An improved camera external parameter calibration method of a vehicle panoramic system, comprising: acquiring calibration images of a checkerboard by means of cameras; for each acquired calibration image, obtaining pixel coordinates of corner points in the image; obtaining first coordinates of each corner point in a vehicle coordinate system on the basis of relevant parameters of the panoramic camera; for a group of adjacent corner points among the corner points, determining a first and second deviation according to the first coordinates of each corner point in the group; for each corner point in the adjacent points of the group, calculating the distance difference of the corner point on the basis of the first coordinates obtained by two cameras; and performing optimization calculation on the external parameters on the basis of the first deviation, the second deviation and the distance difference so as to obtain the external parameters of the cameras.
CAMERA EXTERNAL PARAMETER CALIBRATION METHOD AND SYSTEM FOR VEHICLE PANORAMIC SYSTEM, AND PANORAMIC SYSTEM
2022-10-06
Patent
Electronic Resource
English
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / G06V |
European Patent Office | 2024
|European Patent Office | 2024
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