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A processor for calibrating an automotive look-around system

A technology for processors and automobiles, applied in image data processing, instruments, calculations, etc., can solve the problems of increasing the cost ratio of the surround view system, the difficulty of calibrating the left and right cameras, and the high requirements of the calibration environment, so as to avoid the possibility of convergence to non-planar High reliability, simple calibration scheme and high calibration accuracy

Active Publication Date: 2019-03-05
DELPHI ELECTRONICS SUZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Although the value of the 360-degree surround view system in the entire vehicle is not high, it plays an important role in factory calibration. The reason is that the current calibration scheme still requires a lot of manpower, which increases the Proportion to the cost of the entire vehicle
[0004] Due to the assembly deviation of the same model and the installation deviation of the cameras around the body, if a set of fixed parameters is used for 360-degree surround view system image stitching, these deviations will affect the image stitching effect, so offline calibration must be performed to eliminate them The impact of these deviations
The traditional factory calibration scheme has the following problems: (1) It has high requirements for the calibration environment, such as the need to park the car at a fixed position, and requires high precision, which increases the technical difficulty of workers' operations and takes up more manpower and time costs ; (2) This method is difficult to apply to 4S store calibration, and it is even more difficult for drivers to use it personally, which indirectly increases the potential car purchase cost
[0006] The current online calibration scheme based on lane line detection has disadvantages such as inaccurate length and width of lane lines, misalignment of adjacent lane lines, difficulty in calibration of left and right cameras, and potential safety hazards in the calibration process (usually on expressways).

Method used

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  • A processor for calibrating an automotive look-around system
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Examples

Experimental program
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Effect test

Embodiment 1

[0033] A processor for calibrating a car surround view system, the car surround view system includes a plurality of fisheye cameras, and the processor is used to execute the following computer program steps to obtain the rotation matrix Rt of each camera:

[0034] When the car is stationary, calculate the observation vectors v1, v2, and v3 from the camera to the three vertices of the known markers in the camera coordinate system based on the pixel coordinates of the three vertices on the captured image, and the composition of the connecting lines of the three vertices of the markers, etc. Triangular sides and fit to the horizontal ground, solve the observation distances s1, s2, s3 from the camera to the three vertices in the camera coordinate system, so that the distance between the three vertices satisfies d 12 = d 23 = d 31 =d, where d is the side length of an equilateral triangle, then obtain the coordinates of the three vertices under the camera coordinate system, thereby...

Embodiment 2

[0046] A calibration device for a car surround view system, comprising the processor described in Embodiment 1 and a marker arranged on a horizontal ground, where the marker is an equilateral triangular patch or an equilateral triangular frame that fits the horizontal ground.

[0047] Using an equilateral triangle as the basic graphic element is the core idea of ​​the present invention, which breaks the customary idea of ​​using lines or squares for calibration in most current calibration schemes. The equilateral triangle has some special advantages: First, the user can use three equal-length line segments to make an absolutely accurate equilateral triangle, and then cut it into a board, or paint a certain color on the corresponding area on the ground. The shape does not have this condition (users do not need to purchase additional accessories to calibrate their own surround view system, but can do it themselves with a ruler and a rope). Secondly, there is no strict order requ...

Embodiment 3

[0051] A car surround view system with the calibration device described in Embodiment 2, comprising a calibration device and a plurality of fisheye cameras. The fisheye camera can be four ultra-wide-angle fisheye cameras installed on the front, rear, left, and right sides of the vehicle body. When working, the four cameras simultaneously collect images around the vehicle. After the image processing unit distorts and restores→angle conversion→image stitchingimage enhancement, the final form A 360-degree panoramic overhead view with no gaps around the vehicle. While displaying the panorama, it can also display the single view of any side, and coordinate with the ruler line to accurately locate the position and distance of obstacles. The calibration work is carried out before the vehicle is officially put on the road, such as figure 1 As shown, it shows a top view of a certain arrangement of the marker triangle. The triangle is also arranged at the front, rear, left, and right ...

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PUM

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Abstract

The present invention relates to a processor for calibrating an automotive look-around system, the automobile look-around system comprises a plurality of fish-eye cameras, the processor is configuredto execute the computer program steps of obtaining the rotation matrix Rt of the cameras, when the automobile stops, obtaining the observation vectors v1, v2 and v3 of the camera to three vertices ofa known marker under a camera coordinate system, and calculating a normal vector z of an equilateral triangle under the camera coordinate system according to a triangle side length and a spatial geometric relationship; when the vehicle moves along the X axis of the vehicle coordinate system, calculating the x axis unit vector of the camera coordinate system; calculating the rotation matrix of thecamera. Compared with the prior art, the process adopted by the processor of the invention makes full use of the potential prior information, the calibration scheme is simple, the calibration space required is small, the calibration precision is high, the anti-interference is stronger, and the requirement on the skill of the operator is greatly reduced to the extent that the driver can do it by himself.

Description

technical field [0001] The invention relates to a processor with a computer program, in particular to a processor for calibrating a car surround view system. Background technique [0002] With the increase of car ownership and the increasingly complex traffic environment, safe parking has become a difficult problem for drivers. In order to reduce the potential safety risks in the parking process, various auxiliary parking systems have emerged, such as rear-view reversing camera, reversing radar and other systems. These systems can reduce the driver’s parking burden to a certain extent, but there are still unintuitive And can not completely eliminate the defects of blind spots. The 360-degree surround view system uses multiple cameras to cover the 360-degree area around the vehicle body to eliminate visual blind spots. At the same time, the 360-degree surround view system seamlessly stitches the images around the vehicle body into a bird's-eye view and presents it to the dri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/30
CPCG06T2207/10012G06T2207/30244G06T7/30G06T7/85
Inventor 周牧
Owner DELPHI ELECTRONICS SUZHOU
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