The invention provides a method for acquiring external parameters of a camera. The method comprises the following steps: acquiring a first image which is shot by a vehicle-mounted camera and comprises a lane line; determining a coordinate of a lane line in the first image in an image plane coordinate system and an image blanking point coordinate of the first image in the image plane coordinate system; constructing a mapping relation model of the first image in the image plane coordinate system in the world coordinate system, and determining a target projection point corresponding to a target point in the first image in the world coordinate system; determining a first relational expression and a second relational expression, wherein the first relational expression is a relational expression between the longitudinal distance from the target projection point to the optical center of the camera and the height of the camera; determining a third relational expression according to the second relational expression; and making a specific value of the expressions of the lane widths of the two different lanes, and calculating the height of the camera in combination with the first relational expression. Through the method, the calculated camera height is accurate, the process is simple, dependence on a specific target and scene is not needed, and robustness and generalization are good.
本发明提供一种相机外参获取方法,该方法包括:获取车载相机拍摄的、包括车道线的第一图像;确定第一图像中的车道线在图像平面坐标系内的坐标与第一图像在图像平面坐标系内的图像消隐点坐标;构建图像平面坐标系内第一图像在世界坐标系内的映射关系模型,并确定第一图像中目标点在世界坐标系内对应的目标投影点;确定第一关系式与第二关系式,第一关系式为目标投影点到相机光心的纵向距离与相机高度之间的关系式;根据第二关系式确定第三关系式;将不同的两个车道的车道宽度的表达式做比值,并结合第一关系式,计算相机高度。通过该方法,计算出的相机高度较准确,且过程较简单,无需依赖特定目标与场景,鲁棒性、泛化性较好。
Camera external parameter acquisition method and device, electronic equipment and storage medium
相机外参获取方法、装置、电子设备及存储介质
28.02.2023
Patent
Elektronische Ressource
Chinesisch
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