The invention discloses a calibration method for multiple vehicle-mounted cameras and an intelligent vehicle. The calibration method comprises the steps that a calibration image collected by a calibration site shot by each camera is acquired; extracting an intersection point of the ray and the loop line in the calibration image as a calibration corner point, calculating a pixel coordinate of the calibration corner point in the calibration image, and obtaining a world geographic coordinate of the calibration corner point; calculating an initial extrinsic parameter of each camera by using the pixel coordinates of the calibration angular points and the world geographic coordinates; respectively calculating a test coordinate of each space point by using the initial external parameters and world geographic coordinates of a plurality of space points in the calibration image, and constructing an iterative optimization objective function of each camera by using errors between the test coordinates of the plurality of space points and pixel coordinates corresponding to the test coordinates; and utilizing the iterative optimization objective function of each camera to construct a unified iterative optimization objective function of the plurality of cameras, and utilizing the unified iterative optimization objective function to perform iterative optimization calculation on the initial external parameters of the plurality of cameras so as to obtain final external parameters.

    本申请公开了车载多个相机的标定方法和智能汽车,该标定方法包括获取每个相机拍摄标定场地所采集到的标定图像;在标定图像中提取射线和环线的交点作为标定角点,计算标定图像中的标定角点的像素坐标,并且获取标定角点的世界地理坐标;利用标定角点的像素坐标和世界地理坐标计算每个相机的初始外参;利用初始外参和标定图像中的多个空间点的世界地理坐标分别计算每个空间点的测试坐标,并利用多个空间点的测试坐标和与测试坐标对应的像素坐标之间的误差构建每个相机的迭代优化目标函数;利用每个相机的迭代优化目标函数构建对多个相机的统一迭代优化目标函数,利用统一迭代优化目标函数对多个相机的初始外参进行迭代优化计算,以获得最终外参。


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    Title :

    Calibration method for multiple vehicle-mounted cameras and intelligent vehicle


    Additional title:

    车载多个相机的标定方法和智能汽车


    Contributors:
    ZHANG KAI (author) / HOU PEIXIN (author) / RAO QUANQUAN (author) / CHEN ZHANGLIN (author)

    Publication date :

    2023-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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