on the basis of the above-described embodiments by taking as an example how to determine a first conversion relationship between an off-vehicle camera coordinate system and an on-vehicle camera coordinate system. As shown in fig. 2, the determining the first conversion relationship between the coordinate system of the vehicle-external camera and the coordinate system of the vehicle-mounted camera based on the shooting view of the vehicle-external camera and the vehicle-mounted camera overlapping in the above step S101 may include the following steps S201 to S203:
in step S201, the target object is photographed simultaneously based on the vehicle-external camera and the vehicle-mounted camera, so as to obtain a photographing field of view where the vehicle-external camera and the vehicle-mounted camera overlap.
In this embodiment, in order to determine the first conversion relationship between the vehicle-exterior camera coordinate system and the vehicle-mounted camera coordinate system, the photographing based on the vehicle-exterior camera and the vehicle-mounted camera may be made to simultaneously photograph the target object.
The target object can be arranged in the environment outside the vehicle, so that the camera outside the vehicle and the vehicle-mounted camera have coincident shooting fields of view.
The shooting view field of the camera outside the vehicle can also comprise a first calibration plate besides the target object, and the first calibration plate can be used for determining a first coordinate of the target object under the coordinate system of the camera outside the vehicle; likewise, the shooting view field of the vehicle-mounted camera can also comprise a second calibration plate besides the target object, and the second calibration plate can be used for determining a second coordinate of the target object under the coordinate system of the vehicle-mounted camera.
The types of the first calibration plate and the second calibration plate may be set based on actual needs, for example, black-white grid calibration plates, which are not limited in this embodiment.
In step S202, a first coordinate of the target object in the vehicle-exterior camera coordinate system and a second coordinate of the target object in the vehicle-mounted camera coordinate system are determined based on the position of the target object on the first calibration plate and the position of the target object on the second calibration plate in the photographing view, respectively.
In this embodiment, after obtaining the shooting view where the vehicle-external camera and the vehicle-mounted camera overlap, a first coordinate of the target object in the vehicle-external camera coordinate system may be determined based on a position of the target object on the first calibration plate in the shooting view, and a second coordinate of the target object in the vehicle-mounted camera coordinate system may be determined based on a position of the target object on the second calibration plate.
The manner of determining the correspondence between each position on the first calibration plate and the second calibration plate and the coordinates in the corresponding camera coordinate system may be referred to in the explanation and description of the related art, which is not limited in this embodiment.
In step S203, a first conversion relationship between the vehicle-outside camera coordinate system and the vehicle-mounted camera coordinate system is determined based on the first coordinate and the second coordinate.
In this embodiment, after determining the first coordinate of the target object in the vehicle-external camera coordinate system and determining the second coordinate of the target object in the vehicle-mounted camera coordinate system, the conversion matrix between the vehicle-external camera coordinate system and the vehicle-mounted camera coordinate system may be determined and deduced based on the first coordinate and the second coordinate, and the first conversion relationship between the vehicle-external camera coordinate system and the vehicle-mounted camera coordinate system may be obtained by using the matrix.
As can be seen from the foregoing description, in this embodiment, by capturing images of the object based on the vehicle-external camera and the vehicle-mounted camera, so as to obtain a captured view in which the vehicle-external camera and the vehicle-mounted camera are coincident, and determining, based on a position of the object located on the first calibration plate and a position of the object located on the second calibration plate in the captured view, a first coordinate of the object in the vehicle-external camera coordinate system, and a second coordinate of the object in the vehicle-mounted camera coordinate system, and further determining, based on the first coordinate and the second coordinate, a first conversion relationship between the vehicle-external camera coordinate system and the vehicle-mounted camera coordinate system, an accurate determination of a conversion relationship between the vehicle-external camera coordinate system and the vehicle-mounted camera coordinate system can be achieved, and an accurate basis can be provided for determining, based on the conversion relationship, a subsequent conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system.
FIG. 3 is a schematic diagram showing how a second conversion relationship between the off-board camera coordinate system and the vehicle coordinate system of the target vehicle is determined in accordance with the present invention; as shown in fig. 3, the present embodiment may further include determining a second conversion relationship between the vehicle coordinate system of the target vehicle and the vehicle coordinate system of the vehicle based on the following steps S301 to S302:
in step S301, a preset positioning point corresponding to the target vehicle is photographed based on the vehicle-exterior camera, and the coordinates of the target vehicle under the vehicle-exterior camera coordinate system are determined based on the position of the preset positioning point on a preset calibration plate.
In this embodiment, the vehicle-external camera may be used to capture a preset positioning point corresponding to the target vehicle, and further determine the coordinates of the target vehicle in the vehicle-external camera coordinate system based on the position of the preset positioning point on the preset calibration board.
For example, a calibration plate (such as a black-and-white grid calibration plate) may be placed in the shooting field of the camera outside the vehicle in advance, then, a preset positioning point corresponding to the target vehicle is shot by using the camera outside the vehicle to obtain corresponding image information, and a position of the preset positioning point on the preset calibration plate is determined based on the image information, so that a coordinate of the preset positioning point under the coordinate system of the camera outside the vehicle may be determined based on the position, and the coordinate of the preset positioning point under the coordinate system of the camera outside the vehicle is used as a coordinate of the target vehicle under the coordinate system of the camera outside the vehicle.
In an embodiment, the preset positioning point corresponding to the target vehicle may be set such that the center point of the rear axle of the target vehicle corresponds to a point on the ground.
In step S302, a second conversion relationship between the vehicle exterior camera coordinate system and the vehicle coordinate system of the target vehicle is determined based on the coordinates of the target vehicle in the vehicle exterior camera coordinate system.
In this embodiment, after the coordinates of the target vehicle in the vehicle exterior camera coordinate system are determined based on the preset positioning point corresponding to the target vehicle and based on the position of the preset positioning point on the preset calibration board, the second conversion relationship between the vehicle exterior camera coordinate system and the vehicle coordinate system of the target vehicle may be determined based on the coordinates of the target vehicle in the vehicle exterior camera coordinate system.
As can be seen from the foregoing description, in this embodiment, by capturing the preset positioning point corresponding to the target vehicle based on the vehicle exterior camera, determining the coordinate of the target vehicle under the vehicle exterior camera coordinate system based on the position of the preset positioning point on the preset calibration board, and determining the second conversion relationship between the vehicle exterior camera coordinate system and the vehicle coordinate system of the target vehicle based on the coordinate of the target vehicle under the vehicle exterior camera coordinate system, the conversion relationship between the vehicle exterior camera coordinate system and the vehicle coordinate system of the target vehicle can be accurately determined, and an accurate basis can be laid for the subsequent determination of the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the conversion relationship.
FIG. 4 shows a schematic diagram of how the conversion relationship between the vehicle coordinate system and the onboard camera coordinate system is determined in accordance with the present invention; the present embodiment is exemplified on the basis of the above-described embodiments by taking as an example how the conversion relationship between the vehicle coordinate system and the in-vehicle camera coordinate system is determined. As shown in fig. 4, the determining the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system in the step S102 may include the following steps S401 to S403:
in step S401, coordinates of a calibration point of the vehicle-mounted camera coordinate system under the vehicle-outside camera coordinate system are determined based on the first conversion relation.
In this embodiment, after determining the first conversion relationship between the vehicle-exterior camera coordinate system and the vehicle-exterior camera coordinate system, the coordinates of the calibration point of the vehicle-exterior camera coordinate system in the vehicle-exterior camera coordinate system may be determined based on the first conversion relationship.
The calibration point of the vehicle-mounted camera coordinate system may be selected based on actual needs, for example, the calibration point is selected as the origin of the vehicle-mounted camera coordinate system, which is not limited in this embodiment.
In step S402, the coordinates of the calibration point of the vehicle-mounted camera coordinate system in the vehicle-outside camera coordinate system are converted into the coordinates of the calibration point of the vehicle-mounted camera coordinate system in the vehicle coordinate system based on the two conversion relations.
In this embodiment, after determining the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system based on the first conversion relationship and obtaining the second conversion relationship between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle, the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system may be converted into the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system based on the second conversion relationship.
In step S403, a conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system is obtained based on the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system.
In this embodiment, after the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system are obtained, the transformation matrix between the vehicle coordinate system and the vehicle-mounted camera coordinate system, that is, the transformation relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system, may be deduced based on the coordinates.
As can be seen from the foregoing description, in this embodiment, the coordinate of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system is determined based on the first conversion relationship, and the coordinate of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system is converted into the coordinate of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system based on the second conversion relationship, so that the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system is obtained based on the coordinate of the calibration point of the vehicle-mounted camera coordinate system, so that the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system can be accurately determined, and further, the distance and azimuth information of the object in the external environment can be detected based on the vehicle-mounted camera mounted on the vehicle, and an accurate basis can be provided for determining the position relationship between the object and the vehicle.
FIG. 5 shows a block diagram of a coordinate system calibration device for a vehicle and an onboard camera according to an exemplary embodiment of the present invention; the device of the embodiment can be applied to terminal equipment (such as a vehicle-mounted terminal, a smart phone or a tablet personal computer) or a server (such as a server or a server cluster formed by a plurality of servers) with a data processing function. As shown in fig. 5, the apparatus includes: a first relationship determination module 110 and a conversion relationship determination module 120, wherein:
a first relationship determining module 110, configured to determine a first conversion relationship between an external camera coordinate system and an on-vehicle camera coordinate system based on a shooting view where the external camera and the on-vehicle camera coincide, where the external camera to which the external camera coordinate system belongs is located outside the target vehicle;
the conversion relation determining module 120 is configured to determine a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, where the second conversion relation includes a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle.
As can be seen from the foregoing description, the device in this embodiment determines, based on the shooting view where the vehicle exterior camera and the vehicle-mounted camera overlap, a first conversion relationship between the vehicle exterior camera coordinate system and the vehicle-mounted camera coordinate system, where the vehicle exterior camera to which the vehicle exterior camera coordinate system belongs is located outside the target vehicle, and determines, based on the first conversion relationship and a predetermined second conversion relationship, a conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system, where the second conversion relationship includes a conversion relationship between the vehicle exterior camera coordinate system and the vehicle coordinate system of the target vehicle, so as to accurately determine the conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the shooting view where the vehicle exterior camera and the vehicle-mounted camera overlap, and further can provide an accurate basis for subsequently using the vehicle-mounted camera mounted on the vehicle to shoot an object in the external environment, and further determining the positional relationship between the object and the vehicle.
FIG. 6 shows a block diagram of a coordinate system calibration device for a vehicle and an onboard camera according to another exemplary embodiment of the present invention; the device of the embodiment can be applied to terminal equipment (such as a vehicle-mounted terminal, a smart phone or a tablet personal computer) or a server (such as a server or a server cluster formed by a plurality of servers) with a data processing function. The functions of the first relationship determining module 210 and the conversion relationship determining module 220 are the same as those of the first relationship determining module 110 and the conversion relationship determining module 120 in the embodiment shown in fig. 5, and are not described herein. As shown in fig. 6, the first relationship determination module 210 may include:
a shooting view obtaining unit 211, configured to shoot a target object based on the vehicle-external camera and the vehicle-mounted camera at the same time, so as to obtain a shooting view in which the vehicle-external camera and the vehicle-mounted camera overlap;
a coordinate information obtaining unit 212, configured to determine a first coordinate of the target object under the vehicle-external camera coordinate system and a second coordinate of the target object under the vehicle-mounted camera coordinate system, respectively, based on a position of the target object on a first calibration board and a position of the target object on a second calibration board in the shooting view, where the first calibration board is located in the shooting view of the vehicle-external camera, and the second calibration board is located in the shooting view of the vehicle-mounted camera;
A first relationship determining unit 213 for determining a first conversion relationship between the vehicle-outside camera coordinate system and the vehicle-mounted camera coordinate system based on the first coordinate and the second coordinate.
In an embodiment, the apparatus may further include a second relationship determination module 230;
the second relationship determination module 230 may include:
a vehicle coordinate determining unit 231, configured to capture a preset positioning point corresponding to the target vehicle based on the vehicle exterior camera, and determine a coordinate of the target vehicle under the vehicle exterior camera coordinate system based on a position of the preset positioning point on a preset calibration board;
a second relationship determination unit 232 for determining a second conversion relationship between the vehicle-outside camera coordinate system and the vehicle coordinate system of the target vehicle based on the coordinates of the target vehicle in the vehicle-outside camera coordinate system.
In an embodiment, the preset positioning point corresponding to the target vehicle includes a point corresponding to the ground at the center point of the rear axle of the target vehicle.
In an embodiment, the conversion relation determining module 220 may include:
a calibration point coordinate determination unit 221 configured to determine, based on the first conversion relationship, coordinates of a calibration point of the vehicle-mounted camera coordinate system in the vehicle-outside camera coordinate system;
A coordinate conversion unit 222, configured to convert, based on the two conversion relationships, coordinates of a coordinate point of the vehicle-mounted camera coordinate system under the vehicle-external camera coordinate system into coordinates of a coordinate point of the vehicle-mounted camera coordinate system under the vehicle coordinate system;
the conversion relation determining unit 223 is configured to obtain a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on coordinates of a calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present invention. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The embodiment of the coordinate system calibration device for the vehicle and the vehicle-mounted camera can be applied to network equipment. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. Taking a software implementation as an example, the device in a logic sense is formed by reading corresponding computer program instructions in a nonvolatile memory into a memory by a processor of a device where the device is located for operation. From the hardware level, as shown in fig. 7, a hardware structure diagram of an electronic device where the coordinate system calibration device for a vehicle and a vehicle-mounted camera of the present invention is located is shown, where in addition to the processor, the network interface, the memory and the nonvolatile memory shown in fig. 7, the device where the device is located in the embodiment may generally include other hardware, such as a forwarding chip responsible for processing a message, etc.; the device may also be a distributed device in terms of hardware architecture, possibly comprising a plurality of interface cards, for the extension of the message processing at the hardware level.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when processed by a processor, implements the following task processing method:
Determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view of the external camera and the vehicle-mounted camera, wherein the external camera to which the external camera coordinate system belongs is positioned outside a target vehicle;
and determining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, wherein the second conversion relation comprises a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (5)
1. The coordinate system calibration method for the vehicle and the vehicle-mounted camera is characterized by comprising the following steps of:
determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view of the external camera and the vehicle-mounted camera, wherein the external camera to which the external camera coordinate system belongs is positioned outside a target vehicle;
determining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, wherein the second conversion relation comprises a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle;
the first conversion relation between the coordinate system of the vehicle-mounted camera and the coordinate system of the vehicle-mounted camera is determined based on the shooting vision of the superposition of the vehicle-mounted camera and the vehicle-mounted camera, and the first conversion relation comprises the following steps:
shooting the target object based on the vehicle-outside camera and the vehicle-mounted camera at the same time so as to obtain a shooting view in which the vehicle-outside camera and the vehicle-mounted camera coincide;
based on the position of the target object on a first calibration plate and the position of the target object on a second calibration plate in the shooting view, respectively determining a first coordinate of the target object under the vehicle-mounted camera coordinate system and a second coordinate of the target object under the vehicle-mounted camera coordinate system, wherein the first calibration plate is positioned in the shooting view of the vehicle-mounted camera, and the second calibration plate is positioned in the shooting view of the vehicle-mounted camera;
Determining a first conversion relation between the vehicle-mounted camera coordinate system and the vehicle-mounted camera coordinate system based on the first coordinate and the second coordinate;
the second conversion relationship is determined based on:
shooting a preset positioning point corresponding to the target vehicle based on the vehicle-outside camera, and determining the coordinate of the target vehicle under the vehicle-outside camera coordinate system based on the position of the preset positioning point on a preset calibration plate;
determining a second conversion relation between the vehicle-outside camera coordinate system and the vehicle coordinate system of the target vehicle based on the coordinates of the target vehicle under the vehicle-outside camera coordinate system;
the determining a conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relationship and a predetermined second conversion relationship includes:
determining the coordinates of the calibration points of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system based on the first conversion relation;
converting the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-outside camera coordinate system into the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system based on the two conversion relations;
And obtaining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system.
2. The method of claim 1, wherein the predetermined location point for the target vehicle comprises a point on the ground corresponding to a rear axle center point of the target vehicle.
3. The coordinate system calibration device for the vehicle and the vehicle-mounted camera is characterized by comprising the following components:
the first relation determining module is used for determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view field of the superposition of the external camera and the vehicle-mounted camera, and the external camera of the external camera coordinate system is positioned outside a target vehicle;
a conversion relation determining module, configured to determine a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, where the second conversion relation includes a conversion relation between the vehicle-mounted camera coordinate system and a vehicle coordinate system of the target vehicle;
the first relationship determination module includes:
The shooting view acquisition unit is used for shooting the target object based on the vehicle-mounted camera and the vehicle-mounted camera at the same time so as to obtain a shooting view of the vehicle-mounted camera and the vehicle-mounted camera which are overlapped;
the coordinate information acquisition unit is used for respectively determining a first coordinate of the target object under the vehicle-mounted camera coordinate system and a second coordinate of the target object under the vehicle-mounted camera coordinate system based on the position of the target object on a first calibration plate and the position of the target object on a second calibration plate in the shooting view, wherein the first calibration plate is positioned in the shooting view of the vehicle-mounted camera, and the second calibration plate is positioned in the shooting view of the vehicle-mounted camera;
a first relation determining unit configured to determine a first conversion relation between the vehicle-outside camera coordinate system and the vehicle-mounted camera coordinate system based on the first coordinate and the second coordinate;
the apparatus further includes a second relationship determination module;
the second relationship determination module includes:
the vehicle coordinate determining unit is used for shooting a preset positioning point corresponding to the target vehicle based on the vehicle-outside camera, and determining the coordinate of the target vehicle under the vehicle-outside camera coordinate system based on the position of the preset positioning point on a preset calibration plate;
A second relation determining unit configured to determine a second conversion relation between the vehicle-outside camera coordinate system and a vehicle coordinate system of the target vehicle based on coordinates of the target vehicle in the vehicle-outside camera coordinate system;
the conversion relation determining module comprises:
the calibration point coordinate determining unit is used for determining the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system based on the first conversion relation;
the coordinate conversion unit is used for converting the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system into the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system based on the two conversion relations;
and the conversion relation determining unit is used for obtaining the conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system.
4. An electronic device, the electronic device comprising:
a processor;
a memory configured to store processor-executable instructions;
wherein the processor is configured to:
Determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view of the external camera and the vehicle-mounted camera, wherein the external camera to which the external camera coordinate system belongs is positioned outside a target vehicle;
determining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, wherein the second conversion relation comprises a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle;
the first conversion relation between the coordinate system of the vehicle-mounted camera and the coordinate system of the vehicle-mounted camera is determined based on the shooting vision of the superposition of the vehicle-mounted camera and the vehicle-mounted camera, and the first conversion relation comprises the following steps:
shooting the target object based on the vehicle-outside camera and the vehicle-mounted camera at the same time so as to obtain a shooting view in which the vehicle-outside camera and the vehicle-mounted camera coincide;
based on the position of the target object on a first calibration plate and the position of the target object on a second calibration plate in the shooting view, respectively determining a first coordinate of the target object under the vehicle-mounted camera coordinate system and a second coordinate of the target object under the vehicle-mounted camera coordinate system, wherein the first calibration plate is positioned in the shooting view of the vehicle-mounted camera, and the second calibration plate is positioned in the shooting view of the vehicle-mounted camera;
Determining a first conversion relation between the vehicle-mounted camera coordinate system and the vehicle-mounted camera coordinate system based on the first coordinate and the second coordinate;
the second conversion relationship is determined based on:
shooting a preset positioning point corresponding to the target vehicle based on the vehicle-outside camera, and determining the coordinate of the target vehicle under the vehicle-outside camera coordinate system based on the position of the preset positioning point on a preset calibration plate;
determining a second conversion relation between the vehicle-outside camera coordinate system and the vehicle coordinate system of the target vehicle based on the coordinates of the target vehicle under the vehicle-outside camera coordinate system;
the determining a conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relationship and a predetermined second conversion relationship includes:
determining the coordinates of the calibration points of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system based on the first conversion relation;
converting the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-outside camera coordinate system into the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system based on the two conversion relations;
And obtaining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system.
5. A computer-readable storage medium having stored thereon a computer program, characterized in that the program, when processed by a processor, implements:
determining a first conversion relation between an external camera coordinate system and a vehicle-mounted camera coordinate system based on a shooting view of the external camera and the vehicle-mounted camera, wherein the external camera to which the external camera coordinate system belongs is positioned outside a target vehicle;
determining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relation and a predetermined second conversion relation, wherein the second conversion relation comprises a conversion relation between the vehicle-mounted camera coordinate system and the vehicle coordinate system of the target vehicle;
the first conversion relation between the coordinate system of the vehicle-mounted camera and the coordinate system of the vehicle-mounted camera is determined based on the shooting vision of the superposition of the vehicle-mounted camera and the vehicle-mounted camera, and the first conversion relation comprises the following steps:
shooting the target object based on the vehicle-outside camera and the vehicle-mounted camera at the same time so as to obtain a shooting view in which the vehicle-outside camera and the vehicle-mounted camera coincide;
Based on the position of the target object on a first calibration plate and the position of the target object on a second calibration plate in the shooting view, respectively determining a first coordinate of the target object under the vehicle-mounted camera coordinate system and a second coordinate of the target object under the vehicle-mounted camera coordinate system, wherein the first calibration plate is positioned in the shooting view of the vehicle-mounted camera, and the second calibration plate is positioned in the shooting view of the vehicle-mounted camera;
determining a first conversion relation between the vehicle-mounted camera coordinate system and the vehicle-mounted camera coordinate system based on the first coordinate and the second coordinate;
the second conversion relationship is determined based on:
shooting a preset positioning point corresponding to the target vehicle based on the vehicle-outside camera, and determining the coordinate of the target vehicle under the vehicle-outside camera coordinate system based on the position of the preset positioning point on a preset calibration plate;
determining a second conversion relation between the vehicle-outside camera coordinate system and the vehicle coordinate system of the target vehicle based on the coordinates of the target vehicle under the vehicle-outside camera coordinate system;
The determining a conversion relationship between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the first conversion relationship and a predetermined second conversion relationship includes:
determining the coordinates of the calibration points of the vehicle-mounted camera coordinate system under the vehicle-mounted camera coordinate system based on the first conversion relation;
converting the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle-outside camera coordinate system into the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system based on the two conversion relations;
and obtaining a conversion relation between the vehicle coordinate system and the vehicle-mounted camera coordinate system based on the coordinates of the calibration point of the vehicle-mounted camera coordinate system under the vehicle coordinate system.
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