The invention discloses a method and system for compensating the calibration error of vehicles. In the process of adding a virtual camera to a vehicle sensor and coordinate transformation, multiple 3Dpoints associated with a landmark are matched with the detected landmark. The virtual camera is associated with the detected landmark. 3D world coordinate points are transformed into a real 3D cameracoordinate system, and then transformed into a virtual 3D camera coordinate system. The 3D points of the real and virtual camera coordinate systems are projected to a corresponding 2D image pixel coordinate. During the coordination transformation process, the problem of 3D-2D corresponding of the virtual camera is solved by a camera attitude estimation algorithm. A deviation compensation transformation matrix can be determined, the matrix can explain the error caused by a falsely corrected vehicle sensor or system, and the matrix can be applied to all data before the application of a vehiclecontrol system.

    本申请公开了一种用于补偿交通工具系统误差的方法和系统。将虚拟相机添加到交通工具传感器配置和坐标变换过程,该过程尝试将与地标相关联的多个3D点与检测到的地标进行匹配。虚拟相机与检测到的地标相关联。可以将3D世界坐标点变换到真实的3D相机坐标系,并且然后变换到虚拟的3D相机坐标系。真实和虚拟相机坐标系中的3D点分别投影到对应的2D图像像素坐标上。在坐标变换过程中包括虚拟相机会呈现3D到2D点对应的问题,可以使用相机姿态估计算法来解决该问题。可以确定偏移补偿变换矩阵,该矩阵解释由误校准的交通工具传感器或系统造成的误差,并在交通工具控制系统使用之前将其应用于所有数据。


    Access

    Download


    Export, share and cite



    Title :

    Method and system for compensating calibration error of vehicles


    Additional title:

    用于补偿交通工具校准误差的方法和系统


    Contributors:
    JIN DONGFU (author) / SAMMIR AL-STOY (author) / HAMID ALMIDI (author)

    Publication date :

    2020-08-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



    GLOBAL POSITIONING SYSTEM FOR COMPENSATING FOR ERROR OF RELATIVE POSITION BETWEEN VEHICLES

    PARK BYUNG WOON / LEE EUN YEONG / LIM CHEOL SOON et al. | European Patent Office | 2022

    Free access

    Global positioning system for compensating for error of relative position between vehicles

    PARK BYUNG WOON / LEE EUN YEONG / LIM CHEOL SOON et al. | European Patent Office | 2024

    Free access

    Compensating For GPS Ephemeris Error

    Wu, Jiun-Tsong | NTRS | 1992


    Method of Compensating Error for Predictive Shifting

    European Patent Office | 2017

    Free access

    Method of Compensating Error for Predictive Shifting

    LEE DAE GEUN / KIM YONG MIN / BYEON JAE HOON et al. | European Patent Office | 2017

    Free access