Method and device for calibrating heading angle of vehicle-mounted camera, electronic equipment and vehicle

Abstract

The invention discloses a method and device for calibrating the heading angle of a vehicle-mounted camera, electronic equipment and a vehicle. According to one embodiment, the method for calibrating the heading angle of the vehicle-mounted camera comprises the steps of tracking the movement of the vehicle by using a chassis odometer to obtain a first trajectory corresponding to a moving distance;tracking the movement of the vehicle by using the vehicle-mounted camera to obtain a second trajectory corresponding to the moving distance; enabling the first trajectory to rotate by a heading angleto obtain a third trajectory; and comparing the third trajectory and the second trajectory to determine the heading angle which enables the third trajectory to be the closest to the second trajectory,and enabling the heading angle to serve as a heading angle of the vehicle-mounted camera. The method disclosed by the invention can perform real-time on-line calibration on the heading angle of the camera based on a visual odometer and the chassis odometer in a full-automatic mode without manual participation, so that the method can be widely applied to the fields such as automatic driving and the like.

Description

technical field [0001] The present application generally relates to the field of automatic driving (ADAS), and more particularly, relates to a vehicle camera heading angle calibration method and device, which can perform real-time camera heading angle calibration based on visual odometer and chassis odometer in a fully automatic manner. Online calibration without human involvement. 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, also called a camera, ...

AI Technical Summary

Problems solved by technology

This calibration method has several disadvantages

First of all, it needs to be calibrated by manual measurement, and the calibration process is complicated, time-consuming and laborious

In addition, different people may have differences in measurement accuracy during manual measurement, resulting in unstable calibration results, and may even introduce measurement errors due to personal negligence, resulting in calibration errors, etc.

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