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Interactive calibration method for external parameters of vehicle video camera

A technology of camera internal parameters and calibration methods, which is applied in image data processing, image analysis, instruments, etc., and can solve problems such as not being effectively solved.

Active Publication Date: 2011-04-13
NAT UNIV OF DEFENSE TECH
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  • Abstract
  • Description
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Problems solved by technology

And so far, this problem has not been effectively resolved

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  • Interactive calibration method for external parameters of vehicle video camera
  • Interactive calibration method for external parameters of vehicle video camera
  • Interactive calibration method for external parameters of vehicle video camera

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Embodiment Construction

[0087] attached image 3 is a flowchart of the present invention.

[0088] Concrete flow process of the present invention is:

[0089] The first step is to obtain the internal parameters of the camera

[0090] The second step is to build a calibration scene

[0091] as attached Figure 4 As shown in a, paste three straight line segments on the flat ground, two of which are parallel to the longitudinal axis of the vehicle body, and the other is perpendicular to the longitudinal axis of the vehicle body, so that the three calibration lines and their intersection points are all visible in the camera image, as shown in the attached Figure 4 as shown in b;

[0092] The third step is to build an auxiliary coordinate system, locate the graphics and positions of the three calibration lines on the ground in the camera image through human-computer interaction, and obtain the coordinates and corresponding relationship of the calibration lines in the world coordinate system and the a...

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Abstract

The invention discloses an interactive calibration method for external parameters of a vehicle video camera in order to implement high-precision video camera external parameter calibration through rational construction of calibration scene and simple man-machine interaction under a condition of obtaining internal parameters of the video camera in advance. A technical scheme is as follows: firstly, obtaining the internal parameters of the video camera; and then constructing a calibration scene having three calibration straight lines on the flat ground; building an auxiliary coordinate system, positioning figures and positions of the three calibration lines in a video camera image through the man-machine interaction, and calculating coordinates and corresponding relationship of the calibration lines in a world coordinate system and the auxiliary coordinate system; finally, calculating the video camera external parameters according to the coordinates of the calibration lines and the corresponding relationship thereof. With the interactive calibration method for the external parameters of the vehicle video camera, all the external parameters of the video camera can be simultaneously obtained, and a parameter solving process is perfect; influence on external parameter calibration caused by aberration of a lens of the video camera can be avoided, and reliability of the calibration process is ensured; and the calibration scene is simply structured, and the calibration method is convenient for implementation and strong in operability.

Description

Technical field [0001] The invention relates to a camera calibration method in a computer vision system, in particular to an interactive calibration method for external parameters of a vehicle-mounted camera. Background technique [0002] In recent years, the research on automotive active safety products based on computer vision has become increasingly extensive, and related practical products have become increasingly abundant. Such as Lane Departure Warning System (LDWS), Forward Collision Warning System (FCWS) and Rear View Assist System, etc. In the computer vision system, the installation and calibration of the camera is a key link, which directly determines the function realization and performance index of the vision system. [0003] Camera calibration is the process of determining the internal geometric and optical parameters of the camera and the three-dimensional position and attitude of the camera coordinate system relative to the world coordinate system. It is the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 谭筠安向京孙振平
Owner NAT UNIV OF DEFENSE TECH
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