CN107133988A - The scaling method and calibration system of camera in vehicle-mounted panoramic viewing system - Google Patents
The scaling method and calibration system of camera in vehicle-mounted panoramic viewing system Download PDFInfo
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- CN107133988A CN107133988A CN201710419595.8A CN201710419595A CN107133988A CN 107133988 A CN107133988 A CN 107133988A CN 201710419595 A CN201710419595 A CN 201710419595A CN 107133988 A CN107133988 A CN 107133988A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses the scaling method and calibration system of camera in a kind of vehicle-mounted panoramic viewing system, this method includes：Externally measured camera is set in demarcation region laying land mark thing, and in demarcation overlying regions, the externally measured camera can photograph the land mark thing, roof and vehicle body；The vehicle to be calibrated for being provided with vehicle-mounted panoramic viewing system is placed on the demarcation region；The transformation relation of earth axes and vehicle body coordinate system is determined based on externally measured camera；Camera parameter of the camera relative to vehicle body coordinate system is demarcated based on the transformation relation.Using the present invention, demarcation efficiency can be improved, and ensure the accuracy of calibration result.
Description
Technical field
Field is demarcated the present invention relates to assistant equipments on board, and in particular to camera in a kind of vehicle-mounted panoramic viewing system
Scaling method and calibration system.
Background technology
Generally, driver can only mostly rely on the help of rearview mirror or reverse image under the scenes such as starting, parking.But
It is, due to there is the shelters such as headstock, vehicle window, pillar, and driver itself limited view so that driver's seat exists blind
Area, it is impossible to judge that occlusion area has clear and the spacing of barrier, this for driver Parking, start to walk with
And the driving safety under the scene such as urban congestion road, narrow street constitutes very big obstacle.
Influence in order to avoid blind area to vehicle driving safety, in recent years, vehicle body surrounding install multiple wide-angles or
The vision subplan that fish-eye camera constitutes panoramic looking-around system is progressively applied in numerous vehicles, and vehicle-mounted panoramic viewing system is made
For the important composition part of parking assistance system, its role is to the overall picture of real-time display automobile surrounding environment, to drive
Member provides dynamic image of the vehicle body surrounding without dead angle, improves drive safety.Panoramic looking-around system operationally, is marked according to advance
The camera parameter set, splices to shooting image, so as to synthesize 360 degree of panoramic view pictures of vehicle periphery, is provided for driver
Vision auxiliary under the scenes such as starting, parking.
Image is looked around in order to synthesize 360 degree of vehicle body, it is necessary first to is demarcated vehicle body surrounding wide-angle or fish-eye camera, that is, is demarcated
Camera parameter of each camera relative to vehicle body coordinate system.Conventional scaling method mainly has following two at present：
(1) require all right center for sailing to demarcation region of each vehicle to be calibrated or at least need and demarcate region one
Side keeping parallelism, each car will measure demarcation thing respectively and obtain demarcating seat of the thing in vehicle body coordinate system to the distance of vehicle body
Mark, then draws each parameter of the vehicle camera relative to vehicle body coordinate system according to Zhang Zhengyou standardizations.This method is due to right
Each car will manual measurement distance so that it is very low to demarcate efficiency, it is impossible to realize automatic mass producing line dispose.
(2) it is first according to (1) and plants all camera parameters of the method demarcation with reference to vehicle, then by other same type cars
Camera is fixed according to same position, and the camera parameter with reference to vehicle finally is applied directly into all of other same types
Vehicle.Although this method improves demarcation efficiency to a certain extent, due to alignment error (such as site error, angle
Error etc.) presence, directly by with reference to vehicle camera parameter adaptation to other vehicles, the camera of other vehicles can be caused
Parameter error is very big, and then splicing effect is looked around in 360 degree of influence.
The content of the invention
The embodiment of the present invention provides the scaling method and calibration system of camera in a kind of vehicle-mounted panoramic viewing system, to carry
Height demarcation efficiency, and ensure the accuracy of calibration result.
Therefore, the present invention provides following technical scheme：
A kind of scaling method of camera in vehicle-mounted panoramic viewing system, methods described includes：
Externally measured camera is set in demarcation region laying land mark thing, and in demarcation overlying regions, the outside is surveyed
Amount camera can photograph the land mark thing, roof and vehicle body；
The vehicle to be calibrated for being provided with vehicle-mounted panoramic viewing system is placed on the demarcation region；
The transformation relation of earth axes and vehicle body coordinate system is determined based on externally measured camera；
Camera parameter of the camera relative to vehicle body coordinate system is demarcated based on the transformation relation.
Preferably, it is described to determine that earth axes and the transformation relation of vehicle body coordinate system include based on externally measured camera：
Demarcation reference object is set；
Camera parameter of the externally measured camera relative to earth axes is demarcated according to the land mark thing；
Camera parameter of the externally measured camera relative to vehicle body coordinate system is demarcated according to the demarcation reference object；
Joined based on externally measured camera relative to the camera parameter of earth axes and relative to the camera of vehicle body coordinate system
Number determines the transformation relation of earth axes and vehicle body coordinate system.
Preferably, it is described that camera ginseng of the externally measured camera relative to earth axes is demarcated according to the land mark thing
Number includes：
The image of the land mark thing is shot using externally measured camera；
Determine the pixel point coordinates and ground physical coordinate of each angle point on the land mark thing；
Using the pixel point coordinates and ground physical coordinate of each angle point, demarcate externally measured camera and sat relative to ground
Mark the camera parameter of system.
Preferably, the externally measured camera includes relative to the camera parameter of earth axes：Externally measured camera is sat
Spin matrix R of the mark system relative to earth axeso, translation matrix to。
Preferably, the demarcation reference object is arranged on the roof of vehicle to be calibrated；
It is described that camera parameter bag of the externally measured camera relative to vehicle body coordinate system is demarcated according to the demarcation reference object
Include：
The image of the demarcation reference object is shot using externally measured camera；
Determine the pixel point coordinates and roof physical coordinates of each angle point on the demarcation reference object；
Determine each angle point in vehicle body coordinate system according to the roof physical coordinates of each angle point on the demarcation reference object
Coordinate；
Using coordinate of the pixel point coordinates and each angle point of each angle point on the demarcation reference object in vehicle body coordinate system,
Demarcate camera parameter of the externally measured camera relative to vehicle body coordinate system.
Preferably, the demarcation reference object is subpoint of the vehicle body surrounding in earth axes of vehicle to be calibrated；
It is described that camera parameter bag of the externally measured camera relative to vehicle body coordinate system is demarcated according to the demarcation reference object
Include：
Full vehicle body photo is shot using externally measured camera；
Vehicle body four Thursdays subpoint is calculated in externally measured magazine pixel point coordinates；
Determine coordinate of four Thursday of the vehicle body subpoint in vehicle body coordinate system；
According to four Thursday of the vehicle body subpoint in externally measured magazine pixel point coordinates and its in vehicle body coordinate
Coordinate in system, demarcates camera parameter of the externally measured camera relative to vehicle body coordinate system.
Preferably, the calculating vehicle body four Thursdays spot projection includes in externally measured magazine pixel point coordinates：
Binaryzation is carried out to the full vehicle body photo based on body color, and extracts vehicle body edge pixel point；
Using the vehicle body edge pixel point and Hough transformation, vehicle body surrounding boundary straight line is determined；
According to the intersection point of the vehicle body surrounding boundary straight line, vehicle body four Thursdays subpoint is obtained in externally measured camera
Pixel point coordinates.
Preferably, the externally measured camera includes relative to the camera parameter of vehicle body coordinate system：Externally measured camera is sat
Spin matrix R of the mark system relative to vehicle body coordinate systemw, translation matrix tw。
Preferably, it is described that camera parameter bag of the camera relative to vehicle body coordinate system is demarcated based on the transformation relation
Include：
The image of the land mark thing is shot using vehicle camera to be calibrated；
Determine the pixel point coordinates and ground physical coordinate of each angle point on the land mark thing；
According to the transformation relation by the ground physical Coordinate Conversion of each angle point on the land mark thing in vehicle body seat
Coordinate in mark system；
According to the coordinate of the pixel point coordinates and each angle point of each angle point on the land mark thing in vehicle body coordinate system, mark
Camera parameter of the fixed camera relative to vehicle body coordinate system.
The calibration system of camera in a kind of vehicle-mounted panoramic viewing system, for being provided with vehicle-mounted panoramic viewing system
Vehicle to be calibrated carries out camera parameter calibration, and the calibration system includes：
It is laid on the land mark thing in demarcation region；
The externally measured camera of demarcation overlying regions is arranged on, the externally measured camera can photograph the ground mark
Note thing, be placed on the demarcation region vehicle to be calibrated roof and vehicle body；
Coordinate system transformation relation measuring device, for determining earth axes and vehicle body coordinate system based on externally measured camera
Transformation relation；
Camera calibration device, is demarcated for treating demarcation vehicle camera according to the transformation relation.
Preferably, the coordinate system transformation relation measuring device includes：
Reference object setting unit, for setting demarcation reference object；
First demarcation unit, for demarcating externally measured camera relative to earth axes according to the land mark thing
Camera parameter；
Second demarcation unit, for demarcating externally measured camera relative to vehicle body coordinate system according to the demarcation reference object
Camera parameter；
Computing unit, for being sat based on externally measured camera relative to the camera parameter of earth axes and relative to vehicle body
The camera parameter of mark system determines the transformation relation of earth axes and vehicle body coordinate system.
Preferably, the first demarcation unit, specifically for obtaining the land mark thing that externally measured camera is shot
Image；Determine the pixel point coordinates and ground physical coordinate of each angle point on the land mark thing；Utilize each angle point
Pixel point coordinates and ground physical coordinate, demarcate camera parameter of the externally measured camera relative to earth axes.
Preferably, the demarcation reference object is arranged on the roof of vehicle to be calibrated；
The second demarcation unit includes：
Demarcate reference object image and obtain subelement, for obtaining the demarcation reference object that externally measured camera is shot
Image；
First coordinate determination subelement, pixel point coordinates and roof for determining each angle point on the demarcation reference object
Physical coordinates, determine each angle point in vehicle body coordinate system according to the roof physical coordinates of each angle point on the demarcation reference object
Coordinate；
First parameter calibration subelement, for the pixel point coordinates using each angle point on the demarcation reference object and each angle
Coordinate of the point in vehicle body coordinate system, demarcates camera parameter of the externally measured camera relative to vehicle body coordinate system.
Preferably, the demarcation reference object is subpoint of the vehicle body surrounding in earth axes of vehicle to be calibrated；
The second demarcation unit includes：
Vehicle body photo obtains subelement, for obtaining the full vehicle body photo that externally measured camera is shot；
Computation subunit, for calculating vehicle body four Thursdays subpoint in externally measured magazine pixel point coordinates；
Second coordinate determination subelement, determines coordinate of four Thursday of the vehicle body subpoint in vehicle body coordinate system；
Second parameter calibration subelement, for according to four Thursday of the vehicle body subpoint in externally measured magazine picture
Vegetarian refreshments coordinate and its coordinate in vehicle body coordinate system, demarcate camera parameter of the externally measured camera relative to vehicle body coordinate system.
Preferably, the computation subunit, specifically for carrying out binaryzation to the full vehicle body photo based on body color,
And extract vehicle body edge pixel point；Using the vehicle body edge pixel point and Hough transformation, vehicle body surrounding boundary straight line is determined；Root
According to the intersection point of the vehicle body surrounding boundary straight line, vehicle body four Thursdays point is obtained in externally measured magazine pixel point coordinates.
Preferably, the camera calibration device includes：
Image acquisition unit, for when being demarcated, obtaining the land mark that vehicle camera to be calibrated is shot
The image of thing；
Coordinate determining unit, the image for being obtained according to described image acquiring unit determines each on the land mark thing
The pixel point coordinates and ground physical coordinate of angle point；
Coordinate transformation unit, for being sat the ground physical of each angle point on the land mark thing according to the transformation relation
Mark is converted to the coordinate in vehicle body coordinate system；
Camera parameter calibration unit, for according to seat of each angle point in vehicle body coordinate system on the land mark thing
Mark, demarcates camera parameter of the camera relative to vehicle body coordinate system.
The scaling method and calibration system of camera in vehicle-mounted panoramic viewing system provided in an embodiment of the present invention, by means of
Externally measured camera predefines the transformation relation of ground and vehicle body coordinate system, is imaged in any vehicle-mounted panoramic viewing system
When head is demarcated, using the transformation relation, each camera taking the photograph relative to vehicle body coordinate system in vehicle to be calibrated is automatically performed
As head parameter calibration.It is not necessary to guaranty that all same types of vehicles camera installation sites are fixed using the present invention program, simple in construction,
Automaticity is high, and automatic Calibration can be realized for each car.Also, it is not necessary to which manual intervention, is not only saved a large amount of
Manpower and materials, and the accuracy of calibration result is ensure that, demarcation efficiency is greatly improved, is disposed beneficial to volume production producing line.
Brief description of the drawings
, below will be to institute in embodiment in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only one described in the present invention
A little embodiments, for those of ordinary skill in the art, can also obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the flow chart of the scaling method of camera in vehicle-mounted panoramic viewing system of the embodiment of the present invention；
Fig. 2 is a kind of exemplary plot of land mark thing in the embodiment of the present invention；
Fig. 3 is gridiron pattern label angle point schematic diagram in Fig. 2；
Fig. 4 is that the conversion for determining earth axes and vehicle body coordinate system based on externally measured camera in the embodiment of the present invention is closed
The flow chart of system；
Fig. 5 is in vehicle roof air brushing or to place gridiron pattern as the signal of demarcation reference object in the embodiment of the present invention
Figure；
Fig. 6 is that the schematic diagram that reference object is arranged on the vehicle body surrounding of vehicle to be calibrated will be demarcated in the embodiment of the present invention；
Fig. 7 is exemplary plot of the externally measured camera relative to earth axes and vehicle body coordinate in the embodiment of the present invention；
Fig. 8 is using the demarcation reference object of vehicle roof to demarcate externally measured camera relative to car in the embodiment of the present invention
The flow chart of the camera parameter of body coordinate system；
Fig. 9 is using the demarcation reference object of vehicle body surrounding to demarcate externally measured camera relative to car in the embodiment of the present invention
The flow chart of the camera parameter of body coordinate system；
Figure 10 is the structural representation of camera calibration device in present system embodiment；
Figure 11 is the structural representation of coordinate system transformation relation measuring device in present system embodiment.
Embodiment
In order that those skilled in the art more fully understand the scheme of the embodiment of the present invention, below in conjunction with the accompanying drawings and implement
Mode is described in further detail to the embodiment of the present invention.
A kind of typical case of vehicle-mounted panoramic viewing system is including wide positioned at 4 tunnels of preceding headstock, the rear tailstock, left and right rearview mirror
Angle camera.Certainly, in actual applications, the installation site of camera also can flexibly be set as needed, such as by camera
Installed in window locations etc., 360 degree of conditions for looking around splicing are realized as long as meeting.Vehicle camera includes but is not limited to 4
Road wide-angle or fish-eye camera.Such as, headstock left and right sides in front can install 2, and rear left and right sides can install 2, left and right
Vehicle body can respectively install 2 or more cameras.When camera is demarcated in the vehicle-mounted panoramic viewing system, it is necessary to
Demarcated respectively for each camera in the system.
The scaling method and calibration system of camera in vehicle-mounted panoramic viewing system provided in an embodiment of the present invention, by means of
Externally measured camera predefines the transformation relation of ground and vehicle body coordinate system, is imaged in any vehicle-mounted panoramic viewing system
When head is demarcated, using the transformation relation, each camera taking the photograph relative to vehicle body coordinate system in vehicle to be calibrated is automatically performed
As head parameter calibration.
As shown in figure 1, be the flow chart of the scaling method of camera in vehicle-mounted panoramic viewing system of the embodiment of the present invention, bag
Include following steps：
Step 101, in demarcation region laying land mark thing, and externally measured camera, institute are set in demarcation overlying regions
The land mark thing, roof and vehicle body can be photographed by stating externally measured camera.
The land mark thing includes but is not limited to the object of gridiron pattern type, as long as any chi with rectangular configuration
Very little element or element combinations can, the paper of the size such as A4, A0 can meet effective detection and go out land mark object angle point
Condition.
Fig. 2 is a kind of exemplary plot of land mark thing, as shown in Figure 2, the spray of 8 gridiron pattern types has been laid on ground
Paint mark, certainly, tessellated quantity is not limited to 8, can also be fewer of more than 8, respectively gridiron pattern 1,2,3,4,5,
6th, 7,8, laying standard is that each camera can at least photograph one of gridiron pattern label in vehicle-mounted panoramic viewing system
(gridiron pattern 2,4,5,7 can remove in such as figure).Fig. 3 is one of them tessellated angle point distribution enlarged drawing.
The externally measured camera can be using the varifocal camera of high definition or mobile phone or other shooting cameras.Should
The criterion that externally measured camera position is placed is can to photograph ground demarcation thing and roof and vehicle body.
Step 102, the vehicle to be calibrated for being provided with vehicle-mounted panoramic viewing system is placed on the demarcation region.
Step 103, the transformation relation of earth axes and vehicle body coordinate system is determined based on externally measured camera.
It is determined that earth axes and vehicle body coordinate system transformation relation when, it is necessary to which to demarcate externally measured camera respectively relative
In the camera parameter of camera parameter and externally measured camera relative to vehicle body coordinate system of earth axes, then joined according to these
Number determines the transformation relation of earth axes and vehicle body coordinate system.Detailed process will be described in detail later.
It should be noted that the camera parameter include camera internal reference (such as focal length, picture centre, distortion factor etc.) and
Outer ginseng (including camera coordinates system is relative to spin matrix and translation matrix of other reference frames).The main pin of the present invention program
To Camera extrinsic, the camera parameter being subsequently noted also refers to Camera extrinsic, subsequently no longer illustrated one by one.
Step 104, camera parameter of the camera relative to vehicle body coordinate system is demarcated based on the transformation relation.
Specific calibration process is as follows：
1) image of the land mark thing is shot using vehicle camera to be calibrated.
2) the pixel point coordinates and ground physical coordinate of each angle point on the land mark thing are determined.
When determining the pixel point coordinates and ground physical coordinate of each angle point on the label of ground, pass through corner detection approach first
Detection obtains M on land mark thing (M is more than or equal to 4) coordinate of the individual angle point in camera plane coordinate system, i.e., the picture of M angle point
Vegetarian refreshments coordinate.Then ground physical coordinate system is built, specific construction method is：Optionally a little as the origin of coordinates from ground,
Such as ground demarcation region upper left corner, using ground as X/Y plane, builds ground physical coordinate system according to right-hand rule, is designated as O-
Xyz, because the distance and size of land mark thing each angle point exist, it is known that can be obtained by these angle points after the selected origin of coordinates
Coordinate in ground physical coordinate system O-xyz, i.e., the ground physical coordinate of M angle point.
The corner detection approach can be Harris, FAST, Moravec scheduling algorithm.
3) it is in vehicle body by the ground physical Coordinate Conversion of each angle point on the land mark thing according to the transformation relation
Coordinate in coordinate system.
4) according to coordinate of each angle point in vehicle body coordinate system on the land mark thing, demarcate the camera relative to
The camera parameter of vehicle body coordinate system.
It is that can obtain camera parameter of the camera relative to vehicle body coordinate system according to Zhang Zhengyou standardizations.
It should be noted that when being demarcated, the staking-out work of multiple cameras in vehicle-mounted panoramic viewing system can
Carried out with synchronous.
As shown in figure 4, being to determine earth axes and vehicle body coordinate system based on externally measured camera in the embodiment of the present invention
Transformation relation flow chart, comprise the following steps：
Step 401, demarcation reference object is set.
It should be noted that the position of the demarcation reference object can be set as needed.
Such as, demarcation reference object can be arranged on to the roof of vehicle to be calibrated, specifically, can be solid in vehicle roof
Positioning puts air brushing, places a demarcation reference object or directly regard skylight as demarcation reference object.As shown in figure 5, in car
Air brushing or placement gridiron pattern 51 are used as demarcation reference object at the top of.The focal length of externally measured camera 50 is adjusted to a suitable position
Put, its visual range is covered roof demarcation reference object 51 and land mark thing region just.
For another example, demarcation reference object can be set to projection of the vehicle body surrounding in earth axes of vehicle to be calibrated
Point, as shown in fig. 6, directly being demarcated using the Thursday of vehicle body four projections of point P1, P2, P3, the P4 on ground.
Step 402, camera parameter of the externally measured camera relative to earth axes is demarcated according to ground label.
Specifically, the image of the land mark thing is shot first by externally measured camera；It is then determined that the ground
The pixel point coordinates and ground physical coordinate of each angle point on label；Finally utilize pixel point coordinates and the ground of each angle point
Physical coordinates, demarcate camera parameter of the externally measured camera relative to earth axes.
It is determined that when the pixel point coordinates and ground physical coordinate of each angle point on the label of ground, passing through Corner Detection first
Method detection obtains K on land mark thing (K the be more than or equal to 4) coordinate of individual angle point in camera plane coordinate system, i.e., K angle point
Pixel point coordinates, is designated as { (uk,vk)|k∈{0,1,2,K-1}}.Then ground physical coordinate system is built, specific construction method is：
Optionally a little as the origin of coordinates, such as ground demarcation region upper left corner, using ground as X/Y plane, according to right hand method from ground
Ground physical coordinate system is then built, O-xyz is designated as, because the distance and size of land mark thing each angle point are, it is known that selected sit
Coordinate of these angle points in ground physical coordinate system O-xyz is can be obtained by after mark origin, i.e., the ground physical of K angle point is sat
Mark, is designated as { (xk,yk,0)|k∈{0,1,2,K-1}}。
The corner detection approach can be Harris, FAST, Moravec scheduling algorithm.
Pixel point coordinates and ground physical coordinate based on above-mentioned K angle point, utilize the existing methods such as Zhang Zhengyou standardizations
And homograph, camera parameter of the externally measured camera relative to earth axes can be calibrated, is designated as respectively externally measured
Spin matrix R of the camera coordinates system relative to earth axeso, translation matrix to。
Step 403, externally measured camera is demarcated according to the demarcation reference object relative to the camera of vehicle body coordinate system to join
Number.
It is previously noted that the position of the demarcation reference object can be set as needed, and it is based on being arranged on different positions
The demarcation reference object put, the detailed process for demarcating externally measured camera parameter of the camera relative to vehicle body coordinate system can not
Together, it will be described in detail in citing below.
Step 404, based on externally measured camera relative to earth axes and vehicle body coordinate system camera parameter definitely
Areal coordinate system and the transformation relation of vehicle body coordinate system.
Externally measured camera is relative to earth axes O-xyz and vehicle body coordinate Ow-xwywzwExample as shown in fig. 7, under
Face reference picture 7, describes the derivation of the transformation relation of geographical coordinates system and vehicle body coordinate system in detail.
If any point coordinate is (x in earth axes O-xyzo,yo,zo)T, it is in externally measured camera coordinates system
Coordinate be (x, y, z)T, then have：
Coordinate (x of the externally measured camera in earth axesupo,yupo,zupo)TMeet following condition：
It can be obtained by above formula (1.2), coordinate of the externally measured camera in earth axes：
Coordinate of the externally measured camera in vehicle body coordinate system can similarly be obtained：
Assuming that vehicle body coordinate system is R relative to the spin matrix of earth axesow, translation matrix is tow, then based on above formula
(1.3), (1.4) can be drawn：
It can be obtained by coordinate system rotation transformation relation：
Ro=RwRow (1.6)
It can be obtained by above formula (1.6)：
Above formula (1.7) is substituted into above formula (1.5), obtained：
As shown in figure 8, being using the demarcation reference object of vehicle roof to demarcate externally measured camera in the embodiment of the present invention
Relative to the flow chart of the camera parameter of vehicle body coordinate system, comprise the following steps：
Step 801, the image for the demarcation reference object for being arranged on roof is shot using externally measured camera.
Step 802, the pixel point coordinates and roof physical coordinates of each angle point on the demarcation reference object are determined.
Specifically, N (N is more than or equal to 4) on the demarcation reference object can be obtained by corner detection approach detection first
Coordinate of the individual angle point in camera plane coordinate system, i.e., the pixel point coordinates of N number of angle point, is designated as { (uupn,vupn)|n∈{0,1,
2,N-1}}.Then roof physical coordinates system is built, specific construction method is：With the demarcation reference object upper left corner of roof or car
Top center etc. is origin (not being limited here, can choose roof any point as origin), and its residing plane is X/Y plane, root
Roof physical coordinates system is built according to right-hand rule, O is designated asup-xupyupzup.Closed according to the position of each angle point on demarcation reference object
System can calculate coordinate of each angle point in roof physical coordinates system, i.e., the roof physical coordinates of N number of angle point are designated as
{(xupn,yupn,0)|n∈{0,1,2,N-1}}。
The corner detection approach can be Harris, FAST, Moravec scheduling algorithm.
Step 803, determine that each angle point is sat in vehicle body according to the roof physical coordinates of each angle point on the demarcation reference object
Coordinate in mark system.
Specifically, any one projects to the point on ground as origin using under car center or car, using ground as X/Y plane, root
Vehicle body coordinate system O is set up according to right-hand rulew-xwywzw, based on roof coordinate system x/y plane and vehicle body coordinate system x/y plane direction one
The condition of cause, it can be deduced that vehicle body coordinate system Ow-xwywzwWith roof coordinate system Oup-xupyupzupOnly exist the height of Z-direction
Difference and X, the translation of Y-direction, i.e. vehicle body coordinate system Ow-xwywzwTo roof coordinate system Oup-xupyupzupOnly exist translation transformation
twup.The translation transformation according to vehicle body parameter and can measure position of the roof coordinate origin relative to vehicle body coordinate origin
Obtain in advance.
For example, using vehicle center as origin, roof demarcation reference object is located at directly over vehicle center, then translation matrix
twup={ 0,0, h }T., can be with based on the roof physical coordinates of each angle point on the demarcation reference object obtained in step 802
Obtain it is described demarcation reference object on each angle point in vehicle body coordinate system Ow-xwywzwIn coordinate, be designated as { (xwn,ywn,zwn)|n∈
{0,1,2,N-1}}.Wherein, (xupn,yupn, 0) and=(xwn,ywn,zwn)+twup。
Step 804, using the pixel point coordinates and each angle point of each angle point on the demarcation reference object in vehicle body coordinate system
In coordinate, demarcate the camera parameter of externally measured camera relative to vehicle body coordinate system.
Pixel point coordinates { (u based on each angle point on the demarcation reference objectupn,vupn) | n ∈ { 0,1,2, N-1 } } and
Its coordinate { (x in vehicle body coordinate systemwn,ywn,zwn) | n ∈ { 0,1,2, N-1 } }, use the existing methods such as Zhang Zhengyou standardizations
Outer ginseng of the externally measured camera relative to vehicle body coordinate system can be calibrated, i.e., externally measured camera coordinates system is sat relative to vehicle body
Mark the spin matrix R of systemw, translation matrix tw。
As shown in figure 9, being using the demarcation reference object of vehicle body surrounding to demarcate externally measured camera in the embodiment of the present invention
Relative to the flow chart of the camera parameter of vehicle body coordinate system, comprise the following steps：
Step 901, full vehicle body photo is shot using externally measured camera.
Step 902, vehicle body four Thursdays subpoint is calculated in externally measured magazine pixel point coordinates.
Specifically, it is primarily based on body color and binaryzation is carried out to the full vehicle body photo, and extracts vehicle body edge pixel
Point；Using the vehicle body edge pixel point and Hough transformation, vehicle body surrounding boundary straight line is determined；Then ask the friendship of these straight lines
Point is vehicle body four Thursdays point in externally measured magazine pixel point coordinates.
Step 903, coordinate of four Thursday of the vehicle body subpoint in vehicle body coordinate system is determined.
Specifically, vehicle body coordinate system is built first, and the construction method of vehicle body coordinate system is sat with above-mentioned roof physics
The construction method for marking system is similar, will not be repeated here.Coordinate and vehicle of the vehicle body four Thursdays subpoint in vehicle body coordinate system
Relating to parameters, is that can obtain according to vehicle parameter.
Step 904, according to four Thursday of the vehicle body subpoint externally measured magazine pixel point coordinates and its
Coordinate in vehicle body coordinate system, demarcates camera parameter of the externally measured camera relative to vehicle body coordinate system.
Specifically, it is possible to use Zhang Zhengyou standardizations obtain externally measured camera joins relative to the camera of vehicle body coordinate system
Number.
The scaling method of camera in vehicle-mounted panoramic viewing system provided in an embodiment of the present invention, by means of externally measured phase
Machine predefines the transformation relation of ground and vehicle body coordinate system, and camera is demarcated in any vehicle-mounted panoramic viewing system
When, using the transformation relation, it is automatically performed camera parameter mark of each camera relative to vehicle body coordinate system in vehicle to be calibrated
It is fixed.It is not necessary to guaranty that all same types of vehicles camera installation sites are fixed using the present invention program, simple in construction, automaticity
Height, automatic Calibration can be realized for each car.Also, it is not necessary to manual intervention, not only saves a large amount of manpower and materials, and
And the accuracy of calibration result is ensure that, demarcation efficiency is greatly improved, is disposed beneficial to volume production producing line.
Correspondingly, the embodiment of the present invention also provides a kind of calibration system of camera in vehicle-mounted panoramic viewing system, the mark
Determining system includes：Land mark thing, externally measured camera, coordinate system transformation relation measuring device and camera calibration device.
Wherein, land mark thing is laid on the ground in demarcation region, and externally measured camera is arranged on demarcation overlying regions, and this is outer
Portion measurement camera can photograph the land mark thing, be placed on the demarcation region vehicle to be calibrated roof and car
Body.Coordinate system transformation relation measuring device is used to being in advance based on externally measured camera determining earth axes and vehicle body coordinate system
Transformation relation；Camera calibration device is demarcated for treating demarcation vehicle camera according to the transformation relation.
It should be noted that the land mark thing includes but is not limited to the object of gridiron pattern type, as long as with square
The element or element combinations of the arbitrary dimension of shape structure can, effective detection can be met and go out the condition of land mark object angle point i.e.
Can.
In addition, the coordinate system transformation relation measuring device can be based on externally measured camera and by means of vehicle to be calibrated
Or other any vehicles obtain the transformation relation of earth axes and vehicle body coordinate system.According to the transformation relation, it is automatically performed and treats
Demarcate camera parameter calibration of each camera relative to vehicle body coordinate system in vehicle.
Above-mentioned coordinate system transformation relation measuring device can be arranged on vehicle to be calibrated or other any vehicles, above-mentioned to take the photograph
As head caliberating device can be arranged on vehicle to be calibrated.Certainly, the coordinate system transformation relation measuring device and shooting leader
Determining device can also be as independent physical entity, independently of vehicle to be calibrated and other any vehicles, so as to realize with a set of
Equipment completes the demarcation to any vehicle camera parameter to be calibrated, and this embodiment of the present invention is not limited.
As shown in Figure 10, it is a kind of structural representation of camera calibration device in present system embodiment.
In this embodiment, the camera calibration device includes：
Image acquisition unit 11, for when being demarcated, obtaining the land mark thing that vehicle camera to be calibrated is shot
Image；
Coordinate determining unit 12, the image for being obtained according to described image acquiring unit determines the land mark thing
The pixel point coordinates and ground physical coordinate of each angle point；
Coordinate transformation unit 13, for according to the transformation relation by the ground physical of each angle point on the land mark thing
Coordinate Conversion is the coordinate in vehicle body coordinate system；
Camera parameter calibration unit 14, for according to seat of each angle point in vehicle body coordinate system on the land mark thing
Mark, demarcates camera parameter of the camera relative to vehicle body coordinate system.
A kind of concrete structure of above-mentioned coordinate system transformation relation measuring device is as shown in figure 11, including：
Reference object setting unit 21, for setting demarcation reference object；
First demarcation unit 22, for demarcating externally measured camera relative to earth axes according to the land mark thing
Camera parameter；
Second demarcation unit 23, for demarcating externally measured camera relative to vehicle body coordinate according to the demarcation reference object
The camera parameter of system；
Computing unit 24, for based on externally measured camera relative to the camera parameter of earth axes and relative to vehicle body
The camera parameter of coordinate system determines the transformation relation of earth axes and vehicle body coordinate system.
Above-mentioned first demarcation unit 22 specifically can be by obtaining the land mark thing that externally measured camera is shot
Image；Determine the pixel point coordinates and ground physical coordinate of each angle point on the land mark thing；Utilize the picture of each angle point
Vegetarian refreshments coordinate and ground physical coordinate, demarcate camera parameter of the externally measured camera relative to earth axes.
It should be noted that the position of the demarcation reference object can be set as needed, such as, it will can demarcate
Reference object is arranged on the roof of vehicle to be calibrated, or the vehicle body surrounding that will demarcate reference object and be arranged on vehicle to be calibrated.
Correspondingly, above-mentioned second demarcation unit 23 demarcates the concrete mode of camera parameter of the externally measured camera relative to vehicle body coordinate system
Can be different, described in detail to being illustrated below this.
Example 1：The demarcation reference object is arranged on the roof of vehicle to be calibrated, correspondingly, and the second demarcation unit can
With including following subelement：
Demarcate reference object image and obtain subelement, for obtaining the demarcation reference object that externally measured camera is shot
Image；
First coordinate determination subelement, pixel point coordinates and roof for determining each angle point on the demarcation reference object
Physical coordinates, determine each angle point in vehicle body coordinate system according to the roof physical coordinates of each angle point on the demarcation reference object
Coordinate；
First parameter calibration subelement, for the pixel point coordinates using each angle point on the demarcation reference object and each angle
Coordinate of the point in vehicle body coordinate system, demarcates camera parameter of the externally measured camera relative to vehicle body coordinate system.
Example 2：The demarcation reference object is set to projection of the vehicle body surrounding in earth axes of vehicle to be calibrated, accordingly
Ground, the second demarcation unit can include following subelement：
Vehicle body photo obtains subelement, for obtaining the full vehicle body photo that externally measured camera is shot；
Computation subunit, for calculating subpoint of the Thursday of vehicle body four in earth axes externally measured magazine
Pixel point coordinates；
Second coordinate determination subelement, determines subpoint of the Thursday of vehicle body four in earth axes in vehicle body coordinate
Coordinate in system；
Second parameter calibration subelement, for according to Thursday of vehicle body four earth axes subpoint in outside
Magazine pixel point coordinates and its coordinate in vehicle body coordinate system are measured, externally measured camera is demarcated relative to vehicle body coordinate
The camera parameter of system.
Wherein, the computation subunit specifically can carry out binaryzation based on body color to the full vehicle body photo, and
Extract vehicle body edge pixel point；Using the vehicle body edge pixel point and Hough transformation, vehicle body surrounding boundary straight line is determined；According to
The intersection point of the vehicle body surrounding boundary straight line, obtains vehicle body four Thursdays point in externally measured magazine pixel point coordinates.
The calibration system of camera in vehicle-mounted panoramic viewing system provided in an embodiment of the present invention, by means of externally measured phase
Machine predefines the transformation relation of ground and vehicle body coordinate system, and camera is demarcated in any vehicle-mounted panoramic viewing system
When, using the transformation relation, it is automatically performed camera parameter mark of each camera relative to vehicle body coordinate system in vehicle to be calibrated
It is fixed.It is not necessary to guaranty that all same types of vehicles camera installation sites are fixed using the present invention program, simple in construction, automaticity
Height, automatic Calibration can be realized for each car.Also, it is not necessary to manual intervention, not only saves a large amount of manpower and materials, and
And the accuracy of calibration result is ensure that, demarcation efficiency is greatly improved, is disposed beneficial to volume production producing line.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for system
Apply for example, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to embodiment of the method
Part explanation.System embodiment described above is only schematical, wherein described illustrate as separating component
Unit can be or may not be physically separate, the part shown as unit can be or may not be
Physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Can be according to the actual needs
Some or all of module therein is selected to realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying
In the case of creative work, you can to understand and implement.
The embodiment of the present invention is described in detail above, embodiment used herein is carried out to the present invention
Illustrate, the explanation of above example is only intended to help to understand method and system of the invention；Simultaneously for the one of this area
As technical staff, according to the present invention thought, will change in specific embodiments and applications, to sum up institute
State, this specification content should not be construed as limiting the invention.
Claims (16)
1. the scaling method of camera in a kind of vehicle-mounted panoramic viewing system, it is characterised in that methods described includes：
In demarcation region laying land mark thing, and in demarcation overlying regions, externally measured camera, the externally measured phase are set
Machine can photograph the land mark thing, roof and vehicle body；
The vehicle to be calibrated for being provided with vehicle-mounted panoramic viewing system is placed on the demarcation region；
The transformation relation of earth axes and vehicle body coordinate system is determined based on externally measured camera；
Camera parameter of the camera relative to vehicle body coordinate system is demarcated based on the transformation relation.
2. scaling method according to claim 1, it is characterised in that described that geographical coordinates is determined based on externally measured camera
The transformation relation of system and vehicle body coordinate system includes：
Demarcation reference object is set；
Camera parameter of the externally measured camera relative to earth axes is demarcated according to the land mark thing；
Camera parameter of the externally measured camera relative to vehicle body coordinate system is demarcated according to the demarcation reference object；
It is relative to the camera parameter of earth axes and true relative to the camera parameter of vehicle body coordinate system based on externally measured camera
Determine the transformation relation of earth axes and vehicle body coordinate system.
3. scaling method according to claim 2, it is characterised in that described to be surveyed according to land mark thing demarcation is outside
Amount camera includes relative to the camera parameter of earth axes：
The image of the land mark thing is shot using externally measured camera；
Determine the pixel point coordinates and ground physical coordinate of each angle point on the land mark thing；
Using the pixel point coordinates and ground physical coordinate of each angle point, externally measured camera is demarcated relative to earth axes
Camera parameter.
4. scaling method according to claim 2, it is characterised in that the externally measured camera is relative to earth axes
Camera parameter include：Spin matrix R of the externally measured camera coordinates system relative to earth axeso, translation matrix to。
5. scaling method according to claim 2, it is characterised in that the demarcation reference object is arranged on vehicle to be calibrated
Roof；
It is described to be included according to the externally measured camera of the demarcation reference object demarcation relative to the camera parameter of vehicle body coordinate system：
The image of the demarcation reference object is shot using externally measured camera；
Determine the pixel point coordinates and roof physical coordinates of each angle point on the demarcation reference object；
Coordinate of each angle point in vehicle body coordinate system is determined according to the roof physical coordinates of each angle point on the demarcation reference object；
Utilize coordinate of the pixel point coordinates and each angle point of each angle point on the demarcation reference object in vehicle body coordinate system, demarcation
Camera parameter of the externally measured camera relative to vehicle body coordinate system.
6. scaling method according to claim 2, it is characterised in that the demarcation reference object is the car of vehicle to be calibrated
Subpoint of the body surrounding in earth axes；
It is described to be included according to the externally measured camera of the demarcation reference object demarcation relative to the camera parameter of vehicle body coordinate system：
Full vehicle body photo is shot using externally measured camera；
Vehicle body four Thursdays subpoint is calculated in externally measured magazine pixel point coordinates；
Determine coordinate of four Thursday of the vehicle body subpoint in vehicle body coordinate system；
According to four Thursday of the vehicle body subpoint in externally measured magazine pixel point coordinates and its in vehicle body coordinate system
Coordinate, demarcate the camera parameter of externally measured camera relative to vehicle body coordinate system.
7. scaling method according to claim 6, it is characterised in that four Thursday of the calculating vehicle body spot projection is in outside
Measuring magazine pixel point coordinates includes：
Binaryzation is carried out to the full vehicle body photo based on body color, and extracts vehicle body edge pixel point；
Using the vehicle body edge pixel point and Hough transformation, vehicle body surrounding boundary straight line is determined；
According to the intersection point of the vehicle body surrounding boundary straight line, vehicle body four Thursdays subpoint is obtained in externally measured magazine picture
Vegetarian refreshments coordinate.
8. scaling method according to claim 2, it is characterised in that the externally measured camera is relative to vehicle body coordinate system
Camera parameter include：Spin matrix R of the externally measured camera coordinates system relative to vehicle body coordinate systemw, translation matrix tw。
9. the scaling method according to any one of claim 1 to 8, it is characterised in that described to be based on the transformation relation mark
The camera parameter for determining camera relative to vehicle body coordinate system includes：
The image of the land mark thing is shot using vehicle camera to be calibrated；
Determine the pixel point coordinates and ground physical coordinate of each angle point on the land mark thing；
According to the transformation relation by the ground physical Coordinate Conversion of each angle point on the land mark thing in vehicle body coordinate system
In coordinate；
According to the coordinate of the pixel point coordinates and each angle point of each angle point on the land mark thing in vehicle body coordinate system, institute is demarcated
State camera parameter of the camera relative to vehicle body coordinate system.
10. the calibration system of camera in a kind of vehicle-mounted panoramic viewing system, for being provided with vehicle-mounted panoramic viewing system
Vehicle to be calibrated carries out camera parameter calibration, it is characterised in that the calibration system includes：
It is laid on the land mark thing in demarcation region；
The externally measured camera of demarcation overlying regions is arranged on, the externally measured camera can photograph the land mark
Thing, be placed on the demarcation region vehicle to be calibrated roof and vehicle body；
Coordinate system transformation relation measuring device, the change for determining earth axes and vehicle body coordinate system based on externally measured camera
Change relation；
Camera calibration device, is demarcated for treating demarcation vehicle camera according to the transformation relation.
11. calibration system according to claim 10, it is characterised in that the coordinate system transformation relation measuring device bag
Include：
Reference object setting unit, for setting demarcation reference object；
First demarcation unit, for demarcating camera of the externally measured camera relative to earth axes according to the land mark thing
Parameter；
Second demarcation unit, for demarcating phase of the externally measured camera relative to vehicle body coordinate system according to the demarcation reference object
Machine parameter；
Computing unit, for based on externally measured camera relative to the camera parameter of earth axes and relative to vehicle body coordinate system
Camera parameter determine the transformation relation of earth axes and vehicle body coordinate system.
12. calibration system according to claim 11, it is characterised in that the first demarcation unit, specifically for obtaining
The image for the land mark thing that externally measured camera is shot；Determine the pixel point coordinates of each angle point on the land mark thing
And ground physical coordinate；Using the pixel point coordinates and ground physical coordinate of each angle point, externally measured camera is demarcated relative
In the camera parameter of earth axes.
13. calibration system according to claim 11, it is characterised in that the demarcation reference object is arranged on car to be calibrated
Roof；
The second demarcation unit includes：
Demarcate reference object image and obtain subelement, the figure for obtaining the demarcation reference object that externally measured camera is shot
Picture；
First coordinate determination subelement, pixel point coordinates and roof physics for determining each angle point on the demarcation reference object
Coordinate, seat of each angle point in vehicle body coordinate system is determined according to the roof physical coordinates of each angle point on the demarcation reference object
Mark；
First parameter calibration subelement, for being existed using the pixel point coordinates and each angle point of each angle point on the demarcation reference object
Coordinate in vehicle body coordinate system, demarcates camera parameter of the externally measured camera relative to vehicle body coordinate system.
14. calibration system according to claim 11, it is characterised in that the demarcation reference object is vehicle to be calibrated
Subpoint of the vehicle body surrounding in earth axes；
The second demarcation unit includes：
Vehicle body photo obtains subelement, for obtaining the full vehicle body photo that externally measured camera is shot；
Computation subunit, for calculating vehicle body four Thursdays subpoint in externally measured magazine pixel point coordinates；
Second coordinate determination subelement, determines coordinate of four Thursday of the vehicle body subpoint in vehicle body coordinate system；
Second parameter calibration subelement, for according to four Thursday of the vehicle body subpoint in externally measured magazine pixel
Coordinate and its coordinate in vehicle body coordinate system, demarcate camera parameter of the externally measured camera relative to vehicle body coordinate system.
15. calibration system according to claim 14, it is characterised in that
The computation subunit, specifically for carrying out binaryzation to the full vehicle body photo based on body color, and extracts vehicle body
Edge pixel point；Using the vehicle body edge pixel point and Hough transformation, vehicle body surrounding boundary straight line is determined；According to the vehicle body
The intersection point of surrounding boundary straight line, obtains vehicle body four Thursdays point in externally measured magazine pixel point coordinates.
16. the calibration system according to any one of claim 10 to 15, it is characterised in that the camera calibration device bag
Include：
Image acquisition unit, for when being demarcated, obtaining the land mark thing that vehicle camera to be calibrated is shot
Image；
Coordinate determining unit, the image for being obtained according to described image acquiring unit determines each angle point on the land mark thing
Pixel point coordinates and ground physical coordinate；
Coordinate transformation unit, for being turned the ground physical coordinate of each angle point on the land mark thing according to the transformation relation
It is changed to the coordinate in vehicle body coordinate system；
Camera parameter calibration unit, for according to coordinate of each angle point in vehicle body coordinate system on the land mark thing, mark
Camera parameter of the fixed camera relative to vehicle body coordinate system.
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