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Automatically calibration method based on black and white grid corner matching

A technology of corner point matching and automatic calibration, which is applied in the field of camera calibration of panoramic parking system, and can solve problems such as increasing safe driving

Inactive Publication Date: 2013-06-26
FORYOU GENERAL ELECTRONICS
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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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  • Automatically calibration method based on black and white grid corner matching
  • Automatically calibration method based on black and white grid corner matching
  • Automatically calibration method based on black and white grid corner matching

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Embodiment Construction

[0062] In order to allow those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described below in conjunction with the accompanying drawings.

[0063] Such as figure 1 As shown, the present invention discloses an automatic calibration method based on black and white grid corner matching, including the following steps: (1) using a black and white grid calibration cloth as a calibration template (such as figure 2 As shown), the black and white grid corner detection is performed on the collected black and white grid images of the front, rear, left, and right directions of the car, and the corner detection uses the improved Harris corner detection algorithm.

[0064] (2) For the four images detected in (1), use the black and white grid matching algorithm to calculate the internal corner points of the black and white grid and establish the positional relationship between the corner points to form a cor...

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Abstract

The invention discloses an automatically calibration method based on black and white grid corner matching. The method includes adopting black and white calibrating cloth as a calibrating model, respectively detecting image corners by an improved harris corner detection calculation, building position relations between corners and forming a corner network; performing distortion correction and matching to images; calculating corner position in non-distorting images and homographic matrix of corner real position in final virtual full view bird's-eye view; and performing view changing according to virtual bird's-eye view camera position and homographic matrix, calculating corresponding relation between image points in the coordinate system and the original images, and then forming a lookup table. The automatically calibration method adopting the improved harris corner detection calculation is simple and practical, can well judge corner position relation, and forms a correct corner network; and the automatically calibration method adopting lookup table function can generate output images after the images are calibrated, is fast, and can well meet real-time need.

Description

technical field [0001] The invention relates to digital image processing and computer vision technology, in particular to a camera calibration method for a panoramic 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-making. A...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 胡元峰
Owner FORYOU GENERAL ELECTRONICS
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