CN108564629A - A kind of scaling method and system of vehicle-mounted camera external parameter - Google Patents
A kind of scaling method and system of vehicle-mounted camera external parameter Download PDFInfo
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Abstract
The invention discloses a kind of scaling methods and system of vehicle-mounted camera external parameter, and this approach includes the following steps：S1, the designated position by vehicle parking in the calibration place provided with multiple markers；The vehicle-mounted each camera of S2, control carries out image taking, and then is based on inverse perspective mapping principle, carries out the check of camera installation site and angle；S3, each external parameter for gradually finely tuning the camera after checking in default adjustable range according to default step-length, and calculate the variance of the measurement result and standard results of adjustment the acquired acquisition of external parameter rear camera every time；S4, select one group of external parameter corresponding to variance minimum value as calibration result.The present invention improves the calibration accuracy of camera external parameter, and can carry out demarcating while multiple cameras, quick and efficient, can be widely applied in the control industry of vehicle-mounted camera.
Description
Technical field
The present invention relates to vehicle-mounted camera control fields, more particularly to a kind of calibration side of vehicle-mounted camera external parameter
Method and system.
Background technology
Camera increasingly becomes the important detecting sensor of automobile, and during camera use, to its external ginseng
Number carries out the step that calibration is quite crucial.The method for calibrating external parameters of vehicle-mounted camera is mainly using mark by hand at present
Fixed, first method is parked in vehicle on flat forthright, and lane line is decorated on both sides, to image by adjusting calibration software
The lane line of head acquisition is parallel, completes calibration.This method need the vehicle to be parked among road and with lane line keeping parallelism,
It is whether parallel by the lane line after transformation is visually observed.For the more demanding of environment when calibration, and subjectivity is very strong,
Affect the accuracy of calibration result.Second method is to use scaling board, and special scaling board is placed on front side fixed range
Shoot a pictures, then one pictures of mobile one section of fixed distance shooting.The characteristic point then looked in two pictures carries out
Matching, is obtained by calculation the pitch angle and yaw angle of camera.This method is more demanding for the placement position of scaling board,
Calibration process is cumbersome, inefficiency, and the matching precision of characteristic point directly affects the precision of calibration.Generally speaking, at present
To the scaling method of the external parameter of vehicle-mounted camera there are efficiency it is low, accuracy is low the problems such as.
Invention content
In order to solve the above technical problems, the object of the present invention is to provide a kind of calibration of vehicle-mounted camera external parameter
Method and system.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of scaling method of vehicle-mounted camera external parameter, includes the following steps：
S1, the designated position by vehicle parking in the calibration place provided with multiple markers；
The vehicle-mounted each camera of S2, control carries out image taking, and then is based on inverse perspective mapping principle, carries out camera
The check of installation site and angle；
S3, each external parameter for gradually finely tuning the camera after checking in default adjustable range according to default step-length, and
Calculate the variance of the measurement result and standard results of adjustment the acquired acquisition of external parameter rear camera every time；
S4, select one group of external parameter corresponding to variance minimum value as calibration result.
Further, the external parameter includes camera coordinate system relative to the pitch angle of world coordinate system, yaw angle, cross
To displacement, length travel and vertical displacement.
Further, the marker is using the object that can extract fixed characteristic points；
Multiple markers set by the Calibration Field meet following rule：Rule one makes vehicle parking in specific bit
When setting, each camera collects 6 or more complete markers within sweep of the eye；Rule two, multiple markers are uniformly arranged
Row, and the quadrangle of adjacent four markers composition is rectangle；Rule three makes vehicle parking at designated position, marker
It is not more than 5 meters with the minimum distance of camera, and the maximum distance of marker and camera is not less than 8 meters.
Further, the marker uses gridiron pattern.
Further, the step S2, specifically includes：
The vehicle-mounted each camera of S21, control carries out image taking；
S22, in conjunction with preset camera installation site and angle, inverse perspective mapping principle is based on, by every image by saturating
View is converted into vertical view；
The corner location of each marker in S23, extraction vertical view, and judge adjacent four angle points composition quadrangle whether
For rectangle, if it is not, after then camera installation site and angle are adjusted, return to step S21 is checked again, conversely, completing
It checks.
Further, the step of whether quadrangle of adjacent four angle points composition is rectangle is judged described in the step S23
In, by be whether the angle at four angles of the quadrangle by judging adjacent four angle points composition fell in 90 ° of ± c ° in the range ofs
Judged, c is preset constant.
Further, the step S3, specifically includes：
S31, image taking is carried out using the camera after check；
S32, the center angle point for searching each marker in shooting image, record its pixel coordinate, and setting according to marker
Seated position obtains the set of the world coordinates of all markers as standard results；
S33, the seat of the conversion under its corresponding world coordinate system is calculated according to the pixel coordinate of each marker in shooting image
Measurement result is used as after mark；
Variance between S34, calculating measurement result and standard results；
S35, it is presetting in adjustable range, each external parameter of camera is gradually being finely tuned according to default step-length, and every micro-
After adjusting an external parameter, return to step S31, until fine tuning terminates.
Further, the step S33, specifically includes：
Using following formula, is calculated according to the pixel coordinate of each marker in shooting image and turned under its corresponding world coordinate system
Change coordinate：
Wherein, X indicates that lateral world coordinates, Y indicate that longitudinal world coordinates, m indicate that camera longitudinal resolution, n indicate
Camera lateral resolution, α indicate that camera longitudinal direction field angle, β indicate that camera transverse field angle, u indicate that horizontal pixel is sat
Mark, v indicate that longitudinal pixel coordinate, θ indicate that pitch angle, γ indicate that yaw angle, d indicate that lateral displacement, l indicate length travel, h tables
Show vertical displacement；
The set of the conversion coordinate of all markers in image will be shot as measurement result.
The present invention solves another technical solution used by its technical problem：
A kind of calibration system of vehicle-mounted camera external parameter, including：
At least one processor；
At least one processor, for storing at least one program；
When at least one program is executed by least one processor so that at least one processor is realized
A kind of scaling method of the vehicle-mounted camera external parameter.
The beneficial effects of the invention are as follows：The present invention is primarily based on inverse perspective mapping principle, carry out camera installation site and
The coarse adjustment to camera external parameter is realized in the check of angle, then gradually micro- in default adjustable range according to default step-length
Each external parameter of camera after adjustment core, and calculate the measurement knot of adjustment the acquired acquisition of external parameter rear camera every time
After the variance of fruit and standard results, selects one group of external parameter corresponding to variance minimum value as calibration result, realize to taking the photograph
As the accurate adjustment of head external parameter, the calibration accuracy of camera external parameter is improved, and multiple cameras can be carried out
It demarcates simultaneously, it is quick and efficient.
Description of the drawings
Fig. 1 is a kind of flow chart of the scaling method of vehicle-mounted camera external parameter of the present invention；
Fig. 2 is the setting schematic diagram that place is demarcated in the specific embodiment of the invention；
Fig. 3 is the image that camera normal acquisition obtains in the specific embodiment of the invention；
Fig. 4 is to carry out the obtained vertical view of inverse perspective mapping to the image of Fig. 3；
Fig. 5 is the schematic diagram that angle point grid and line are carried out in the specific embodiment of the invention；
Fig. 6 is the transition diagram of camera coordinate system and world coordinate system；
Fig. 7 is external parameter schematic diagram one of the camera coordinate system relative to world coordinate system；
Fig. 8 is external parameter schematic diagram two of the camera coordinate system relative to world coordinate system；
Fig. 9 is a kind of structure diagram of the calibration system of vehicle-mounted camera external parameter of the present invention.
Specific implementation mode
Embodiment of the method
Referring to Fig.1, a kind of scaling method of vehicle-mounted camera external parameter, includes the following steps：
S1, the designated position by vehicle parking in the calibration place provided with multiple markers；
The vehicle-mounted each camera of S2, control carries out image taking, and then is based on inverse perspective mapping principle, carries out camera
The check of installation site and angle；
S3, each external parameter for gradually finely tuning the camera after checking in default adjustable range according to default step-length, and
Calculate the variance of the measurement result and standard results of adjustment the acquired acquisition of external parameter rear camera every time；
S4, select one group of external parameter corresponding to variance minimum value as calibration result.
The present invention is primarily based on inverse perspective mapping principle, carries out the check of camera installation site and angle, realizes to taking the photograph
As the coarse adjustment of head external parameter, each of the camera after checking gradually then is finely tuned in default adjustable range according to default step-length
External parameter, and calculate the variance of the measurement result and standard results of adjustment the acquired acquisition of external parameter rear camera every time
Afterwards, it selects one group of external parameter corresponding to variance minimum value as calibration result, realizes the accurate adjustment to camera external parameter.
It is combined, camera external parameter is demarcated, it is ensured that the accuracy of calibration result by two steps of coarse adjustment and accurate adjustment.
And the present invention can acquire the shooting image of multiple cameras simultaneously, demarcated while multiple cameras, and it is quickly high
Effect.
It is further used as preferred embodiment, the external parameter includes camera coordinate system relative to world coordinate system
Pitch angle, yaw angle, lateral displacement, length travel and vertical displacement.Under normal circumstances, the vehicle axis system where vehicle is
For world coordinate system, therefore, the external parameter in the present invention refers to the position relationship between camera coordinate system and world coordinate system.
It is further used as preferred embodiment, the marker is using the object that can extract fixed characteristic points；
Multiple markers set by the Calibration Field meet following rule：Rule one makes vehicle parking in specific bit
When setting, each camera collects 6 or more complete markers within sweep of the eye；Rule two, multiple markers are uniformly arranged
Row, and the quadrangle of adjacent four markers composition is rectangle；Rule three makes vehicle parking at designated position, marker
It is not more than 5 meters with the minimum distance of camera, and the maximum distance of marker and camera is not less than 8 meters.
It is further used as preferred embodiment, the marker uses gridiron pattern, and it is special can simply and quickly to extract acquisition
Sign point.
Fig. 2 is a schematic diagram set by Calibration Field, wherein marker uses gridiron pattern, in Fig. 2, be parked in calibration
Vehicle among place is provided with 4 cameras, and the visual field of 4 cameras is illustrated using dotted line, each taken the photograph in fig. 2
As head can collect 6 or more complete gridiron patterns, so as to be accurately used for carrying out vehicle-mounted camera external parameter
Calibration.
It is further used as preferred embodiment, the step S2 is specifically included：
The vehicle-mounted each camera of S21, control carries out image taking；
S22, in conjunction with preset camera installation site and angle, inverse perspective mapping principle is based on, by every image by saturating
View is converted into vertical view；
The corner location of each marker in S23, extraction vertical view, and judge adjacent four angle points composition quadrangle whether
For rectangle, if it is not, after then camera installation site and angle are adjusted, return to step S21 is checked again, conversely, completing
It checks.
It is further used as preferred embodiment, four sides of adjacent four angle points composition are judged described in the step S23
In the step of whether shape is rectangle, it is whether the angle at four angles of the quadrangle by judging adjacent four angle points composition falls
Judged in the range of 90 ° ± c °, c is preset constant.C is to be determined according to camera installation accuracy, such as c can
To be set as the numbers such as 1 or 2.
It is the schematic diagram for the image that camera normal acquisition arrives in Fig. 3, is after carrying out inverse perspective mapping to Fig. 3 in Fig. 4
Obtained vertical view.The marker acquired in Fig. 3 is gridiron pattern, and therefore, the present embodiment is in specific deterministic process, to conversion
Obtained vertical view carries out line to adjacent corner points and judges adjacent four angle points after extracting its X-comers position
Whether the quadrangle formed is rectangle to determine whether meeting the requirements, as shown in figure 5, being formed especially by adjacent four angle points
The angle at four angles of quadrangle whether fall in the range of 90 ° ± c °, it can be determined that whether the quadrangle of composition is rectangle,
Whether installation site and angle to judge camera meet the requirements.If undesirable, to camera installation site and
Angle is adjusted.Herein be adjusted to coarse adjustment, can be automatic adjustment, can also be manual adjusting.By coarse adjustment so that taking the photograph
After substantially conforming to requirement as head installation site and angle, step S3 is further executed, realizes the accurate adjustment to camera, further
Improve the stated accuracy of camera external parameter.
It is further used as preferred embodiment, the step S3 is specifically included：
S31, image taking is carried out using the camera after check；
S32, the center angle point for searching each marker in shooting image, record its pixel coordinate (u, v), and according to marker
Installation position obtain all markers world coordinates set as standard results；For example, a shared j marker, then
One first set comprising j element of world coordinates composition of j marker is obtained as standard results；
S33, the seat of the conversion under its corresponding world coordinate system is calculated according to the pixel coordinate of each marker in shooting image
Measurement result is used as after mark；Likewise, here, the conversion coordinate for obtaining j marker forms the comprising j element
Two set are used as measurement result；
Variance between S34, calculating measurement result and standard results；Because measurement result is set with standard results,
It is by carrying out acquisition of averaging after calculating the variance of its corresponding element during calculating its variance.I.e. measurement result with
Element between standard results is to carry out matching primitives according to correspondence, between first element for calculating two set
The variance between variance, third element between variance, second element ..., until calculate two set the last one
After variance between element, averages to these variances and obtain two variances between measurement result and standard results.
S35, it is presetting in adjustable range, each external parameter of camera is gradually being finely tuned according to default step-length, and every micro-
After adjusting an external parameter, return to step S31, until fine tuning terminates.By taking pitch angle as an example, it is assumed that preset pitch angle is 3 °,
It is [3 ° of-σ, 3 ° of+σ] then to preset adjustable range, within the scope of this, is finely adjusted to pitch angle with smaller default step-length, example
0.1 ° is such as finely tuned every time in default adjustable range, is then back to step S31, until exceeding this range, then is continued to adjust next
A external parameter, finally until all small parameter perturbations terminate.
Assuming that having adjusted k external parameter in total, then k groups different parameter combination and k variance δ are obtained altogetheri(i
=1,2,3...k).Therefore, in step S4, k variance δ can be obtainediIn minimum value, then obtain its corresponding parameter group
Cooperation is the calibration result to camera.Camera is demarcated according to the parameter combination, then can obtain best accuracy of measurement.
Therefore, this programme can improve the calibration accuracy of camera external parameter.And this programme can be carried out at the same time multiple camera shootings
The calibration of head, it is quick and efficient.
In this step, the Computing Principle for converting coordinate is as follows：
As shown in fig. 6, the external parameter of camera determines a conversion from world coordinate system to camera coordinate system
Process, the R in formula (1) is spin matrix, and T is transposed matrix.
Spin matrix R is calculated, pitching angle theta, yaw angle γ and the rotation angle of demarcating camera is needed, gives tacit consent in the present embodiment
Rotation angle is 0.Transposed matrix T is calculated, the lateral displacement d, length travel l and the vertical displacement h that demarcate camera are needed.
Fig. 7, Fig. 8 are camera coordinate system relative to the pitching angle theta of world coordinate system, yaw angle γ, lateral displacement d, vertical
To the schematic diagram of displacement l and vertical displacement h.In Fig. 7 and Fig. 8, Wxy indicates that world coordinate system, Cxy indicate camera coordinate system,
Specifically, Xw and Yw indicates that the reference axis of world coordinate system, Xc indicate the reference axis of camera coordinate system.In the present embodiment, lead to
It crosses after being finely adjusted to pitching angle theta, yaw angle γ, lateral displacement d, length travel l and vertical displacement h this five parameters, then into
Row image taking obtains most suitable parameter combination to calculate.
It is further used as preferred embodiment, the step S33 is specifically included：
Using following formula, is calculated according to the pixel coordinate of each marker in shooting image and turned under its corresponding world coordinate system
Change coordinate：
Wherein, X indicates that lateral world coordinates, Y indicate that longitudinal world coordinates, m indicate that camera longitudinal resolution, n indicate
Camera lateral resolution, α indicate that camera longitudinal direction field angle, β indicate that camera transverse field angle, u indicate that horizontal pixel is sat
Mark, v indicate that longitudinal pixel coordinate, θ indicate that pitch angle, γ indicate that yaw angle, d indicate that lateral displacement, l indicate length travel, h tables
Show vertical displacement；
The set of the conversion coordinate of all markers in image will be shot as measurement result.
Generally speaking, the present invention can obtain more accurate camera external parameter calibration result, and may be implemented
It is quick and efficient to being demarcated while the external parameters of multiple vehicle-mounted cameras.
System embodiment
With reference to Fig. 9, a kind of calibration system of vehicle-mounted camera external parameter is present embodiments provided, including：
At least one processor 100；
At least one processor 200, for storing at least one program；
When at least one program is executed by least one processor 100 so that at least one processor
100 realize a kind of scaling method of vehicle-mounted camera external parameter.
The calibration system of the vehicle-mounted camera external parameter of the present embodiment, what executable the method for the present invention embodiment was provided
The scaling method of vehicle-mounted camera external parameter, the arbitrary combination implementation steps of executing method embodiment, has this method phase
The function and advantageous effect answered.
It is to be illustrated to the preferable implementation of the present invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations or be replaced under the premise of without prejudice to spirit of that invention
It changes, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (9)
1. a kind of scaling method of vehicle-mounted camera external parameter, which is characterized in that include the following steps：
S1, the designated position by vehicle parking in the calibration place provided with multiple markers；
The vehicle-mounted each camera of S2, control carries out image taking, and then is based on inverse perspective mapping principle, carries out camera installation
The check of position and angle；
S3, each external parameter for gradually finely tuning the camera after checking in default adjustable range according to default step-length, and calculate
The variance of the measurement result and standard results of adjustment the acquired acquisition of external parameter rear camera every time；
S4, select one group of external parameter corresponding to variance minimum value as calibration result.
2. the scaling method of vehicle-mounted camera external parameter according to claim 1, which is characterized in that the external parameter
Including camera coordinate system relative to the pitch angle of world coordinate system, yaw angle, lateral displacement, length travel and vertical displacement.
3. the scaling method of vehicle-mounted camera external parameter according to claim 1, which is characterized in that the marker is adopted
With the object that can extract fixed characteristic points；
Multiple markers set by the Calibration Field meet following rule：Rule one makes vehicle parking at designated position,
Each camera collects 6 or more complete markers within sweep of the eye；Rule two, multiple markers are evenly distributed, and
The quadrangle of adjacent four markers composition is rectangle；Rule three makes vehicle parking at designated position, marker and camera shooting
The minimum distance of head is not more than 5 meters, and the maximum distance of marker and camera is not less than 8 meters.
4. the scaling method of vehicle-mounted camera external parameter according to claim 3, which is characterized in that the marker is adopted
Use gridiron pattern.
5. the scaling method of vehicle-mounted camera external parameter according to claim 2, which is characterized in that the step S2,
It specifically includes：
The vehicle-mounted each camera of S21, control carries out image taking；
S22, in conjunction with preset camera installation site and angle, inverse perspective mapping principle is based on, by every image by perspective view
It is converted into vertical view；
The corner location of each marker in S23, extraction vertical view, and judge whether the quadrangle of adjacent four angle points composition is square
Shape, if it is not, after then camera installation site and angle are adjusted, return to step S21 is checked again, conversely, completing to check.
6. the scaling method of vehicle-mounted camera external parameter according to claim 5, which is characterized in that the step S23
Described in judge in the step of whether quadrangle of adjacent four angle points composition is rectangle, be by judging adjacent four angle point groups
At the angle at four angles of quadrangle whether fall in the range of 90 ° ± c ° and judged, c is preset constant.
7. the scaling method of vehicle-mounted camera external parameter according to claim 2, which is characterized in that the step S3,
It specifically includes：
S31, image taking is carried out using the camera after check；
S32, the center angle point for searching each marker in shooting image, record its pixel coordinate, and according to the setting position of marker
The set for the world coordinates for obtaining all markers is set as standard results；
S33, according to shooting image in each marker pixel coordinate calculate the conversion coordinate under its corresponding world coordinate system after
As measurement result；
Variance between S34, calculating measurement result and standard results；
S35, it is presetting in adjustable range, each external parameter of camera is gradually being finely tuned according to default step-length, and in every fine tuning one
After a external parameter, return to step S31, until fine tuning terminates.
8. the scaling method of vehicle-mounted camera external parameter according to claim 1, which is characterized in that the step S33,
It specifically includes：
Using following formula, the conversion under its corresponding world coordinate system is calculated according to the pixel coordinate of each marker in shooting image and is sat
Mark：
Wherein, X indicates that lateral world coordinates, Y indicate that longitudinal world coordinates, m indicate that camera longitudinal resolution, n indicate camera shooting
Head lateral resolution, α indicate that camera longitudinal direction field angle, β indicate that camera transverse field angle, u indicate horizontal pixel coordinate, v
Indicate that longitudinal pixel coordinate, θ indicate that pitch angle, γ indicate that yaw angle, d indicate that lateral displacement, l indicate that length travel, h indicate to hang down
Straight displacement；
The set of the conversion coordinate of all markers in image will be shot as measurement result.
9. a kind of calibration system of vehicle-mounted camera external parameter, which is characterized in that including：
At least one processor；
At least one processor, for storing at least one program；
When at least one program is executed by least one processor so that at least one processor is realized as weighed
Profit requires a kind of scaling method of vehicle-mounted camera external parameter of 1-8 any one of them.
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