Vehicle-mounted camera pitch angle calibration method and device, electronic equipment, and vehicle

Abstract

The present application relates to a method and device for calibrating the pitch angle of a vehicle-mounted camera, electronic equipment and a vehicle. According to an embodiment, a vehicle-mounted camera pitch angle calibration method may include: using the inertial measurement unit to determine the direction of gravity; using the inertial measurement unit to track the movement of the vehicle to obtain a first trajectory corresponding to a moving distance; using the vehicle-mounted camera to track The movement of the vehicle, obtaining a second trajectory corresponding to the moving distance; determining the offset between the first trajectory and the second trajectory, so as to determine the distance between the on-board camera and the inertial measurement unit An included angle: determining the pitch angle of the on-board camera based on the gravity direction, the included angle between the on-board camera and the inertial measurement unit, and the pitch angle direction determined by the inertial measurement unit. The method of the present invention can perform real-time online calibration of the pitch angle of the vehicle-mounted camera in a fully automatic manner in combination with an inertial measurement unit without manual participation, so it can be widely used in fields such as automatic driving.

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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