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Panoramic view vision auxiliary parking system demarcating method

A technology of assisted parking and calibration method, which is applied in the field of calibration of the panoramic vision assisted parking system, can solve problems such as increasing safe driving, and achieve the effect of low equipment requirements, reduced complexity, and simple process

Inactive Publication Date: 2009-05-06
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

Traditional image-based assisted driving only installs a reversing camera at the rear of the car, which can only cover a limited area around the car, and the visual blind spots on both sides and front of the car undoubtedly increase the hidden danger of safe driving

Method used

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  • Panoramic view vision auxiliary parking system demarcating method
  • Panoramic view vision auxiliary parking system demarcating method
  • Panoramic view vision auxiliary parking system demarcating method

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Embodiment Construction

[0033] figure 1 The calibration flow chart of the panoramic vision assisted parking system is given, which mainly includes the following steps:

[0034] Step 1: Use the calibration algorithm of the fisheye wide-angle camera to calculate the internal parameters of the camera and the distortion coefficient of the fisheye lens;

[0035] 1) The camera is represented by a pinhole model:

[0036] λu=K(XR+T)

[0037] in K = f u α u 0 0 f v v 0 0 ...

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Abstract

The invention discloses a parking method for a panoramic optical aid parking system, which uses images generated by at least two wide-angle fisheye cameras installed at the periphery of an automobile for generating a virtual aerial view image at a certain height at the top of the automobile. The method comprises the following steps: model parameters of the wide-angle fisheye cameras are calculated; a certain straight line in a public view field is identified as a splice seam; the position of a world coordinate system in a non-public view field is identified; the position of a visual aerial view camera is fixed; a single-mapping transformation matrix based on the ground level is calculated; the position of the splice position is totally optimized; position parameters among all images under the visual aerial view camera are calculated. The method has the advantages of low requirement to equipment, simple process, and no dependence on relative positions among cameras and accurate posture parameters, and reduces the complexity of system integration; calculated parameters during real-time work can be provided by one-time parking; and the method has favorable peripheral panoramic aerial view effect of automobiles.

Description

technical field [0001] The invention relates to digital image processing and computer vision technology, in particular to a calibration method for a panoramic vision assisted parking system. Background technique [0002] my country is a country with serious traffic accidents, and the annual death toll and fatality rate are not optimistic. Reducing traffic accidents requires not only enhancing safety awareness subjectively, but also improving the reliability of safe driving of the car itself objectively. Existing various auxiliary driving tools are to solve this problem. Automotive safety systems can be roughly divided into passive and active systems. The former mainly includes seat belts, airbags, etc. Although it can reduce the degree of accident casualties, it cannot prevent accidents. The latter mainly uses various sensors such as ultrasonic, radar, infrared thermal sensors and cameras. They can provide road condition information such as obstacles for driver decision-m...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 刘济林雷杰丁鑫
Owner ZHEJIANG UNIV
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