CN107464218A - Automobile calibration system and its scaling method - Google Patents
Automobile calibration system and its scaling method Download PDFInfo
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- CN107464218A CN107464218A CN201610388063.8A CN201610388063A CN107464218A CN 107464218 A CN107464218 A CN 107464218A CN 201610388063 A CN201610388063 A CN 201610388063A CN 107464218 A CN107464218 A CN 107464218A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
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Abstract
One automobile calibration system, including an at least correction module, an at least information acquisition module, at least one demarcation thing processing module and an at least calibration result determination module, wherein described information acquisition module gathers image information by controlling multiple cameras in each moment shooting image, extracted in the information that the demarcation thing processing module gathers described information acquisition module and parameter is handled, the calibration result determination module is matched the data of the parameter processing result in the demarcation thing processing module, judge whether calibration result meets the requirements, when the result of determination of the calibration result determination module is meets, the calibration process of the automobile calibration system terminates, when the result of determination of the calibration result determination module is undesirable, the correction module is corrected.
Description
Technical field
, can be to institute the present invention relates to an automobile calibration system, more particularly to an automobile calibration system and its scaling method
The overlapping region image for stating each camera in automobile calibration system is corrected automatically.
Background technology
Automobile has become indispensable walking-replacing tool in modern society.Requirement of the people to the experience sense of automobile also day
Benefit increases.In addition, requirement of the people for vehicle safety also more and more higher.Wherein, in order to ensure automobile use process peace
Entirely and strengthen good human-computer interaction experience sense, camera is mounted on automobile, and the various of peripheral vehicle are provided to people
Travel conditions.The initially simple automotive system for ensureing reversing automobile safety and single camera far can not meet people
Demand.In order to provide more fully running car environmental information, multiple cameras are installed on automobile.For example, one
Automobile all around sets four cameras on four direction, each moment each camera can sync pulse jamming it is former to four width
Begin figure, and formation top view after system is spliced these original graphs, people can be by seeing vapour in the top view passed back
The situation of car traveling.This there is provided a kind of two-dimentional effect.These image informations can also be fabricated to three-dimensional in the prior art
Effect, people are by the arbitrarily enlarged downscaled images of man-machine interaction screen, such as can obtain in terms of any one aerial angle etc.
More fully information is taken, so as to recognize the various situations in running car constantly and handled in time.
Each camera can have various errors when installation or production.And the parameter of camera can be with
It is divided into internal reference and outer ginseng.Internal reference such as light needs to be refracted on sensitive chip after entering camera lens, relates to mirror here
The deviation of the photocentre of head and the photocentre of sensitive chip, parameter include up rightness or drift angle etc., and these can pass through mechanical parameter
Processing.Such as camera lens because the image source size of each pixel of sensitive chip has difference, is directed in the focal length of x-axis and y-axis
Focal length on the two directions also has different.Also it is exactly the position of optical axis not necessarily in center.It is understood that
Deviation is the smaller the better.If the quality of camera lens can ensure, the error of internal reference also can be small.Therefore up rightness and photocentre all can
The splicing correction of image after influence.The outer ginseng of camera refers to car of each camera relative to three directions of X-axis Y-axis Z axis
For coordinate system.Such as coordinate position, rotation angle of camera etc..If the production quality of camera is good, then internal reference
Error it is all smaller, can guarantee that the uniformity of each camera.
For from outer ginseng, it is desirable to good effect is obtained it is necessary to be demarcated to camera, and the process demarcated is place
Manage the internal reference of each camera and the process of outer ginseng.In other words, demarcation is exactly handle peripheral vehicle multiple cameras accurate
Locus and angle.And the error in calibration process is mainly derived from two aspects.When camera error and, such as image
The uniformity of head internal reference, include the correction parameter of flake, optical centre position and focal length etc..Second, alignment error, is essentially consisted in
When volume production camera, there is an error although camera is provided with the position of standard, when actual installation
In the presence of.In order to ensure the quality of imaging it is necessary to the process by demarcation.Current most of parking lot uses the demarcation of 2D plane,
Such as demarcate thing using gridiron pattern, triangle, origin, parallel lines etc..Demarcation of the prior art as shown in Figure 1, automobile 91P
An a special demarcation workshop W fixed position is parked in, the ground in this demarcation workshop has what is determined to shift to an earlier date in advance
The accurate various points put, the demarcation thing 81P of line composition.This mode can realize whole calibration process, but due to difference
Demarcation workshop is also different used in the automobile of model, so to prepare various types of demarcation workshops, directly increase cost
With waste space.It is also very complicated to demarcate process, and needs frequent maintenance, otherwise can influence the order of accuarcy of demarcation.In addition, this
The method of kind of 2D plane references has many requirements, such as photoenvironment can not be excessively complicated, to avoid ground from having excessive reflective
Deng.
In order to solve the problems, such as 2D scaling methods, a kind of 3D scaling schemes are also proposed in the prior art, i.e., in plane
Calibrated reference is changed into three-dimensional object of reference.As shown in Fig. 2, a kind of 3D of prior art is demarcated.Automobile 92P is parked in mark
Determine a fixed position in workshop, preset stereo calibration thing 82P is placed around automobile 92P.This mode solves 2D
Many problems in scaling scheme.But this 3D stereo calibrations scheme also counteracts that the application in more multi-field model, since it is desired that
The demarcation workshop set in advance adjusts various three-dimensional objects of reference.In addition, calibration process also needs to substantial amounts of manpower and time, such as
In automobile factory, the demarcation for an automobile just needs three workers 15 minutes.And for 4 S auto shop, it is even more very big
Manpower and time cost.So in the market just needs a kind of more convenient demarcation means.
But in these techniques, system carries out having overlapping part, this overlapping part when image mosaic
It is the selection part nearest from each camera.Such as a cut-off rule is done in advance, this cut-off rule comes real by processing distance
It is existing.And handling this distance just needs to go to handle distance again after all deciding the position of each camera.Spelled in image
In termination process, the image after mapping needs to reduce the distortion factor as much as possible.Therefore, to overlapping area image in automobile calibration system
Correction turn into current one to improve the effect of composograph and treat in improve the problem of.
The content of the invention
It is an object of the invention to provide an automobile calibration system and its scaling method, in the automobile calibration system
The overlapping region image of each camera is corrected automatically.
Another object of the present invention is to provide the bearing calibration of a camera overlapping region image, demarcated for an automobile
System, the overlapping region image of each camera in the automobile calibration system is corrected automatically.
Another object of the present invention is to provide the bearing calibration of a camera overlapping region image, demarcated for an automobile
System, constantly the overlapping region image of each camera is corrected automatically in calibration process.
Another object of the present invention is to provide an automobile calibration system and its scaling method, go for static mark
It is fixed, it is readily applicable to dynamic calibration.
Another object of the present invention is to provide an automobile calibration system and its scaling method, it is not necessary to demarcate place and pre-
The demarcation thing put, saves space, and simplifies the correcting process in scaling method.
Another object of the present invention is to provide an automobile calibration system and its scaling method, it is not necessary to the specific mark of training
Fix the number of workers, reduce cost.
Another object of the present invention is to provide an automobile calibration system and its scaling method, it is not necessary to often safeguard demarcation
The facility such as place and scaling reference, flexible calibration.
Another object of the present invention is to provide an automobile calibration system and its scaling method, different loads are also adapted to,
What different tire pressure was brought looks around the situation of picture deviation, such as even if the people of different weight is sitting in car the feelings for causing tire pressure different
Also constantly the overlapping region image of each camera is corrected automatically under condition.
Another object of the present invention is to provide an automobile calibration system and its scaling method, there is provided good man-machine interaction
System, enhancing experience sense and raising demarcation efficiency.
To achieve these goals, the present invention provides an automobile calibration system, including：
An at least correction module, at least an information acquisition module, at least one demarcation thing processing module and at least one demarcation knot
Fruit determination module, wherein described information acquisition module gather image by controlling multiple cameras in each moment shooting image
Information, extract and parameter is handled, institute in the demarcation thing processing module information that gathers described information acquisition module
State calibration result determination module to be matched the data of the parameter processing result in the demarcation thing processing module, judge to demarcate
As a result whether meet the requirements, when the result of determination of the calibration result determination module is meets, the automobile calibration system
Calibration process terminates, and when the result of determination of the calibration result determination module is undesirable, the correction module is carried out
Correction.
In one embodiment, the correction module further comprises an at least overlapping region correction module, the overlay region
At least overlapping region image that domain correction module marks off to the overlapping region division module automatically is corrected.
In one embodiment, the correction module further comprises an at least overlapping region correction module, the overlay region
At least overlapping region image that domain correction module marks off to the overlapping region division module automatically is corrected.
In one embodiment, the overlapping region correction module also inherently refers to target correction module, institute including at least one
The intrinsic intrinsic each parameter for referring to target being read out with reference to target correction module as correction reference is stated, it is described overlapping
Regional correction module also includes at least one adjustment software correction module and an at least compensation software correction module, the adjustment software
Correction module and the compensation software correction module are corrected to overlapping area image.
In one embodiment, it is described inherently also to include an at least wireless signal transmitting module with reference to target correction module, send out
Demarcation information is penetrated, so as to realize the mutual demarcation between automobile and automobile.
In one embodiment, the automobile calibration system also includes at least one demarcation thing offer device, is the automobile mark
Determine system provider just and meet the demarcation thing of calibration request.
According to another aspect of the present invention, the bearing calibration of a camera overlapping region image is also provided, for an automobile
Calibration system, the bearing calibration of camera overlapping region image comprise the following steps：
(a) at least two cameras are set, and each camera is installed on automobile, and each photographs an at least figure
As capture region, the overlapping region of each described image capture region forms an at least correction zone；With
(b) image of the correction zone is corrected, so as to realize that the image of the correction zone is completely overlapped.
In one embodiment, the step (b) also includes step (b4)：By inherently referring to target with least one with school
The image of just described correction zone；
Wherein described step (b4) is further comprising the steps of：
(b41)：Read the data of an intrinsic acquisition parameters with reference to target for each correction zone；
(b42)：Read the data of an intrinsic preset parameter with reference to target；And
(b43)：The data of each acquisition parameters are corrected on the basis of the data of the preset parameter, it is described so as to realize
The correction of the image of correction zone.
In one embodiment, the step (b42) also includes step (b42a)：From inside the automobile calibration system to
Few intrinsic data that the preset parameter is obtained with reference to target preset parameter memory module.
In one embodiment, the step (b42) can also include step (b42b)：Receive described inherently with reference to target
At least data of the preset parameter of a wireless signal transmitting device transmission.
In one embodiment, in the step (b4) it is described it is intrinsic with reference to target be communal facility or public building
Thing.
The present invention provides an automobile calibration system and its scaling method, its advantage lies in being able to provide precision high positioning.
The detection of the high automobile attitude of precision can be provided.
The present invention provides an automobile calibration system and its scaling method, its advantage lies in being able to provide detection image splicing matter
Amount.Further, the automobile calibration system and its scaling method constantly provide detection image joining quality.
Brief description of the drawings
Fig. 1 is the schematic diagram for carrying out 2D demarcation to automobile in the prior art.
Fig. 2 is the schematic diagram for carrying out 3D demarcation to automobile in the prior art.
Fig. 3 is the flow chart of an automobile calibration system according to a preferred embodiment of the invention.
Fig. 4 is the schematic diagram according to the automobile calibration system of the above preferred embodiment of the present invention.
Fig. 5 is the schematic diagram according to the overlapping region of an automobile calibration system of one embodiment of the invention.
Fig. 6 is the school of a camera overlapping region image of an automobile calibration system according to the abovementioned embodiments of the present invention
The schematic diagram of correction method.
Fig. 7 is intrinsic with reference to mark by the use of light pole as one in the automobile calibration system according to one embodiment of the invention
The schematic diagram to be corrected automatically to camera overlapping region image.
Fig. 8 is to be used as one by the use of the railing on highway in the automobile calibration system according to one embodiment of the invention
Inherently refer to schematic diagram of the target to be corrected automatically to camera overlapping region image.
Fig. 9 is the schematic diagram according to a correction module of an automobile calibration system of one embodiment of the invention.
Embodiment
Describe to be used to disclose the present invention below so that those skilled in the art can realize the present invention.It is excellent in describing below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and do not carry on the back
From the other technologies scheme of the spirit and scope of the present invention.
It will be understood by those skilled in the art that the present invention exposure in, term " longitudinal direction ", " transverse direction ", " on ",
" under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", the orientation of the instruction such as " outer " or position close
System is to be based on orientation shown in the drawings or position relationship, and it is for only for ease of the description present invention and simplifies description, without referring to
Show or imply that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, therefore above-mentioned art
Language is not considered as limiting the invention.
It is understood that term " one " be interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no
It is understood that as the limitation to quantity.
As Fig. 3 to Fig. 9 show the present invention an automobile calibration system a preferred embodiment, can be to the automobile mark
The overlapping region image for determining each camera in system is corrected automatically.In calibration process by the automobile calibration system
The continuous correction to the overlapping region image of each camera, driver automatically can pass through the human-computer interaction interface in automobile
Composite diagram obtains the various situations in running car in time, so as to timely be tackled and adjusted.
It is noted that the automobile calibration system of the present invention goes for static demarcating, it is readily applicable to
Dynamic calibration.In other words, in calibration process, automobile may be at inactive state, can also be in the motion state of traveling.
In both cases, the automobile calibration system can realize the correction of the overlapping region image of each camera automatically.
In this preferred embodiment of the present invention, the automobile calibration system is marked including an information acquisition module 10, one
Earnest processing module 30, a calibration result determination module 40, a correction module 50, a human-computer interaction module 60 and a demarcation thing
Device 70 is provided.Described information acquisition module 10 can be believed by controlling multiple cameras to be gathered in each moment shooting image
Breath.In the information that the demarcation thing processing module 30 can gather described information acquisition module 20, calibration request will be met
The characteristic information of demarcation thing is extracted, and the parameter of each camera is handled.The calibration result determination module 40 will
Data in the demarcation thing processing module 30 are matched, and judge whether calibration result meets the requirements.When the calibration result
The result of determination of determination module 40 is when meeting, the calibration process of the automobile calibration system terminates, but works as the demarcation
When the result of determination of result judgement module 40 is undesirable, the correction module 50 can be corrected in time.It is described man-machine
Interactive module 60 can provide good interactive mode, so as to promote being smoothed out for whole calibration process, and can
Improve the experience sense of user.The demarcation thing provides device 70 and can be provided for the automobile calibration system conveniently and meet demarcation
It is required that demarcation thing, the demarcation thing for being suitable for peripheral vehicle is less or do not meet the situation of calibration request.
It is understood that " the demarcation thing " used in the present invention not merely refers to the object being physically present, also wrap
Other marks, such as hot spot of light formation etc. are included, as long as can be used to mark as the extraction information needed to use in the present invention
Fixed, the present invention is not limited thereto.
Specifically, described information acquisition module 10 includes an image taking control module 11 and an information storage module 12.
Described image shooting control module 11 can control the synchronous image for shooting motor vehicle environment incessantly of each vehicle-mounted camera, described
Information storage module 12 stores the image information photographed.Spelled with installing four camera shooting images on automobile
Close exemplified by correcting.The shooting angle of each camera is 185 degree or so.Such four camera cans without dead angle are shot
To all angles of automobile.
Further, the demarcation thing processing module 30 also includes a characteristic extracting module 31, an initial parameter assignment mould
Block 32, a parameter processing module 33 and a non-planar features reject module 34.The characteristic extracting module 31 can extract demarcation
The characteristic information of thing, such as characteristic point, characteristic curve or characteristic block.The initial parameter assignment module 32 includes initial internal reference
With the assignment of initial outer ginseng.Wherein initial internal reference can be the internal reference and tolerance provided by camera module producer, can also be vapour
The assembly parameter and tolerance obtained in installation diagram during the assembling camera that car manufactory provides.These can be automatic as system
Generate the initial value of parameter.If, can it is noted that when being related to the situation about partially and fully changing of multiple cameras
So that these initial values are deployed to change according to different situations.Therefore, it is initial also to include one for the initial parameter assignment module 32
The initial outer ginseng assignment module 322 of internal reference assignment module 321 and one, joins for distinguishing the initial internal reference of assignment with initially outer.The ginseng
Number processing module 33 is a nucleus module, and a variety of factures can be used to handle internal reference and outer ginseng.Such as deposited when simultaneously
In characteristic point, when characteristic curve and characteristic block, can first processing feature point, reprocess characteristic curve, reprocess the matching of characteristic block；Or
Person elder generation processing feature block, characteristic curve is reprocessed, reprocess characteristic point；Or processing feature point, characteristic curve and characteristic block simultaneously, or
Person is handled according to the order of the installation site of each camera, and the present invention is not limited thereto.
It is noted that the non-planar features of the demarcation thing processing module 30 are rejected module 34 and will can be inconsistent
The demarcation thing for closing calibration request is rejected.Such as the reference demarcation thing that road stake and curb etc. are three-dimensional.Because this in the present invention is excellent
Select in embodiment, mainly consider the demarcation thing of plane as basic parameter.Specifically, the demarcation thing processing module 30
The non-planar features, which reject module 34, also includes an IPM identification modules 321 and a SOD identification modules 342.Wherein described IPM
Identification module 341 is using IPM (inverse projection mapping) elimination method, the concept of similar top view.
If the three-dimensional object being above the ground level is diverging on top view.If the on-plane surface of the automobile calibration system is special
It is such characteristic point it is necessary to weed out that sign, which is rejected module 34 and identified,.And if meeting the plane reference object of calibration request,
Flat non-diverging can be then rendered as.Wherein described SOD identification modules 342 using static-obstacle thing recognition methods, so as to
Nonplanar feature is rejected.It will be appreciated by those skilled in the art that in the non-planar features reject module 34
The submodule of a variety of elimination methods can be realized by including, and both the above is not limited thereto as just citing, the present invention.
It is understood that in calibration process, each camera and other camera have common region.For example,
After if demarcation is good, it be to overlap that the object on road surface is reflected by the image that multiple cameras are shot in common region
Together.Therefore multiple cameras are adjusted simultaneously, make the image of its same object each shot by conversion adjustment
It is afterwards to coincide together in common region.
It is noted that the camera used in the present invention can be single photography/videography head or double photography/videography heads,
The present invention is not limited thereto.
It is noted that the problem of evaluation meanses for determining calibration result are most criticals in calibration process, and most
The problem of basic.Therefore, further, the calibration result determination module 40 includes a characteristic point apart from processing module 41, one
Eigenvector evaluation module 42, one weights the data match module 44 of processing module 43 and one.Wherein, the characteristic point distance processing
Module 41 can handle the Euclidean distance of the characteristic point in common region.The Eigenvector evaluation module 42 can be carried out
The conllinear degree of Eigenvector and the assessment of the depth of parallelism, and it is described weighting processing module 43 can further by the characteristic point away from
It is weighted averagely from the data in 42 two modules of processing module 41 and the Eigenvector evaluation module, so as to further true
Protect the reliability of assessment result.Data after each parameter processing are carried out the matching analysis by the data match module 44.
It will be appreciated by those skilled in the art that the characteristic point in the present invention is the picture being mapped in mapping space
Point, such as the point of top view, so as to ensure the uniformity of preimage point and mapping point, ensure image and material object that demarcation is shown afterwards
Uniformity.And the matching essence of characteristic point is by the matching between data after parameter processing in calibration process.
Due to the polytropy of environment and complexity in the calibration process of the automobile calibration system.When the calibration result
When judging that demarcation is undesirable in determination module 40, the correction module 50 can timely be adjusted according to different situations
Whole and correction.Therefore, the correction module 50 further comprises a camera synchronous correction module 51, an overlapping region straightening die
The noise filtering and calibration module 53 of block 52 and one.
In calibration process, there can be the nonsynchronous situation of multiple cameras.Such as there can be multiple camera collections
Time irreversibility, such as time for exposure are different, acquisition time difference etc..The startup time of also each camera is different, respectively
The drumbeat of crystal oscillator is also not necessarily consistent inside camera, and the work of internal circuit is carried out according to this drumbeat.It is different
Although making the camera that production line comes out has certain standard, but still have difference, even if same making production line
Being can be differentiated.The dislocation of this drumbeat also has each camera itself to start the inconsistent of time, can cause what last when
The image clapped is waited also not know.At this moment the demarcation for static state is to influence less, but is led for dynamically running over Cheng Zhonghui
Final demarcation is caused to produce a very large impact.It is described in this preferred embodiment of the present invention in order to solve foregoing problems
Camera synchronous correction module 51 can be corrected to the synchronous sex chromosome mosaicism of camera in time.Because correcting mode is different, institute
Stating camera synchronous correction module 51 also includes a hardware synchronization module 511, a software synchronization module 512 and a software compensation mould
Block 513.Each synchronizing property of camera can be corrected using two ways in wherein described hardware synchronization module 511.First
Kind is to use master slave mode, that is to say, that a main camera of conduct in each camera, other are utilized as from camera
Main camera sends signal and goes to drive other to realize Complete Synchronization from camera.Second method is to go reality using external trigger pattern
The now synchronous correction of each camera.Therefore the hardware synchronization module 511 also includes a master-slave synchronisation control module 5111 and one
External trigger synchronization control module 5112.The software compensation module 513 can utilize numbers to the difference of each camera in advance, adopts
Collect the misplaced data between each camera, prediction and matching is come according to speed, steering angle etc..It will be appreciated by those skilled in the art that
, the synchronous correction for each camera, preceding method is not limited thereto as just citing, the present invention.
The overlapping region correction module 52 can be corrected automatically to overlapping area image.Specific submodule is at it
It can be disclosed in detail in content afterwards.
It is noted that the correction module 50 can also set a parity field analog module, the odd even field stimulation
Module can be used only odd field or using only even field, i.e., simulated using single game.
It is noted that the overlapping region correction module 52 of the correction module 50 of the automobile calibration system
It can also will be shifted by software from internal system in the case where not changing each camera or overlapping image carried out
Adjustment or compensation, make the picture point in mapping space and preimage point that there is uniformity so that mapping image such as user from
The visual image obtained in the human-computer interaction module 60 and being consistent property of real image.
Because automobile has vibration in the process of moving, because the road conditions of traveling are different, the transformation of travel direction and row
The degree of jolting on ground etc. is sailed, noise can be defined as, dynamic process is existing all the time.Filtering to these noises is very heavy
The problem of wanting, various change can occur in dynamic process for parameter.Therefore, the noise filtering and calibration of the correction module 50
These noises can be filtered processing by module 53 in time, it is not influenceed whole calibration process.
In order to which the man-machine interaction experience sense of the automobile calibration system and more conducively whole calibration process is better achieved.Institute
Stating human-computer interaction module 60 also includes a scaling method information display module 61, a MIM message input module 62, one demarcation species
Judge module 63, an adjustment information output module 64 and a calibration process dynamic display module 65.
Specifically, the scaling method information display module 61 can provide the user before demarcation is easy to needed for demarcation
Information.Such as automobile 4s shops or the detailed scaling method of consumer are told, such as more favourable demarcation occasion, it is easy to demarcate
Demarcation thing conditional information etc..Such as in the case of dynamic calibration, automobile normal running stretch journey can be travelled
Road surface is as far as possible flat, the characteristic points such as road surface is wired, and how relatively good characteristic point is more to wait convenient prompt message.
Described information input module 62 also includes a demarcation species input module 621, one and demarcates place input module 622
With a manual calibrating parameters input module 623.The demarcation species input module 621 can receive the demarcation of user's input
The information of species, so as to rapid corresponding scaling scheme, and other modules of the automobile calibration system are coordinated
Realize the purpose of automatic Fast Calibration.The demarcation place input module 622 can receive the demarcation place letter of user's input
Breath, by demarcating the information adjust automatically inside scaling method in place, realization is fast and accurately demarcated.The manual calibrating parameters
Input module 623 can receive the manual demarcation information of user's input in the case where garage's data are not clear, automatic so as to carry out
Quickly demarcation.
Because the species for demarcating thing is different, although the automobile calibration system can realize automatic quickly demarcation,
Rapid judgement classification for demarcating species can also be advantageous to internal system and use different scaling method or facture,
So as to further realize automatic Calibration.Demarcate the wide variety of thing, such as the edge of geometric figure, flex point, angle point, color lump
Deng.The demarcation species judge module 53 of the other automobile calibration system can preferably go out parallel lines as important
Characteristic curve.Such as white line.The left hand edge of each white line is also parallel with right hand edge.Such as two white lines is parallel.Again
Such as can be the end points of Road, the sign on road surface, other available characteristic informations such as pavement sign.These all may be used
To demarcate thing as preferable, and therefrom extract characteristic information.The demarcation species judge module 63 includes a static demarcating
The dynamic calibration processing module 632 of processing module 631 and one, for judging static or current intelligence, automatically select more favourable
Scaling method, it is automatic to realize demarcation.
Further, the adjustment information output module 64 can prompt user to adjust demarcation environment in time, be advantageous to whole
Individual calibration process more rapidly, accurately.Such as prompting increases the condition of characteristic matching, such as line will have continuation, and point has symmetry
Deng.Therefore, the adjustment information output module 64 also includes a demarcation thing replacing reminding module 641, high noise environments prompting
Module 642, an adjustment of load reminding module 643 and one demarcate reminding module 644 by hand.Such as constantly vibrated or road in vehicle
When curved way is rugged, the high noise environments reminding module 642 prompts user to be demarcated on flatter road.Such as
When load change, the adjustment of load reminding module 643 prompts the change that user pays attention to load.In addition, it is described negative
The function of prompting user can not only be realized by carrying adjustment reminding module 643, additionally it is possible to act survey certainly from predetermined interval
Examination, is continuously evaluated, until sufficiently stable.And in the case where garage's data are not clear, the reminding module 644 of demarcation by hand can
Remind user to carry out manual demarcation in time, as primary data, the automobile calibration system is input to afterwards using demarcation by hand
In change into the garage's data that can be used.
The calibration process dynamic display module 65 can make user see the degree of demarcation progress in real time, such as judge quiet
Whether state object of reference is enough etc., and good man-machine interaction is better achieved.
It is noted that the calibration result determination module 40 also includes a composograph effect detection module 45, institute
Stating human-computer interaction module 60 also includes a composograph display module 66, and the composograph effect detection module 45 can be timely
The effect of composite diagram in the composograph display module 66 is detected, and feeds back to the correction module 50, is corrected in time.
It will be appreciated by those skilled in the art that the human-computer interaction module 60 is not limited only to above act
Example, can also increase other feasible man-machine interaction submodules according to actual conditions and more preferable man-machine interaction experience.
It is noted that the automobile calibration system of the present invention is in actual applications, in order to improve the speed of demarcation
And precision, it is preferable that the internal reference of high uniformity can be obtained using high-precision camera.Preferably, camera is in automobile
Installation site be adapted to before fill, can so reduce error as far as possible, that is to say, that in automobile making process, camera is
Through being installed on automobile.In addition, in calibration process, can also be by car steering stretch in addition to static demarcating
Journey, so that calibration result is more accurate.But it will be appreciated by those skilled in the art that, the above is simply in practical application
In use citing, even if not having above operation bidirectional, the automobile calibration system of the invention fast automatic can also be demarcated.
That is, citing is not limited the automobile calibration system of the present invention by more than.
It is noted that the automobile calibration system, which also includes a demarcation thing, provides device 70.In order to meet people couple
In the demand rapidly and automatically demarcated.In the case of static demarcating, the automobile calibration system can make user in automobile week
Enclose and place various plane reference objects.Such as flat objects in color lump, boot, random retrievable plane object in surrounding environment
As demarcation thing, the automobile calibration system can realize automatic mark rapidly under quiescent conditions according to these demarcation things of user
It is fixed.But when do not have in surrounding environment it is convenient obtain demarcation thing when, in order to facilitate user, the automobile calibration system it is described
Demarcation thing, which provides device 70, can automatically provide the demarcation thing for meeting demarcation condition, and many searching demarcation things are saved for user
Time, and more convenient static and dynamic demarcation.It can be installation interior of body laser that the demarcation thing, which provides device 70,
The device of dot laser transmitting.These laser beam emitting devices can be towards launching the figure that meets calibration request in the plane of surrounding environment
Demarcation thing of the case as reference.The demarcation thing provide device 70 can also be automobile per se with projecting apparatus, or directly
The characteristic bodies such as subsidiary some color lumps for being easy to place, so as to the demarcation thing as reference.So more simply and easily realize institute
State the automatic Calibration of automobile calibration system.
The automobile calibration system of the present invention also includes an overlapping region division module 20, and the overlapping region divides mould
Block 20 marks off the overlapping region of multiple cameras, consequently facilitating correction of the correction module 50 for overlapping region image.
The present invention also provides an automobile scaling method, and the automobile scaling method comprises the following steps：
(A) image information is gathered；
(B) camera parameter initial assignment is read；
(C) camera parameter is handled；
(D) judge whether calibration result meets standard；And
(E) overlapping region image is corrected；
Wherein, if the result of determination of the step (D) is to meet standard, the demarcating steps of the automobile scaling method
Terminate, if the result of determination of the step (D) is not to be inconsistent standardization, the circulation execution step (E) to step (C), directly
Result of determination to the step (D) is to meet standard.
It is noted that in wherein described step (C) when simultaneous characteristic point, characteristic curve and characteristic block, processing
The order of parameter is first processing feature point, reprocesses characteristic curve, reprocesses the matching of characteristic block.
It is noted that in wherein described step (C) when simultaneous characteristic point, characteristic curve and characteristic block, processing
The order of parameter is first processing feature block, reprocesses characteristic curve, reprocesses characteristic point.
It is noted that in wherein described step (C) when simultaneous characteristic point, characteristic curve and characteristic block, processing
The order of parameter is processing feature point, characteristic curve and characteristic block simultaneously.
It is noted that when the calibration result judged in the step (D) is non-compliant, the step
(E) method of lieutenant colonel's plus lap area image can be hardware corrected and software correction.That is, the step (E) is also wrapped
Include step (E1)：Correct the outer ginseng of camera.Or the step (E) also includes step (E2)：Software correction overlapping region figure
Picture.
According to another aspect of the present invention, the present invention also provides the bearing calibration of a camera overlapping region image, is used for
One automobile calibration system, the bearing calibration of camera overlapping region image comprise the following steps：
(a) at least two cameras are set, and each camera is installed on automobile, and each photographs an at least figure
As capture region, the overlapping region of each described image capture region forms an at least correction zone；With
(b) image of the correction zone is corrected, so as to realize that the image of the correction zone is completely overlapped.
Wherein, the bearing calibration of the image of the correction correction zone can be by correction hardware in the step (b)
The method of position realizes, i.e., by correcting the position of each camera, such as by adjusting the camera rotation of itself
Angle is to change shooting angle etc.；Can also be by the figure that is constant, but will photographing by the shooting angle of the camera
As being adjusted or compensating using software, so that the image in the correction zone is completely overlapped；Can also be more specifically,
For example, the physical location of the camera can not be adjusted, but is base by one in each image being captured
Standard, other captured images move along X-axis or Y-axis, up to other each captured images and as benchmark
The captured image it is completely overlapped, so as to realize that the image of the correction zone is completely overlapped.
Therefore, the step (b) can also include step (b1)：The position of an at least camera is adjusted until being taken the photograph described in each
As each correction zone of head is completely overlapped.
Further, the method for adjustment of the adjustment at least position of a camera also includes step in the step (b1)
(b11)：Adjust the shooting angle of each camera.
Further, the step (b11) also includes step (b111)：One adjustment motor, the adjustment motor are set
Each camera is installed in, for adjusting the shooting angle of the camera.
Wherein, the step (b) can also include step (b2)：Software is adjusted by the image of each correction zone by one
Adjust to completely overlapped.
Wherein, the step (b) can also include step (b3)：By a compensation software by the image of each correction zone
Compensate to completely overlapped.
More specifically, as shown in fig. 6, according to one embodiment of the invention, illustrated exemplified by two cameras are installed
The bearing calibration of camera overlapping region image.That is, in this embodiment in accordance with the invention, the shooting is nose heave
The bearing calibration of folded area image comprises the following steps：
(i) one first camera 84 obtains one first captured image 841；
(ii) second camera 85 obtains one second captured image 851；
(iii) first captured image 841 and second captured image 851 are parsed；
(iv) the overlapping region formation of first captured image 841 and second captured image 851 is corrected
One correction zone 845；
(v) judge whether the image of the correction zone 845 is completely overlapped；
If judged result is yes in the step (v), correction terminates；If it is judged that perform institute for otherwise circulation
Step (i) is stated to the step (iv), until the judged result in the step (v) is yes.
The aligning step of wherein described step (iv) also includes step (iva)：Adjust first camera 84 and described
The shooting angle of second camera 85 is until the image of the correction zone 845 is completely overlapped.
Further, the step (iva) also includes step (iva1)：Two adjustment motors, the two adjustment horses are set
Up to first camera 84 and the second camera 85 is installed in respectively, for adjusting first camera 84 respectively
With the shooting angle of the second camera 85.
The aligning step of wherein described step (iv) also includes step (ivb)：Software is adjusted by the correction zone by one
845 Image Adjusting is to completely overlapped.
The aligning step of wherein described step (iv) also includes step (ivc)：By a correction software by the correction zone
845 image compensation is to completely overlapped.
It is understood that two are set to take the photograph to be illustrated in the above embodiment of the present invention shown in Fig. 6
As head, in other embodiments of the invention, a double camera taken the photograph can be set, multiple cameras can also be set, this
Invention is not limited thereto, and correction can be realized as long as realizing the overlapping region of each camera, so as to realize that automobile is demarcated
The minimum distortion factor and entirety of composite diagram in system after system splicing synthesis are put into automatic correction.
It is noted that in the implementation of the bearing calibration of the camera overlapping region image of the present invention, and be not required to
The characteristic point of demarcation thing is extracted from the image photographed, but during the traveling of automobile, utilize automobile calibration system
Internal module constantly correct automatically so that the image photographed constantly corrects automatically.Demarcated with 2D of the prior art,
3D demarcation needs specific demarcation thing compared to more convenient.
It is noted that in the bearing calibration of the camera overlapping region image of the present invention, the step (b)
The bearing calibration of the image of the middle correction correction zone can also be to realize by an intrinsic preset parameter with reference to target
State the completely overlapped correction of correction zone image.That is, in the present invention, it is described to be inherently defined as with reference to target：
Reference demarcation thing with a preset parameter, the preset parameter can be described with reference to three-dimensional coordinate of demarcation thing etc..
Illustrated for example, being illustrated in figure 7 using light pole as exemplified by inherently referring to target.The automobile 93 travels
On road R with multiple light poles 83.Each light pole 83 has a lamp post serial number 831, these lamp post serial numbers 831
Represent the distinctive positional information of each light pole.That is, each light pole 83 has itself exclusive three-dimensional coordinate letter
Breath.When the automobile 93 is by each light pole 83, each camera can photograph each light pole 83,
And the coordinate information of each light pole 83 can be obtained so as to internal system adjust automatically and positioned.Such as the figure photographed
The acquisition parameters of the light pole 83 extracted as in are (x1, y1, z1), but the preset parameter of the actual light pole 83
For (x2, y2, z2), then system just automatically to correct the image of each correction zone on the basis of preset parameter (x2, y2, z2),
So as to realize that the image of each correction zone is completely overlapped.
It is noted that the acquisition of the coordinate parameters information of each light pole 831 has two ways, first, having stored up
Automobile calibration system storage inside module be present, wherein, these stored coordinate parameters data can be by government
Public information data obtains in storehouse, can also be and positions acquisition by satellite data in advance；Another way is each street lamp
Bar 83 can transmit three-dimensional coordinate information by way of being wirelessly transferred.Among this mode, each light pole 83 is set
There is a wireless signal transmitting device 832, for launching respective fixed coordinates parameter information, for the image calibration of the correction zone
Just.
It is noted that the target that inherently refers to by taking the light pole 831 as an example has preset parameter, the vapour
Car calibration system can obtain positional information according to the intrinsic preset parameter with reference to target, such as obtain the automobile place
Specific lane information etc., on the track which has visual or non-visual demarcation mark, adjusts the automobile itself institute
The degree of accuracy with GPS positioning device, so as to realize the high-precision calibrating of the automobile calibration system.It is it is noted that described
Ground stereoscopic article such as light pole inherently is not limited to reference to target, can also be the setting with communication function for being embedded in underground
It is standby.
It is noted that set between pre-determined distance is spaced it is multiple inherently refer to target, due to the mark in image
Preset, the automobile calibration system can according to each intrinsic preset parameter for referring to target, can be used in real time with
And the constantly precision of detection image joining quality.Obtain the function of being used for increasing persistency check joining quality.
It is illustrated in figure 8 using the railing on highway and is illustrated as exemplified by inherently referring to target.The automobile 93 '
Traveling has in both sides on the expressway R ' of multiple railings 83 '.Each railing 83 ' has a railing numbering 831 ', the column
Bar numbering 831 ' is preset in advance, and these described railing numberings 831 ' indicate the distinctive of each railing 83 '
Positional information.Except shifting to an earlier date preset specific unique affiliated railing numbering 831 ', affiliated railing 83 ' is also provided with one
GPS device 832 ', communicated wirelessly for the automobile 93 '.It is described when the automobile 93 ' is by each railing 83 '
Automobile 93 ' can communicate wirelessly or get the fixed position information of each railing 83 ' with each railing 83 ',
And the positional information obtained with the measure of the railing 83 ' of the automobile 93 ' measure is compared to judge whether to need
Correction.Or the automobile 93 ' makes each camera be shot with the railing 83 ' for demarcation thing.Then judge what is photographed
The position of the railing 83 ' whether the position consistency with the setting of light pole.Inconsistent, the camera needs to be corrected.From
And realize that the image of each correction zone is completely overlapped.
Therefore, in one embodiment of this invention, wherein, the step (b) can also include step (b4)：By with
One inherently refers to target to correct the image of the correction zone.
Further, the step (b4) is further comprising the steps of:
(b41)：Read the data of an intrinsic acquisition parameters with reference to target for each correction zone；
(b42)：Read the data of an intrinsic preset parameter with reference to target；And
(b43)：The data of each acquisition parameters are corrected on the basis of the data of the preset parameter, it is described so as to realize
The correction of the image of correction zone.
Further, the step (b42) also includes step (b42a)：It is solid from one inside the automobile calibration system
There are the data that the preset parameter is obtained with reference to target preset parameter memory module.
It is understood that when it is described it is intrinsic target is provided with wireless signal transmitting device when, the step (b42)
Step (b42b) can also be included：Receive the fixed ginseng of an intrinsic wireless signal transmitting device transmission with reference to target
Several data.
It is noted that mutually demarcate in other embodiments of the invention or between automobile, that is,
Say, mutual location coordinate information can be shared.
Therefore, the overlapping region correction module 52 of the automobile calibration system of the invention also includes a camera position
Put correction module 521, the camera position correction module 521 can be such as logical by correcting the position of each camera
Cross and adjust the camera anglec of rotation of itself to change shooting angle etc., so that the image in the correction zone is completely heavy
It is folded, realize the correction of overlapping region image.
The overlapping region correction module 52 also includes an adjustment software correction module 522 and a compensation software correction module
523, for when the shooting angle of each camera is constant, the image photographed being adjusted or being mended using software
Repay.
The overlapping region correction module 52 also inherently refers to target correction module 524 including one, when using solid with one
Determine the one of parameter and inherently refer to target to realize the timing of overlapping region image, it is described inherently to refer to target correction module 524
The intrinsic each parameter for referring to target as correction reference can be read out, so as to pass through the adjustment software correction mould
Block 522 and the compensation software correction module 523 are corrected to overlapping area image.
Further, it is described inherently also to include a preset parameter memory module 5241 with reference to target correction module 524, it is used for
Store the data of the intrinsic preset parameter with reference to target.
Further, it is described inherently also to include a reception of wireless signals module 5242 with reference to target correction module 524, it is used for
Reception system outer (such as on other automobiles or intrinsic with reference to the wireless signal transmitting device installed in target) launches
The data of the intrinsic preset parameter with reference to target.
Further, it is described inherently also to include an acquisition parameters extraction module 5244 with reference to target correction module 524, it is used for
Extract the data of the intrinsic acquisition parameters with reference to target in the image of each overlapping region.
It is noted that described inherently can also include a wireless signal transmitting module with reference to target correction module 524
5243, demarcation information can be launched, so as to realize the mutual demarcation between other automobiles, that is to say, that the automobile demarcation
System can realize the shared of the location coordinate information between more automobiles.
It is noted that the present invention need not artificially set a demarcation scene to be demarcated in calibration process.One
Kind method is that system automatically selects characteristic point, characteristic curve or characteristic block as demarcation thing.Another kind is to utilize such as light pole public affairs
Facility or public building are as demarcation thing altogether.Set because light pole is not used as demarcation scene, therefore can also
Include the category of no demarcation.Such as in Fig. 7 and Fig. 8 embodiment, electric pole or railing are provided with GPS, the light pole or
The communal facilitys such as railing are communicated with vehicle-mounted camera, inform that vehicle-mounted camera is clapped by demarcation thing of the communal facility
Take the photograph.Then judge the position of communal facility that photographs whether the position consistency with the setting of light pole.Inconsistent then shooting
Head needs to be corrected.Still an alternative is that demarcation thing is set from automobile.For example, the demarcation thing in the present invention provides
Device 70 can automatically provide the demarcation thing for meeting demarcation condition, and many times for finding demarcation thing are saved for user, and
Also it is more convenient static and dynamic demarcation.
It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention completely and effectively realizes.The function and structural principle of the present invention exists
Show and illustrate in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (10)
- A 1. automobile calibration system, it is characterised in that including：An at least correction module, at least an information acquisition module, at least one demarcation thing processing module and at least a calibration result is sentenced Cover half block, wherein described information acquisition module are by controlling multiple cameras to believe in each moment shooting image to gather image Cease, extracted in the information that the demarcation thing processing module gathers described information acquisition module and parameter is handled, it is described Calibration result determination module is matched the data of the parameter processing result in the demarcation thing processing module, judges demarcation knot Whether fruit meets the requirements, when the result of determination of the calibration result determination module is meets, the mark of the automobile calibration system Determine process to terminate, when the result of determination of the calibration result determination module is undesirable, the correction module carries out school Just.
- 2. automobile calibration system as claimed in claim 1, wherein the automobile calibration system is also entered including the correction module One step includes an at least overlapping region correction module, and the overlapping region correction module is automatically to the overlapping region division module At least overlapping region image marked off is corrected.
- 3. automobile calibration system as claimed in claim 2, wherein the overlapping region correction module is also intrinsic including at least one With reference to target correction module, the intrinsic intrinsic reference mark being read out with reference to target correction module as correction reference Each parameter, the overlapping region correction module also includes an at least one adjustment software correction module and at least compensation software school Positive module, the adjustment software correction module and the compensation software correction module are corrected to overlapping area image.
- 4. automobile calibration system as claimed in claim 3, wherein described inherently also include at least one with reference to target correction module Wireless signal transmitting module, transmitting demarcation information, so as to realize the mutual demarcation between automobile and automobile.
- 5. the automobile calibration system as described in any in Claims 1-4, wherein the automobile calibration system also includes at least one Demarcate thing and device is provided, provided conveniently for the automobile calibration system and meet the demarcation thing of calibration request.
- 6. the bearing calibration of a camera overlapping region image, for an automobile calibration system, camera overlapping region figure The bearing calibration of picture comprises the following steps：(a) at least two cameras are set, and each camera is installed on automobile, and is each photographed an at least image and caught Region is caught, the overlapping region of each described image capture region forms an at least correction zone；With(b) image of the correction zone is corrected, so as to realize that the image of the correction zone is completely overlapped.
- 7. the bearing calibration of camera overlapping region as claimed in claim 6 image, wherein the step (b) also includes step (b4)：By correcting the image of the correction zone inherently with reference to target with least one；Wherein described step (b4) is further comprising the steps of：(b41)：Read the data of an intrinsic acquisition parameters with reference to target for each correction zone；(b42)：Read the data of an intrinsic preset parameter with reference to target；And(b43)：The data of each acquisition parameters are corrected on the basis of the data of the preset parameter, so as to realize the correction The correction of the image in area.
- 8. the bearing calibration of camera overlapping region as claimed in claim 7 image, wherein the step (b42) also includes step Suddenly (b42a)：Inherently obtained from least one inside the automobile calibration system with reference to target preset parameter memory module described solid Determine the data of parameter.
- 9. the bearing calibration of camera overlapping region as claimed in claim 7 image, wherein the step (b42) can also wrap Include step (b42b)：Receive the intrinsic at least preset parameter of a wireless signal transmitting device transmission with reference to target Data.
- 10. the bearing calibration of the camera overlapping region image as described in any in claim 7 to 9, wherein the step (b4) in it is described it is intrinsic with reference to target be communal facility or public building.
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