The invention discloses a vehicle-mounted camera installation angle adjusting method based on visual geometry. The method comprises the steps that the installation angle of a camera is determined; the position of the target is adjusted, so that the optical center of the camera and the perpendicular foot of the optical center to the ground, the cross aim point of the target and the perpendicular foot of the cross aim point to the ground and the perpendicular foot of the connecting line between the cross aim point of the target and the optical center of the camera and the ground are coplanar; based on the target position and the installation angle of the camera, obtaining the pixel coordinates of the virtual cross aim point according to the world coordinate system coordinates of the target aim point; and adjusting the angle of the camera according to the pixel coordinates of the virtual cross aim point so as to enable the virtual aim point to coincide with the actual aim point. According to the method for adjusting the installation angle of the vehicle-mounted camera based on the visual geometry, the virtual cross aim point is generated through ideal installation parameters of the camera according to the visual geometry principle, the installation angle of the camera is adjusted by aligning the virtual cross aim point with the actual target cross aim point, and the method does not depend on a specific target pattern; the required tools are few, the implementation cost is low, and the operation is simple.

    本发明公开了一种基于视觉几何的车载摄像头安装角度调整方法,包括:确定摄像头的安装角度;调整标靶位置,以使摄像头光心及其到地面的垂足、标靶十字准心及其到地面的垂足、标靶十字准心到摄像头光心与地面之间的连线的垂足五点共面;基于标靶位置和摄像头的安装角度,根据标靶准心的世界坐标系坐标得到虚拟十字准心的像素坐标;根据虚拟十字准心的像素坐标,调整摄像头角度,以使虚拟准心与实际准心重合。本发明的基于视觉几何的车载摄像头安装角度调整方法,利用视觉几何原理通过摄像头理想安装参数产生虚拟十字准心,对齐虚拟十字准心与实际标靶十字准心来调整摄像头的安装角度,不依赖特定的标靶图案;所需工具少,实现成本低,操作简易。


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    Titel :

    Vehicle-mounted camera installation angle adjusting method based on visual geometry


    Weitere Titelangaben:

    一种基于视觉几何的车载摄像头安装角度调整方法


    Beteiligte:
    WEN JING (Autor:in) / MA LIANG (Autor:in)

    Erscheinungsdatum :

    2023-12-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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