Calibration method and apparatus of pitch angle of vehicle-mounted camera, electronic device, and vehicle

Abstract

The application relates to a calibration method and apparatus of a pitch angle of a vehicle-mounted camera, an electronic device, and a vehicle. According to one embodiment, the calibration method comprises: an inertial measurement unit is used for determining a gravity direction; the inertial measurement unit tracks movement of a vehicle to obtain a first trajectory corresponding to a movement distance; a vehicle-mounted camera tracks the movement of the vehicle to obtain a second trajectory corresponding to the movement distance; an offset amount between the first trajectory and the second trajectory is determined and thus an included angle between the vehicle-mounted camera and the inertial measurement unit is determined; and on the basis of the gravity direction, the included angle between vehicle-mounted camera and the inertial measurement unit, and a pitch angle direction determined by the inertial measurement unit, a pitch angle of the vehicle-mounted camera is determined. According to the method provided by the application, with a full-automatic mode, real-time online calibration of the pitch angle of the vehicle-mounted camera is realized by combining the inertial measurement unit without any manual intervention, so that the calibration method and apparatus can be applied to the fields of automatic driving and the like widely.

Description

technical field [0001] The present application generally relates to the field of automatic driving (ADAS), and more particularly relates to a method and device for calibrating the pitch angle of a vehicle camera, which can perform real-time online calibration of the pitch angle of a vehicle camera in a fully automatic manner in combination with an inertial measurement unit , without human intervention. The present application also relates to an electronic device for carrying out the method, and a vehicle comprising the electronic device. Background technique [0002] In recent years, autonomous driving, or Advanced Driver Assistance Systems (ADAS), has received extensive attention and intense research. The ADAS system needs to use various on-board sensors to perceive the various states of the vehicle itself and the surrounding environment, so as to make driving strategy decisions, and finally realize the automatic driving function. Among them, the vehicle-mounted camera, a...

AI Technical Summary

Problems solved by technology

This manual method of calibration has several disadvantages

First of all, it needs to be calibrated by manual measurement, which is time-consuming and laborious, and different people may have different measurement accuracy during manual measurement, resulting in unstable calibration results

In addition, the calculation process is complicated, and each attitude angle needs to be calculated at the same time, which is prone to calculation errors

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