The content of the invention
In view of this, it is an object of the invention to provide the image mosaic calibration method and image of a kind of panoramic parking systemSplice calibrating installation, to reduce operation difficulty of the user in image mosaic calibration process.
To achieve the above object, the present invention provides following technical scheme：
The present invention provides a kind of image mosaic calibration method of panoramic parking system, the panoramic parking system include it is preceding toImage collecting device, backward image collecting device, left-hand image collecting device and dextrad image collecting device, described image splicingCalibration method includes：
In the case where the vehicle is located at initial position, put respectively on the front side of the vehicle, rear side, left side and right sideThe first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth are put, wherein, the right edge of the 3rd calibration clothMidpoint of the midpoint of the left side of midpoint and the 4th calibration cloth with the wheelspan of the vehicle is alignd, first calibrationCloth and the second calibration cloth include intermediate region, left field and the right side area divided in advance, the forward direction image respectivelyHarvester can gather the image of the first calibration cloth, and the backward image collecting device can gather second calibrationThe image of cloth, the left-hand image collecting device can gather the image of the 3rd calibration cloth, the dextrad image collectorThe image of the 4th calibration cloth can be gathered by putting；
Determine that the 3rd calibration cloth and the 4th calibration cloth are being built in advance according to the body width of the vehiclePosition in world coordinate system, the origin of the world coordinate system form rectangle by the central point of four wheels of the vehicleCentral point；
Control the vehicle is straight to march to first position forward, obtain what the left-hand image collecting device currently gatheredThe image of the left field of the 3rd calibration cloth and the first calibration cloth, it is current to obtain the dextrad image collecting deviceThe image of the 4th calibration cloth of collection and the right side area of the first calibration cloth；
The image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, it is determined that describedFirst calibration cloth is relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
According to the described 3rd calibration cloth and the 4th position of the calibration cloth in the world coordinate system and described theOne calibration cloth determines the first calibration cloth in institute relative to the described 3rd calibration cloth and the position relationship of the 4th calibration clothState the position in world coordinate system；
Control the vehicle is straight to travel rearwardly to the second place, obtain what the left-hand image collecting device currently gatheredThe image of the left field of the 3rd calibration cloth and the second calibration cloth, it is current to obtain the dextrad image collecting deviceThe image of the 4th calibration cloth of collection and the right side area of the second calibration cloth；
The image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, it is determined that describedSecond calibration cloth is relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
According to the described 3rd calibration cloth and the 4th position of the calibration cloth in the world coordinate system and described theTwo calibration cloth determine the second calibration cloth in institute relative to the described 3rd calibration cloth and the position relationship of the 4th calibration clothState the position in world coordinate system；
According to the described first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth in instituteThe position in world coordinate system is stated, determines the forward direction image collecting device, backward image collecting device, the left-hand figureAs harvester and the dextrad image collecting device in the mount message of vehicle body, the mount message include installation site and peaceFill angle；
Using the forward direction image collecting device, the backward image collecting device, the left-hand image collecting device andThe mount message of the dextrad image collecting device, determine that each pixel is in the forward direction image collector in panoramic parking imagePut, the image of the backward image collecting device, the left-hand image collecting device and the dextrad image acquisition deviceIn corresponding pixel, establish and store the mapping relations of corresponding pixel points.
Preferably, in above-mentioned image mosaic calibration method, the origin of the world coordinate system built in advance is the vehicleThe central point of four wheels forms the central point of rectangle, the positive direction of X-axis points to the right side of the vehicle, the positive direction of Y-axisPoint to the rear side of the vehicle, Z axis positive direction straight up；
The body width according to the vehicle determines the 3rd calibration cloth and the 4th calibration cloth in advance structurePosition in the world coordinate system built, including：
Determined the midpoint of the right edge of the 3rd calibration cloth in the world coordinates according to the body width of the vehicleCoordinate in system, the midpoint of the right edge of the 3rd calibration cloth are calibrated in the coordinate of the world coordinate system for the described 3rdPosition of the cloth in the world coordinate system；
Determined the midpoint of the left side of the 4th calibration cloth in the world coordinates according to the body width of the vehicleCoordinate in system, the described 4th calibrates coordinate of the midpoint of the left side of cloth in the world coordinate system as the described 4th calibrationPosition of the cloth in the world coordinate system.
Preferably, in above-mentioned image mosaic calibration method, the analysis left-hand image collecting device and the dextradThe image of image acquisition device, determine the first calibration cloth relative to the described 3rd calibration cloth and the 4th calibration clothPosition relationship, including：
Analyze the described 3rd of the left-hand image acquisition device left field for calibrating cloth and the first calibration clothImage, determine it is described 3rd calibration cloth the first calibration point to described first calibrate cloth left field the second calibration point away fromFrom, analyze the dextrad image acquisition device it is described 4th calibration cloth and it is described first calibration cloth right side area figurePicture, determine it is described 4th calibration cloth the 3rd calibration point to described first calibrate cloth right side area the 4th calibration point away fromFrom；
It is described according to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, Yi JisuoThe first calibration cloth is stated relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth, determines the first calibration clothPosition in the world coordinate system, including：
According to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, first markPinpoint distance, the distance and described second of the 3rd calibration point to the 4th calibration point of second calibration pointCalibration point determines position of the first calibration cloth in the world coordinate system to the distance of the 4th calibration point.
Preferably, in above-mentioned image mosaic calibration method, the analysis left-hand image collecting device and the dextradThe image of image acquisition device, determine the second calibration cloth relative to the described 3rd calibration cloth and the 4th calibration clothPosition relationship, including：
Analyze the 3rd calibration cloth of the left-hand image acquisition device and the left side area of the second calibration clothThe image in domain, determine the 6th calibration point of the left field of the 5th calibration point to the described second calibration cloth of the 3rd calibration clothDistance, analyze the dextrad image acquisition device it is described 4th calibration cloth and it is described second calibration cloth right side areaImage, determine the 7th calibration point of the 4th calibration cloth to the 8th calibration point of the described second right side area for calibrating clothDistance；
It is described according to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, Yi JisuoThe second calibration cloth is stated relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth, determines the second calibration clothPosition in the world coordinate system, including：
According to the described 3rd calibration cloth and the position of the 4th calibration cloth in the world coordinate system, the 5th markPinpoint distance, the distance and the described 6th of the 7th calibration point to the 8th calibration point of the 6th calibration pointCalibration point determines position of the second calibration cloth in the world coordinate system to the distance of the 8th calibration point.
Preferably, in above-mentioned image mosaic calibration method, the first calibration point and the 5th calibration point of the 3rd calibration clothFor the central point of the described 3rd calibration cloth；The 3rd calibration point and the 7th calibration point of the 4th calibration cloth are the described 4th calibrationThe central point of cloth.
Preferably, in above-mentioned image mosaic calibration method, it is described according to described first calibration cloth, it is described second calibration cloth,The position of the 3rd calibration cloth and the 4th calibration cloth in the world coordinate system, determines the forward direction image collectorPut, the peace of image collecting device, the left-hand image collecting device and the dextrad image collecting device in vehicle body backwardInformation is filled, including：
Vehicle is determined in the case of predeterminated position, the default angle point of the first calibration cloth is in the forward direction IMAQThe first physical location in first calibration cloth image of device collection, the default angle point of the second calibration cloth is in the rear to figureThe second physical location in the second calibration cloth image gathered as harvester, the default angle point of the 3rd calibration cloth is describedThe 3rd physical location in 3rd calibration cloth image of left-hand image acquisition device, the default angle point of the 4th calibration clothThe 4th physical location in the 4th calibration cloth image of the dextrad image acquisition device；
Set the mount message of the forward direction image collecting device；According to the forward direction image collecting device in the worldPosition in coordinate system, vehicle is calculated in the case of the predeterminated position, the forward direction image collecting device is according to currently settingIn the virtual image of first calibration cloth caused by under fixed mount message installment state, the default angle point of the first calibration clothFirst virtual location；If the difference between first physical location and first virtual location is less than preceding to minimum numberValue, then the mount message of the forward direction image collecting device currently set is the actual installation letter of the forward direction image collecting deviceBreath；If the difference between first physical location and first virtual location is more than or equal to the forward direction minimum numberValue, then reset the mount message of the forward direction image collecting device, and performs subsequent step, until determining the forward direction figureAs the actual mount message of harvester；
Set the mount message of the backward image collecting device；According to the backward image collecting device in the worldPosition in coordinate system, vehicle is calculated in the case of the predeterminated position, the backward image collecting device is according to currently settingIn the virtual image of second calibration cloth caused by under fixed mount message installment state, the default angle point of the second calibration clothSecond virtual location；If the difference between second physical location and second virtual location is less than backward minimum numberValue, then the mount message of the backward image collecting device currently set is the actual installation letter of the backward image collecting deviceBreath；If the difference between second physical location and second virtual location is more than or equal to the backward minimum numberValue, then reset the mount message of the backward image collecting device, and performs subsequent step, until determining the backward figureAs the actual mount message of harvester；
Set the mount message of the left-hand image collecting device；According to the left-hand image collecting device in the worldPosition in coordinate system, vehicle is calculated in the case of the predeterminated position, the left-hand image collecting device is according to currently settingIn the virtual image of 3rd calibration cloth caused by under fixed mount message installment state, the default angle point of the 3rd calibration cloth3rd virtual location；If the difference between the 3rd physical location and the 3rd virtual location is less than left-hand minimum numberValue, then the mount message of the left-hand image collecting device currently set is the actual installation letter of the left-hand image collecting deviceBreath；If the difference between the 3rd physical location and the 3rd virtual location is more than or equal to the left-hand minimum numberValue, then reset the mount message of the left-hand image collecting device, and performs subsequent step, until determining the left-hand figureAs the actual mount message of harvester；
Set the mount message of the dextrad image collecting device；According to the dextrad image collecting device in the worldPosition in coordinate system, vehicle is calculated in the case of the predeterminated position, the dextrad image collecting device is according to currently settingIn the virtual image of 4th calibration cloth caused by under fixed mount message installment state, the default angle point of the 4th calibration cloth4th virtual location；If the difference between the 4th physical location and the 4th virtual location is less than dextrad minimum numberValue, then the mount message of the dextrad image collecting device currently set is the actual installation letter of the dextrad image collecting deviceBreath；If the difference between the 4th physical location and the 4th virtual location is more than or equal to the dextrad minimum numberValue, then reset the mount message of the dextrad image collecting device, and performs subsequent step, until determining the dextrad figureAs the actual mount message of harvester.
The present invention also provides a kind of image mosaic calibrating installation of panoramic parking system, before the panoramic parking system includesTo image collecting device, backward image collecting device, left-hand image collecting device and dextrad image collecting device, described image is spelledConnecing calibrating installation includes：
First position determining unit, it is wide according to the vehicle body of the vehicle in the case where the vehicle is in initial positionDegree determines the position of the 3rd calibration cloth and the 4th calibration cloth in the world coordinate system built in advance, and the world is satThe origin of mark system is made up of the central point of rectangle the central point of four wheels of the vehicle；Wherein, it is located in the vehicleIn the case of initial position, the first calibration cloth, the second calibration are put respectively on the front side of the vehicle, rear side, left side and right sideA left side for cloth, the 3rd calibration cloth and the 4th calibration cloth, the midpoint of the right edge of the 3rd calibration cloth and the 4th calibration clothMidpoint of the midpoint of side with the wheelspan of the vehicle is alignd, and the first calibration cloth and the second calibration cloth include respectivelyIntermediate region, left field and the right side area divided in advance, the forward direction image collecting device can gather first schoolThe image of quasi- cloth, the backward image collecting device can gather the image of the second calibration cloth, the left-hand IMAQDevice can gather the image of the 3rd calibration cloth, and the dextrad image collecting device can gather the 4th calibration clothImage；
First position relation determination unit, for the vehicle is straight march to first position forward when, described in acquisitionThe 3rd calibration cloth and the image of the left field of the first calibration cloth that left-hand image collecting device currently gathers, are obtainedTake the right side area of the 4th calibration cloth that the dextrad image collecting device currently gathers and the first calibration clothImage, the image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, determine describedOne calibration cloth is relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
Second place determining unit, for calibrating cloth in the world coordinates according to the described 3rd calibration cloth and the described 4thPosition and the first calibration cloth in system calibrate the position relationship of cloth relative to the described 3rd calibration cloth and the described 4th,Determine position of the first calibration cloth in the world coordinate system；
Second place relation determination unit, for the vehicle is straight travel rearwardly to the second place when, described in acquisitionThe 3rd calibration cloth and the image of the left field of the second calibration cloth that left-hand image collecting device currently gathers, are obtainedTake the right side area of the 4th calibration cloth that the dextrad image collecting device currently gathers and the second calibration clothImage, the image that the left-hand image collecting device and the dextrad image collecting device currently gather is analyzed, determine describedTwo calibration cloth are relative to the described 3rd calibration cloth and the position relationship of the 4th calibration cloth；
3rd position determination unit, for calibrating cloth in the world coordinates according to the described 3rd calibration cloth and the described 4thPosition and the second calibration cloth in system calibrate the position relationship of cloth relative to the described 3rd calibration cloth and the described 4th,Determine position of the second calibration cloth in the world coordinate system；
Mount message determining unit, for according to the described first calibration cloth, the second calibration cloth, the 3rd calibration clothWith position of the described 4th calibration cloth in the world coordinate system, the forward direction image collecting device, the backward figure are determinedAs harvester, the left-hand image collecting device and the dextrad image collecting device are in the mount message of vehicle body, the peaceDress information includes installation site and setting angle；
Alignment unit, for utilizing the forward direction image collecting device, backward image collecting device, the left-hand figureAs harvester and the mount message of the dextrad image collecting device, determine that each pixel is before described in panoramic parking imageTo image collecting device, backward image collecting device, the left-hand image collecting device and the dextrad image collectorCorresponding pixel in the image of collection is put, establishes and stores the mapping relations of corresponding pixel points.
Preferably, in above-mentioned image mosaic calibrating installation, the origin of the world coordinate system built in advance is the vehicleThe central point of four wheels forms the central point of rectangle, the positive direction of X-axis points to the right side of the vehicle, the positive direction of Y-axisPoint to the rear side of the vehicle, Z axis positive direction straight up；
The first position determining unit is specifically used for：The 3rd calibration cloth is determined according to the body width of the vehicleRight edge coordinate of the midpoint in the world coordinate system, the midpoint of the right edge of the 3rd calibration cloth is in the worldThe coordinate of coordinate system is position of the described 3rd calibration cloth in the world coordinate system；According to the body width of the vehicleDetermine coordinate of the midpoint of the left side of the 4th calibration cloth in the world coordinate system, the left side of the 4th calibration clothCoordinate of the midpoint on side in the world coordinate system is position of the described 4th calibration cloth in the world coordinate system.
Preferably, in above-mentioned image mosaic calibrating installation, the first position relation determination unit is specifically used for：Analysis instituteThe 3rd calibration cloth of left-hand image acquisition device and the image of the left field of the first calibration cloth are stated, determines described theFirst calibration point of three calibration cloth analyzes the dextrad to the distance of the second calibration point of the left field of the described first calibration clothThe image of the 4th calibration cloth of image acquisition device and the right side area of the first calibration cloth, determines the described 4thCalibrate the distance of the 4th calibration point of the right side area of the 3rd calibration point to the described first calibration cloth of cloth；
The second place determining unit is specifically used for：According to the described 3rd calibration cloth and the 4th calibration cloth describedPosition, first calibration point in world coordinate system are to the distance of second calibration point, the 3rd calibration point to describedThe distance of 4th calibration point and second calibration point determine the first calibration cloth in institute to the distance of the 4th calibration pointState the position in world coordinate system.
Preferably, in above-mentioned image mosaic calibrating installation, the second place relation determination unit is specifically used for：Analysis instituteThe 3rd calibration cloth of left-hand image acquisition device and the image of the left field of the second calibration cloth are stated, determines instituteThe distance of the 6th calibration point of the 5th calibration point to the described second left field for calibrating cloth of the 3rd calibration cloth is stated, described in analysisThe image of the 4th calibration cloth of dextrad image acquisition device and the right side area of the second calibration cloth, it is determined that describedDistance of 7th calibration point of the 4th calibration cloth to the 8th calibration point of the right side area of the described second calibration cloth；
3rd position determination unit is specifically used for：According to the described 3rd calibration cloth and the 4th calibration cloth describedThe distance of position, the 5th calibration point to the 6th calibration point in world coordinate system, the 7th calibration point are to describedThe distance of 8th calibration point and the 6th calibration point determine the second calibration cloth to the distance of the 8th calibration pointPosition in the world coordinate system.
Preferably, in above-mentioned image mosaic calibrating installation, the mount message determining unit includes：
Angle point physical location determining module, for determining vehicle in the case of predeterminated position, the first calibration clothFirst physical location of the default angle point in the first calibration cloth image of the forward direction image acquisition device, second schoolThe default angle point of quasi- cloth in the rear to image acquisition device second calibration cloth image in the second physical location, it is describedThreeth actual bit of the default angle point of 3rd calibration cloth in the 3rd calibration cloth image of the left-hand image acquisition devicePut, the described 4th calibrates the 4th of the default angle point of cloth in the 4th calibration cloth image of the dextrad image acquisition devicePhysical location；
First processing module, for setting the mount message of the forward direction image collecting device；According to the forward direction imagePosition of the harvester in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the forward direction imageHarvester is calibrated in the virtual image of cloth according under the mount message installment state currently set caused first, and described firstCalibrate the first virtual location of the default angle point of cloth；If the difference between first physical location and first virtual locationValue is less than preceding to minimum value, then the mount message of the forward direction image collecting device currently set is the forward direction image collectorPut actual mount message；If the difference between first physical location and first virtual location is more than or equal to instituteTo minimum value before stating, then the mount message of the forward direction image collecting device is reset, and perform subsequent operation, until reallyThe actual mount message of the fixed forward direction image collecting device；
Second processing module, for setting the mount message of the backward image collecting device；According to the backward imagePosition of the harvester in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the backward imageHarvester is calibrated in the virtual image of cloth according under the mount message installment state currently set caused second, and described secondCalibrate the second virtual location of the default angle point of cloth；If the difference between second physical location and second virtual locationValue is less than backward minimum value, then the mount message of the backward image collecting device currently set is the backward image collectorPut actual mount message；If the difference between second physical location and second virtual location is more than or equal to instituteBackward minimum value is stated, then resets the mount message of the backward image collecting device, and performs subsequent operation, until reallyThe actual mount message of the fixed backward image collecting device；
3rd processing module, for setting the mount message of the left-hand image collecting device；According to the left-hand imagePosition of the harvester in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the left-hand imageHarvester is calibrated in the virtual image of cloth according to the under the mount message installment state currently set the caused 3rd, and the described 3rdCalibrate the 3rd virtual location of the default angle point of cloth；If the difference between the 3rd physical location and the 3rd virtual locationValue is less than left-hand minimum value, then the mount message of the left-hand image collecting device currently set is the left-hand image collectorPut actual mount message；If the difference between the 3rd physical location and the 3rd virtual location is more than or equal to instituteLeft-hand minimum value is stated, then resets the mount message of the left-hand image collecting device, and performs subsequent operation, until reallyThe actual mount message of the fixed left-hand image collecting device；
Fourth processing module, for setting the mount message of the dextrad image collecting device；According to the dextrad imagePosition of the harvester in the world coordinate system, vehicle is calculated in the case of the predeterminated position, the dextrad imageHarvester is calibrated in the virtual image of cloth according to the under the mount message installment state currently set the caused 4th, and the described 4thCalibrate the 4th virtual location of the default angle point of cloth；If the difference between the 4th physical location and the 4th virtual locationValue is less than dextrad minimum value, then the mount message of the dextrad image collecting device currently set is the dextrad image collectorPut actual mount message；If the difference between the 4th physical location and the 4th virtual location is more than or equal to instituteDextrad minimum value is stated, then resets the mount message of the dextrad image collecting device, and performs subsequent operation, until reallyThe actual mount message of the fixed dextrad image collecting device.
As can be seen here, beneficial effects of the present invention are：
Based on the image split-joint method of panoramic parking system disclosed by the invention, user is located at the feelings of initial position in vehicle, it is necessary to all around put the first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration respectively in vehicle under conditionCloth so that forward direction image collecting device, backward image collecting device, left-hand image collecting device and the right side in panoramic parking systemTo image collecting device, the figure that cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth are calibrated in collection first is able toPicture, and the 3rd calibration cloth right edge midpoint and the 4th calibration cloth left side midpoint with the wheelspan of vehiclePoint aligns, and panoramic parking system determines the 3rd calibration cloth and the 4th calibration cloth in the world built in advance using body width afterwardsPosition in coordinate system, panoramic parking system are in the using left-hand image collecting device and dextrad image collecting device in vehicleThe image gathered under one situation, determines position of the first calibration cloth in world coordinate system, and panoramic parking system utilizes a left sideThe image gathered is in the case of the second place in vehicle to image collecting device and dextrad image collecting device, determines the second schoolPosition of the quasi- cloth in world coordinate system, position of the panoramic parking system using four calibration cloth in world coordinate system is true afterwardsThe mount message of fixed each image collecting device, determines that each pixel is in each image in panoramic parking image based on mount messageCorresponding pixel in the image of harvester collection, establishes and stores the mapping relations of corresponding pixel points, completes image mosaicCalibration.
For a user, before panoramic parking system carries out image mosaic calibration, it is only necessary to a left side before and after vehicleIt is right put respectively the first calibration cloth, second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth, and put calibration cloth duringOnly need the wheelspan of the midpoint of the right edge of the calibration cloth of guarantee the 3rd and the midpoint of the left side of the 4th calibration cloth with vehicleMidpoint alignment, and without ensure vehicle's surroundings calibration cloth will be with vehicle longitudinal centre line perfect parallelism or vertical；Panoramic parking system is carried out in image mosaic calibration process, and user only needs to control vehicle to march to first position and secondPut, it is not necessary to which calibration point is chosen manually to the image of each image acquisition device.It can be seen that based on disclosed by the inventionThe image mosaic calibration method of panoramic parking system, the operation difficulty of user is reduced, accordingly, user can be reduced and operated outThe probability of existing deviation, so as to improve the degree of accuracy of image mosaic calibration.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, completeSite preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based onEmbodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not madeEmbodiment, belong to the scope of protection of the invention.
The present invention discloses the image mosaic calibration method and image mosaic calibrating installation of a kind of panoramic parking system, to dropOperation difficulty of the low user in image mosaic calibration process.Wherein, panoramic parking system include it is preceding to image collecting device, afterTo image collecting device, left-hand image collecting device and dextrad image collecting device.
Referring to Fig. 1, Fig. 1 is a kind of flow chart of the image mosaic calibration method of panoramic parking system disclosed by the invention.The image mosaic calibration method includes：
Step S1：In the case where vehicle is located at initial position, put respectively on the front side of vehicle, rear side, left side and right sidePut calibration cloth.
Specifically, the calibration cloth put on front side of vehicle is designated as the first calibration cloth 101, the school put on rear side of vehicleQuasi- cloth is designated as the second calibration cloth 102, and the calibration cloth put on the left of vehicle is designated as the 3rd calibration cloth 103, on the right side of vehicleThe calibration cloth put is designated as the 4th calibration cloth 104, as shown in Figure 2.
Wherein, the 3rd calibration cloth 103 right edge midpoint and the 4th calibration cloth 104 left side midpoint withThe midpoint alignment of the wheelspan of vehicle.First calibration cloth 101 includes intermediate region 101a, the left field 101b divided in advance respectivelyWith right side area 101c, the second calibration cloth includes intermediate region 102a, left field 102b and the right side region divided in advance respectivelyDomain 102c.
In the case that vehicle is located at initial position, forward direction image collecting device can gather the image of the first calibration cloth 101,Backward image collecting device can gather the image of the second calibration cloth 102, and left-hand image collecting device can gather the 3rd calibrationThe image of cloth 103, dextrad image collecting device can gather the image of the 4th calibration cloth 104.
Step S2：Determine that the 3rd calibration cloth 103 and the 4th is calibrated cloth 104 and built in advance according to the body width of vehiclePosition in world coordinate system.Wherein, the origin of the world coordinate system built in advance is：The central point institute of four wheels of vehicleForm the central point of rectangle.
The body width of vehicle be it is known, and the 3rd calibration cloth 103 right edge midpoint and the 4th calibration clothMidpoint of the midpoint of 104 left side with the wheelspan of vehicle is alignd, and therefore, the 3rd calibration is assured that according to body widthCloth 103 and the 4th calibrates position of the cloth 104 in the world coordinate system built in advance.
Step S3：Control vehicle is straight to march to forward first position, obtains what left-hand image collecting device currently gathered3rd calibration cloth 103 and first calibrates the left field 101a of cloth 101 image, obtains dextrad image collecting device and currently adopts4th calibration cloth 104 and first of collection calibrates the right side area 101c of cloth 101 image.
When vehicle is located at first position, left-hand image collecting device can gather the 3rd calibration cloth 103 and first simultaneouslyThe left field 101a of cloth 101 image is calibrated, dextrad image collecting device gathers the 4th calibration cloth 104 and first school simultaneouslyThe right side area 101c of quasi- cloth 101 image, as shown in Figure 3.
Step S4：The image that analysis left-hand image collecting device and dextrad image collecting device currently gather, determines firstCalibrate the position relationship that cloth 101 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th.
Control vehicle is straight march to first position forward after, the image of left-hand image acquisition device includes：TheThe image of three calibration cloth 103, and the left field 101a of the first calibration cloth 101 image；Dextrad image acquisition deviceImage include：The image of 4th calibration cloth 104, and the right side area 101c of the first calibration cloth 101 image.
The 3rd calibration cloth 103 and first for analyzing left-hand image acquisition device calibrates the left field 101a of cloth 101Image and the 4th calibration cloth 104 and first of dextrad image acquisition device calibrate the right side area 101c of cloth 101Image, determine that the first calibration cloth 101 calibrates the position relationship of cloth 104 relative to the 3rd calibration cloth 103 and the 4th.
Step S5：Position and first of the cloth 104 in world coordinate system are calibrated according to the 3rd calibration cloth 103 and the 4thThe position relationship that cloth 101 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th is calibrated, determines the first calibration cloth 101 in the worldPosition in coordinate system.
3rd calibration cloth 103 and the 4th calibrates position of the cloth 104 in world coordinate system it has been determined that and in step s 4Determine that the first calibration cloth 101 calibrates the position relationship of cloth 104 relative to the 3rd calibration cloth 103 and the 4th, can is true accordinglyPosition of the fixed first calibration cloth 101 in world coordinate system.
Step S6：Control vehicle is straight to be travelled rearwardly to the second place, obtains what left-hand image collecting device currently gathered3rd calibration cloth 103 and second calibrates the left field 102a of cloth 102 image, obtains dextrad image collecting device and currently adopts4th calibration cloth 104 and second of collection calibrates the right side area 102c of cloth 102 image.
When vehicle is located at the second place, left-hand image collecting device can gather the 3rd calibration cloth 103 and second simultaneouslyThe left field 102a of cloth 102 image is calibrated, dextrad image collecting device gathers the 4th calibration cloth 104 and second school simultaneouslyThe right side area 102c of quasi- cloth 102 image, as shown in Figure 4.
Step S7：The image that analysis left-hand image collecting device and dextrad image collecting device currently gather, determines secondCalibrate the position relationship that cloth 102 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th.
In control, vehicle is straight travels rearwardly to the second place, and the image of left-hand image acquisition device includes：TheThe image of three calibration cloth 103, and the left field 102a of the second calibration cloth 102 image；Dextrad image acquisition deviceImage include：The image of 4th calibration cloth 104, and the right side area 102c of the second calibration cloth 102 image.
The 3rd calibration cloth 103 and second for analyzing left-hand image acquisition device calibrates the left field 102a of cloth 102Image and the 4th calibration cloth 104 and second of dextrad image acquisition device calibrate the right side area 102c of cloth 102Image, determine that the second calibration cloth 102 calibrates the position relationship of cloth 104 relative to the 3rd calibration cloth 103 and the 4th.
Step S8：Position and second calibration cloth of the cloth in world coordinate system are calibrated according to the 3rd calibration cloth and the 4thRelative to the 3rd calibration cloth and the position relationship of the 4th calibration cloth, position of the second calibration cloth in world coordinate system is determined.
3rd calibration cloth 103 and the 4th calibrates position of the cloth 104 in world coordinate system it has been determined that and in the step s 7Determine that the second calibration cloth 102 calibrates the position relationship of cloth 104 relative to the 3rd calibration cloth 103 and the 4th, can is true accordinglyPosition of the fixed second calibration cloth 102 in world coordinate system.
Explanation is needed exist for, step S6 can also be first carried out to step S8 in implementation process, then perform step S3 extremelyStep S5.
Step S9：The calibration calibration cloth 104 of cloth 103 and the 4th of cloth the 102, the 3rd is calibrated according to the first calibration cloth 101, second to existPosition in world coordinate system, it is determined that preceding to image collecting device, backward image collecting device, left-hand image collecting device and the right sideTo image collecting device vehicle body mount message.Wherein, mount message includes installation site and setting angle.
Step S10：Using preceding to image collecting device, backward image collecting device, left-hand image collecting device and dextradThe mount message of image collecting device, determine in panoramic parking image each pixel forward direction image collecting device, after to imageCorresponding pixel in the image of harvester, left-hand image collecting device and dextrad image acquisition device, establishes and depositsStore up the mapping relations of corresponding pixel points.
It is determined that it is preceding to image collecting device, after adopt to image collecting device, left-hand image collecting device and dextrad imageAfter the mount message of acquisition means, it is possible to determine that pixel in the image of each image acquisition device is being built in advanceCoordinate in world coordinate system, that is, determine that pixel in the image of each image acquisition device is parked figure in panoramaAs in position, so that it is determined that in panoramic parking image each pixel forward direction image collecting device, after to image collecting device,Corresponding pixel, is established in panoramic parking image in the image of left-hand image collecting device and dextrad image acquisition deviceEach pixel and forward direction image collecting device, backward image collecting device, left-hand image collecting device and dextrad image collectorThe mapping relations of corresponding pixel points in the image of collection are put, and preserve the mapping relations.
In implementation, the first three-dimensional system of coordinate can be built with the central point of sensor in forward direction image collecting device, afterInto image collecting device, the central point of sensor builds the second three-dimensional system of coordinate, with sensor in left-hand image collecting deviceCentral point builds the 3rd three-dimensional system of coordinate, and the 4th three-dimensional coordinate is built with the central point of sensor in dextrad image collecting deviceSystem.By carrying out Coordinate Conversion, it is possible to determine the first three-dimensional system of coordinate, the second three-dimensional system of coordinate, the 3rd three-dimensional system of coordinate andCoordinate of the coordinate points in the world coordinate system built in advance in 4th three-dimensional system of coordinate, that is, determine that each image collecting device is adoptedCoordinate of the pixel in the world coordinate system built in advance in the image of collection, has also determined that each image collecting device is adoptedPosition of the pixel in panoramic parking image in the image of collection.
After image mosaic calibration is completed, panoramic parking system in the process of running, according to the mapping relations of preservation, in the pastTo the image of image collecting device, backward image collecting device, left-hand image collecting device and dextrad image acquisition deviceIn, each pixel for forming panoramic parking image is searched, these pixels found form panoramic parking image.
Based on the image split-joint method of panoramic parking system disclosed by the invention, user is located at the feelings of initial position in vehicle, it is necessary to all around put the first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration respectively in vehicle under conditionCloth so that forward direction image collecting device, backward image collecting device, left-hand image collecting device and the right side in panoramic parking systemTo image collecting device, the figure that cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth are calibrated in collection first is able toPicture, and the 3rd calibration cloth and the 4th calibration cloth are symmetrical relative to the longitudinal centre line of vehicle, the right edge of the 3rd calibration clothMidpoint of the midpoint of the left side of midpoint and the 4th calibration cloth with the wheelspan of vehicle is alignd, and panoramic parking system utilizes afterwardsBody width determines the position of the 3rd calibration cloth and the 4th calibration cloth in the world coordinate system built in advance, panoramic parking systemThe image that gathers is in the case of first position using left-hand image collecting device and dextrad image collecting device in vehicle, it is determined thatPosition of the first calibration cloth in world coordinate system, panoramic parking system utilize left-hand image collecting device and dextrad IMAQDevice is in the case of the second place image gathered in vehicle, determines position of the second calibration cloth in world coordinate system, itPanoramic parking system determines that the installation of each image collecting device is believed using position of four calibration cloth in world coordinate system afterwardsBreath, determine in panoramic parking image each pixel in the image of each image acquisition device based on mount message corresponding toPixel, establish and store the mapping relations of corresponding pixel points, complete image mosaic calibration.
For a user, before panoramic parking system carries out image mosaic calibration, it is only necessary to a left side before and after vehicleIt is right put respectively the first calibration cloth, second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth, and put calibration cloth duringOnly need to ensure that the 3rd calibration cloth and the 4th calibration cloth are symmetrical relative to the longitudinal centre line of vehicle, the right edge of the 3rd calibration clothMidpoint and midpoint of the midpoint with the wheelspan of vehicle of left side of the 4th calibration cloth align, and without ensureing vehicle's surroundingsCalibration cloth will be with vehicle longitudinal centre line perfect parallelism or vertical；Image mosaic is carried out in panoramic parking system to calibrateCheng Zhong, user only need to control vehicle to march to first position and the second place, it is not necessary to each image acquisition deviceImage choose calibration point manually.It can be seen that the image mosaic calibration method based on panoramic parking system disclosed by the invention,The operation difficulty of user is reduced, accordingly, user's operation can be reduced and the probability of deviation occur, so as to improve image mosaic schoolThe accurate degree of accuracy.
In present invention image mosaic calibration method disclosed above, as a kind of embodiment, the world built in advanceThe origin of coordinate system is made up of the central point of rectangle the central point of four wheels of vehicle, and the positive direction of X-axis points to vehicleRight side, the positive direction of Y-axis point to the rear side of vehicle, and the positive direction of Z axis is straight up.
Accordingly, step S2 determines that the 3rd calibration cloth 103 and the 4th calibrates cloth 104 advance according to the body width of vehiclePosition in the world coordinate system of structure, can be in the following way：
Coordinate of the midpoint of the right edge of the 3rd calibration cloth in world coordinate system is determined according to the body width of vehicle, thePosition of the cloth in world coordinate system is calibrated for the 3rd in the midpoint of the right edge of three calibration cloth in the coordinate of world coordinate system；
Coordinate of the midpoint of the left side of the 4th calibration cloth in world coordinate system is determined according to the body width of vehicle, thePosition of coordinate of the midpoint of the left side of four calibration cloth in world coordinate system for the 4th calibration cloth in world coordinate system.
The origin of the world coordinate system built in advance is made up of the central point of rectangle the central point of four wheels of vehicle,The positive direction of X-axis points to the right side of vehicle, and the positive direction of Y-axis points to the rear side of vehicle, and the positive direction of Z axis is straight up.And theMidpoint of the midpoint of the left side of the midpoint of the right edge of three calibration cloth 103 and the 4th calibration cloth 104 with the wheelspan of vehicleAlignment, then, the coordinate at the midpoint of the right edge of the 3rd calibration cloth 103 is (- A1/ 2-B1,0,0), a left side for the 4th calibration cloth 104The coordinate at the midpoint of side is (A1/2+B1, 0,0).Wherein, A1For the body width of vehicle, B1For the right side of the 3rd calibration cloth 103The distance between the midpoint of side and the left hand edge of vehicle body, B2For the midpoint of left side and the right side of vehicle body of the 4th calibration cloth 104The distance between edge.
As a kind of preferred embodiment, during placing the 3rd calibration cloth 103 and the 4th and calibrating cloth 104, ensureThe 3rd calibration calibration cloth 104 of cloth 103 and the 4th is symmetrical relative to the longitudinal centre line of vehicle, the right edge of the 3rd calibration cloth 103Midpoint and midpoint of the midpoint with the wheelspan of vehicle of left side of the 4th calibration cloth 104 align, in addition also by the 3rdThe right edge of calibration cloth 103 is concordant with the left hand edge of vehicle body, and the right hand edge of the right edge of the 4th calibration cloth 104 and vehicle body is put downTogether.
Accordingly, the coordinate at the midpoint of the right edge of the 3rd calibration cloth 103 is (- A1/ 2,0,0), the 4th cloth 104 is calibratedThe coordinate at the midpoint of left side is (A1/ 2,0,0).
In addition, in present invention image mosaic calibration method disclosed above, analysis left-hand image acquisition device3rd calibration cloth 103 and first calibrate the left field 101a of cloth 101 image and dextrad image acquisition device theFour calibration cloth 104 and first calibrate the right side area 101c of cloth 101 image, determine the first calibration cloth 101 relative to the 3rd schoolQuasi- cloth 103 and the 4th calibrates the position relationship of cloth 104, can be in the following way：
The 3rd calibration cloth 103 and first for analyzing left-hand image acquisition device calibrates the left field 101a of cloth 101Image, determine the 3rd calibration cloth 103 the first calibration point to first calibration cloth 101 left field 101a the second calibration pointDistance；
The 4th calibration cloth 104 and first for analyzing dextrad image acquisition device calibrates the right side area 101c of cloth 101Image, determine the 4th calibration cloth 104 the 3rd calibration point to first calibration cloth 101 right side area 101c the 4th calibration pointDistance.
Accordingly, position and first of the cloth 104 in world coordinate system are calibrated according to the 3rd calibration cloth 103 and the 4thThe position relationship that cloth 101 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th is calibrated, determines the first calibration cloth 101 in the worldPosition in coordinate system, can be in the following way：
According to the 3rd calibration cloth and the 4th position of the calibration cloth in world coordinate system, the first calibration point to the second calibration pointDistance, the distance of the 3rd calibration point to the 4th calibration point and the distance of the second calibration point to the 4th calibration point, determine firstCalibrate position of the cloth in world coordinate system.
Specifically：
The first calibration point is selected in the 3rd calibration cloth 103, in the left field 101a selections second of the first calibration cloth 101Calibration point.By calibrating the image of cloth 103 and the left side of the first calibration cloth 101 to the 3rd of left-hand image acquisition deviceRegion 101a image is analyzed, and determines the distance between the first calibration point and the second calibration point, and the distance is the first demarcationActual range between point and the second calibration point, rather than distance in the picture.
The 3rd calibration point is selected in the 4th calibration cloth 104, in the right side area 101c selections the 4th of the first calibration cloth 101Calibration point.By calibrating the image of cloth 104 and the right side of the first calibration cloth 101 to the 4th of dextrad image acquisition deviceRegion 101c image is analyzed, and determines the distance between the 3rd calibration point and the 4th calibration point, and the distance is the 3rd demarcationActual range between point and the 4th calibration point, rather than distance in the picture.
Afterwards, the distance between the second calibration point and the 4th calibration point are determined, according to the 3rd calibration cloth and the 4th calibration clothPosition, the first calibration point in world coordinate system to the distance of the second calibration point, the 3rd calibration point to the 4th calibration point away fromFrom and the second calibration point to the 4th calibration point with a distance from, determine position of the first calibration cloth in world coordinate system.
By taking Fig. 5 as an example, position of the 3rd calibration cloth 103 in world coordinate system is：The right edge of 3rd calibration cloth 103Coordinate of the midpoint in world coordinate system, position of the 4th calibration cloth 104 in world coordinate system are：4th calibration cloth 104Coordinate of the midpoint of left side in world coordinate system.
Position of first calibration point in the 3rd calibration cloth 103 is known, then according to the right side of the 3rd calibration cloth 103Coordinate of the midpoint on side in world coordinate system, it is possible to determine coordinate of first calibration point in world coordinate system.Likewise,Position of 3rd calibration point in the 4th calibration cloth 104 is known, then according to the midpoint of the left side of the 4th calibration cloth 104Coordinate in world coordinate system, it may be determined that coordinate of the 3rd calibration point in world coordinate system.
The distance between first calibration point and the second calibration point are a, the distance between the 3rd calibration point and the 4th calibration pointFor b, the distance between the second calibration point and the 4th calibration point are c.According to the first calibration point and the 3rd calibration point in world coordinatesCoordinate in system, and foregoing distance value, it is possible to determine the second calibration point and the 4th calibration point in world coordinate systemCoordinate.
, can be using the coordinate of the second calibration point and the 4th calibration point in world coordinate system as the first calibration cloth in implementation101 position in world coordinate system, coordinate that can also be according to the second calibration point and the 4th calibration point in world coordinate systemCoordinate of another point (such as central point of the first calibration cloth 101) in world coordinate system is calculated, by the point in world coordinate systemIn coordinate as the first position of the calibration cloth 101 in world coordinate system.
In present invention image mosaic calibration method disclosed above, the 3rd school of left-hand image acquisition device is analyzedQuasi- cloth 103 and second calibrates the 4th calibration of the left field 102a of cloth 102 image and dextrad image acquisition deviceCloth 104 and second calibrates the right side area 102c of cloth 102 image, determines the second calibration cloth 102 relative to the 3rd calibration cloth 103, can be in the following way with the position relationship of the 4th calibration cloth 104：
The 3rd calibration cloth 103 and second for analyzing left-hand image acquisition device calibrates the left field 102a of cloth 102Image, determine the 3rd calibration cloth 103 the 5th calibration point to second calibration cloth 102 left field 102a the 6th calibration pointDistance；
The 4th calibration cloth 104 and second for analyzing dextrad image acquisition device calibrates the right side area 102c of cloth 102Image, determine the 4th calibration cloth 104 the 7th calibration point to second calibration cloth 102 right side area 102c the 8th calibration pointDistance.
Accordingly, position and second of the cloth 104 in world coordinate system are calibrated according to the 3rd calibration cloth 103 and the 4thThe position relationship that cloth 102 calibrates cloth 104 relative to the 3rd calibration cloth 103 and the 4th is calibrated, determines the second calibration cloth 102 in the worldPosition in coordinate system, including：
Position of the cloth 104 in world coordinate system, the 5th calibration point to the 6th are calibrated according to the 3rd calibration cloth 103 and the 4thThe distance of calibration point, the 7th calibration point to the distance of the 8th calibration point and the distance of the 6th calibration point to the 8th calibration point, reallyPosition of the fixed second calibration cloth 102 in world coordinate system.
Specifically：
The 5th calibration point is selected in the 3rd calibration cloth 103, in the left field 102a selections the 6th of the second calibration cloth 102Calibration point.By calibrating the image of cloth 103 and the left side of the second calibration cloth 102 to the 3rd of left-hand image acquisition deviceRegion 102a image is analyzed, and determines the distance between the 5th calibration point and the 6th calibration point, and the distance is the 5th demarcationActual range between point and the 6th calibration point, rather than distance in the picture.
The 7th calibration point is selected in the 4th calibration cloth 104, in the right side area 102c selections the 8th of the second calibration cloth 102Calibration point.By calibrating the image of cloth 104 and the right side of the second calibration cloth 102 to the 4th of dextrad image acquisition deviceRegion 102c image is analyzed, and determines the distance between the 7th calibration point and the 8th calibration point, and the distance is the 7th demarcationActual range between point and the 8th calibration point, rather than distance in the picture.
Afterwards, the distance between the 6th calibration point and the 8th calibration point are determined, is calibrated according to the 3rd calibration cloth 103 and the 4thDistance of position, fiveth calibration point of the cloth 104 in world coordinate system to the 6th calibration point, the 7th calibration point to the 8th calibration pointDistance and the 6th calibration point to the 8th calibration point distance, determine position of the second calibration cloth 102 in world coordinate systemPut.
Illustrated with an example：
Position of the 3rd calibration cloth 103 in world coordinate system is：The midpoint of the right edge of 3rd calibration cloth 103 is in the worldCoordinate in coordinate system, position of the 4th calibration cloth 104 in world coordinate system are：In the left side of 4th calibration cloth 104Coordinate of the point in world coordinate system.
Position of 5th calibration point in the 3rd calibration cloth 103 is known, then according to the right side of the 3rd calibration cloth 103Coordinate of the midpoint on side in world coordinate system, it is possible to determine coordinate of the 5th calibration point in world coordinate system.Likewise,Position of 7th calibration point in the 4th calibration cloth 104 is known, then according to the midpoint of the left side of the 4th calibration cloth 104Coordinate in world coordinate system, it may be determined that coordinate of the 7th calibration point in world coordinate system.
The distance between 5th calibration point and the 6th calibration point are d, the distance between the 7th calibration point and the 8th calibration pointFor e, the distance between the 6th calibration point and the 8th calibration point are f.According to the 5th calibration point and the 7th calibration point in world coordinatesCoordinate in system, and foregoing distance value, it is possible to determine the 6th calibration point and the 8th calibration point in world coordinate systemCoordinate.
, can be using the coordinate of the 6th calibration point and the 8th calibration point in world coordinate system as the second calibration cloth in implementation102 position in world coordinate system, coordinate that can also be according to the 6th calibration point and the 8th calibration point in world coordinate systemCoordinate of another point (such as central point of the second calibration cloth 102) in world coordinate system is calculated, by the point in world coordinate systemIn coordinate as the second position of the calibration cloth 102 in world coordinate system.
As a kind of preferred embodiment, the first calibration point and the 5th calibration point of the 3rd calibration cloth 103 elect the 3rd school asSame point in quasi- cloth 103, the 3rd calibration point and the 7th calibration point of the 4th calibration cloth 104 are elected as in the 4th calibration cloth 104Same point.When the first calibration point and the 5th calibration point elect same point as, when the 3rd calibration point and the 7th calibration point elect same point as,The operand in image mosaic calibration process can be reduced.
For example, the first calibration point and the 5th calibration point of the 3rd calibration cloth 103 elect the central point of the 3rd calibration cloth 103 as,Or elect the midpoint of the right edge of the 3rd calibration cloth 103 as.The 3rd calibration point and the 7th calibration point of 4th calibration cloth 104 are elected asThe central point of 4th calibration cloth 104, or elect the midpoint of the left side of the 4th calibration cloth 104 as.
In present invention image mosaic calibration method disclosed above, step S10 is according to the first calibration cloth, the second calibrationThe position of cloth, the 3rd calibration cloth and the 4th calibration cloth in world coordinate system, it is determined that preceding adopt to image collecting device, backward imageAcquisition means, left-hand image collecting device and dextrad image collecting device, can be in the following way in the mount message of vehicle body：
Vehicle is determined in the case of predeterminated position, the default angle point of the first calibration cloth is in forward direction image acquisition deviceThe first calibration cloth image in the first physical location, the default angle point of the second calibration cloth is rear to image acquisition deviceThe second physical location in second calibration cloth image, the default angle point of the 3rd calibration cloth is the of left-hand image acquisition deviceThe 3rd physical location in three calibration cloth images, the default angle point of the 4th calibration cloth is the 4th of dextrad image acquisition deviceCalibrate the 4th physical location in cloth image；
To the mount message of image collecting device before setting；According to the preceding position to image collecting device in world coordinate systemPut, calculate vehicle in the case of predeterminated position, forward direction image collecting device is according to the mount message installment state currently setIn the virtual image of first calibration cloth caused by lower, the first virtual location of the default angle point of the first calibration cloth；If first is realDifference between border position and the first virtual location be less than it is preceding to minimum value, then the forward direction image collecting device currently setMount message is the preceding mount message actual to image collecting device；If between the first physical location and the first virtual locationDifference is more than or equal to preceding to minimum value, the then preceding mount message to image collecting device of reset, and perform follow-up stepSuddenly, until to the mount message that image collecting device is actual before determining；
Set the mount message of backward image collecting device；According to position of the backward image collecting device in world coordinate systemPut, calculate vehicle in the case of predeterminated position, backward image collecting device is according to the mount message installment state currently setIn the virtual image of second calibration cloth caused by lower, the second virtual location of the default angle point of the second calibration cloth；If second is realDifference between border position and the second virtual location is less than backward minimum value, then the backward image collecting device currently setMount message is the actual mount message of backward image collecting device；If between the second physical location and the second virtual locationDifference is more than or equal to backward minimum value, then resets the mount message of backward image collecting device, and performs follow-up stepSuddenly, until determining the actual mount message of backward image collecting device；
Set the mount message of left-hand image collecting device；According to position of the left-hand image collecting device in world coordinate systemPut, calculate vehicle in the case of predeterminated position, left-hand image collecting device is according to the mount message installment state currently setIn the virtual image of 3rd calibration cloth caused by lower, the 3rd virtual location of the default angle point of the 3rd calibration cloth；If the 3rd is realDifference between border position and the 3rd virtual location is less than left-hand minimum value, then the left-hand image collecting device currently setMount message is the actual mount message of left-hand image collecting device；If between the 3rd physical location and the 3rd virtual locationDifference is more than or equal to left-hand minimum value, then resets the mount message of left-hand image collecting device, and performs follow-up stepSuddenly, until determining the actual mount message of left-hand image collecting device；
Set the mount message of dextrad image collecting device；According to position of the dextrad image collecting device in world coordinate systemPut, calculate vehicle in the case of predeterminated position, dextrad image collecting device is according to the mount message installment state currently setIn the virtual image of 4th calibration cloth caused by lower, the 4th virtual location of the default angle point of the 4th calibration cloth；If the 4th is realDifference between border position and the 4th virtual location is less than dextrad minimum value, then the dextrad image collecting device currently setMount message is the actual mount message of dextrad image collecting device；If between the 4th physical location and the 4th virtual locationDifference is more than or equal to dextrad minimum value, then resets the mount message of dextrad image collecting device, and performs follow-up stepSuddenly, until determining the actual mount message of dextrad image collecting device.
Here to exemplified by the mount message of image collecting device before determining：
First, vehicle is obtained in the predeterminated position, the first calibration cloth that forward direction image collecting device actual acquisition arrivesImage, determines the position of the default angle point of the first calibration cloth in the images, and the position is the default angle point of the first calibration clothPhysical location.
Afterwards, believed before setting to the mount message of image collecting device before calculating to image collecting device using the installationIn the case that breath is installed, the default angle point of the first calibration cloth is in the caused by forward direction image collecting device first void for calibrating clothIntend the virtual location in image, if the virtual location of default angle point of the first calibration cloth and the deviation of physical location meet to preset, can will it is required that show that the mount message of the mount message of the forward direction image collecting device and reality currently set is very closeThe mount message currently set is as before to the actual installation information of image collecting device.If the default angle point of the first calibration clothVirtual location and physical location deviation it is larger, show the mount message and reality of forward direction image collecting device currently setMount message deviation it is larger, to the mount message of image collecting device before now being adjusted according to default step-length, then perform follow-upOperation, until to the actual installation information of image collecting device before obtaining.
Explanation is needed exist for, the mount message of each image collecting device includes installation site and setting angle.AndAnd the installation site of image collecting device includes the coordinate image collecting device in three-dimensional system of coordinate in each reference axis,The setting angle of image collecting device includes angle image collecting device in three-dimensional system of coordinate in each reference axis.NamelySay, the mount message of each image collecting device includes 6 variables.
In implementation, during the mount message of each image collecting device is adjusted, 6 variables are adjusted one by oneIt is whole, when it is determined that a variable and then being adjusted to next variable, until determining all 6 variables.
The present invention image mosaic calibration method of panoramic parking system disclosed above, accordingly, invention additionally discloses completeThe image mosaic calibrating installation of scape parking system.Below with respect to image mosaic calibrating installation description with above for image mosaicThe description of calibration method, can be with cross-reference.
Referring to Fig. 6, Fig. 6 is a kind of structural representation of the image mosaic calibrating installation of panoramic parking system disclosed by the inventionFigure.The image mosaic calibrating installation includes first position determining unit 100, first position relation determination unit 200, the second placeDetermining unit 300, second place relation determination unit 400, the 3rd position determination unit 500, the and of mount message determining unit 600Alignment unit 700.
First position determining unit 100, in the case where vehicle is in initial position, determined according to the body width of vehicleThe position of 3rd calibration cloth and the 4th calibration cloth in the world coordinate system built in advance, the origin of world coordinate system is vehicleThe central point of four wheels forms the central point of rectangle.
Wherein, in the case where vehicle is located at initial position, put respectively on the front side of vehicle, rear side, left side and right sideFirst calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration cloth, the midpoint and the 4th of the right edge of the 3rd calibration clothCalibrate midpoint of the midpoint of the left side of cloth with the wheelspan of vehicle to align, the first calibration cloth and the second calibration cloth are included in advance respectivelyIntermediate region, left field and the right side area first divided, forward direction image collecting device can gather the image of the first calibration cloth,Backward image collecting device can gather the image of the second calibration cloth, and left-hand image collecting device can gather the 3rd calibration clothImage, dextrad image collecting device can gather the image of the 4th calibration cloth.
First position relation determination unit 200, for vehicle is straight march to first position forward when, obtain left-hand figureThe 3rd calibration cloth and the image of the left field of the first calibration cloth currently gathered as harvester, obtains dextrad IMAQDevice currently gather the 4th calibration cloth and first calibration cloth right side area image, analysis left-hand image collecting device andThe image that dextrad image collecting device currently gathers, determine position of the first calibration cloth relative to the 3rd calibration cloth and the 4th calibration clothPut relation.
Second place determining unit 300, for the position according to the 3rd calibration cloth and the 4th calibration cloth in world coordinate systemPut and the first calibration cloth is relative to the 3rd calibration cloth and the position relationship of the 4th calibration cloth, determine the first calibration cloth in the worldPosition in coordinate system.
Second place relation determination unit 400, for vehicle is straight travel rearwardly to the second place when, obtain left-hand figureThe 3rd calibration cloth and the image of the left field of the second calibration cloth currently gathered as harvester, obtains dextrad IMAQDevice currently gather the 4th calibration cloth and second calibration cloth right side area image, analysis left-hand image collecting device andThe image that dextrad image collecting device currently gathers, determine position of the second calibration cloth relative to the 3rd calibration cloth and the 4th calibration clothPut relation.
3rd position determination unit 500, for the position according to the 3rd calibration cloth and the 4th calibration cloth in world coordinate systemPut and the second calibration cloth is relative to the 3rd calibration cloth and the position relationship of the 4th calibration cloth, determine the second calibration cloth in the worldPosition in coordinate system.
Mount message determining unit 600, for according to the first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th schoolPosition of the quasi- cloth in world coordinate system, it is determined that preceding to image collecting device, backward image collecting device, left-hand image collectorThe mount message in vehicle body with dextrad image collecting device is put, mount message includes installation site and setting angle.
Alignment unit 700, it is preceding to image collecting device, backward image collecting device, left-hand image collector for utilizingPut the mount message with dextrad image collecting device, determine in panoramic parking image each pixel forward direction image collecting device,Corresponding pixel in the image of backward image collecting device, left-hand image collecting device and dextrad image acquisition device,Establish and store the mapping relations of corresponding pixel points.
Using image mosaic calibrating installation disclosed by the invention, user carries out image mosaic in panoramic parking system and calibrates itBefore, it is only necessary to the first calibration cloth, the second calibration cloth, the 3rd calibration cloth and the 4th calibration are all around put respectively in vehicleCloth, and only need to ensure the midpoint of the right edge of the 3rd calibration cloth and a left side for the 4th calibration cloth during putting calibration clothMidpoint of the midpoint of side with the wheelspan of vehicle is alignd, and without ensure vehicle's surroundings calibration cloth will with the longitudinal direction of vehicleHeart line perfect parallelism is vertical；In panoramic parking system carries out image mosaic calibration process, user only needs to control vehicleMarch to first position and the second place, it is not necessary to which calibration point is chosen manually to the image of each image acquisition device.CanTo see, the image mosaic calibration method based on panoramic parking system disclosed by the invention, the operation difficulty of user, phase are reducedAnswer, user's operation can be reduced and the probability of deviation occur, so as to improve the degree of accuracy of image mosaic calibration.
In present invention image mosaic calibrating installation disclosed above, as a kind of embodiment, the world built in advanceThe origin of coordinate system is made up of the central point of rectangle the central point of four wheels of vehicle, and the positive direction of X-axis points to vehicleRight side, the positive direction of Y-axis point to the rear side of vehicle, and the positive direction of Z axis is straight up.
Accordingly, first position determining unit 100 is specifically used for：3rd calibration cloth is determined according to the body width of vehicleCoordinate of the midpoint of right edge in world coordinate system, the 3rd calibrates coordinate of the midpoint in world coordinate system of the right edge of clothFor position of the 3rd calibration cloth in world coordinate system；In the left side that the 4th calibration cloth is determined according to the body width of vehicleCoordinate of the point in world coordinate system, the 4th calibrates coordinate of the midpoint of the left side of cloth in world coordinate system as the 4th calibrationPosition of the cloth in world coordinate system.
As an example, in present invention image mosaic calibrating installation disclosed above, first position relation determines singleMember 200 is specifically used for：Analyze the 3rd calibration cloth of left-hand image acquisition device and the figure of the left field of the first calibration clothPicture, determine the distance of the second calibration point of the left field of the first calibration point to the first calibration cloth of the 3rd calibration cloth, the analysis right sideThe image for the right side area for calibrating cloth and the first calibration cloth to the 4th of image acquisition device the, determines the of the 4th calibration clothDistance of three calibration points to the 4th calibration point of the right side area of the first calibration cloth
Second place determining unit 300 is specifically used for：According to the 3rd calibration cloth and the 4th calibration cloth in world coordinate systemPosition, the distance of the first calibration point to the second calibration point, the 3rd calibration point to the distance of the 4th calibration point and the second demarcationO'clock to the 4th calibration point distance, determine position of the first calibration cloth in world coordinate system.
As an example, in present invention image mosaic calibrating installation disclosed above, second place relation determines singleMember 400 is specifically used for：Analyze the 3rd calibration cloth of left-hand image acquisition device and the figure of the left field of the second calibration clothPicture, determine the distance of the 6th calibration point of the left field of the 5th calibration point to the second calibration cloth of the 3rd calibration cloth, the analysis right sideThe image for the right side area for calibrating cloth and the second calibration cloth to the 4th of image acquisition device the, determines the of the 4th calibration clothDistance of seven calibration points to the 8th calibration point of the right side area of the second calibration cloth.
3rd position determination unit 500 is specifically used for：According to the 3rd calibration cloth and the 4th calibration cloth in world coordinate systemPosition, the 5th calibration point to the distance of the 6th calibration point, the 7th calibration point to the distance of the 8th calibration point and the 6th demarcationO'clock to the 8th calibration point distance, determine position of the second calibration cloth in world coordinate system.
As an example, in present invention image mosaic calibrating installation disclosed above, mount message determining unit 600As shown in fig. 7, comprises at angle point physical location determining module 601, first processing module 602, Second processing module the 603, the 3rdManage module 604 and fourth processing module 605.
Wherein：
Angle point physical location determining module 601, for determining vehicle in the case of predeterminated position, first calibrates the pre- of clothIf first physical location of the angle point in the first calibration cloth image of forward direction image acquisition device, the second calibration cloth are presetSecond physical location of the angle point in rear the second calibration cloth image to image acquisition device, the preset angle of the 3rd calibration clothThreeth physical location of the point in the 3rd calibration cloth image of left-hand image acquisition device, the default angle point of the 4th calibration clothThe 4th physical location in the 4th calibration cloth image of dextrad image acquisition device.
First processing module 602, for setting the preceding mount message to image collecting device；According to preceding to image collectorPut the position in world coordinate system, calculate vehicle in the case of predeterminated position, forward direction image collecting device is according to currently settingIn the virtual image of first calibration cloth caused by under fixed mount message installment state, the first of the default angle point of the first calibration clothVirtual location；If the difference between the first physical location and the first virtual location is less than preceding to minimum value, current settingThe mount message of forward direction image collecting device be the preceding mount message actual to image collecting device；If the first physical locationAnd the first difference between virtual location be more than or equal to it is preceding to minimum value, then to the peace of image collecting device before resettingInformation is filled, and performs subsequent operation, until to the mount message that image collecting device is actual before determining.
Second processing module 603, for setting the mount message of backward image collecting device；According to backward image collectorPut the position in world coordinate system, calculate vehicle in the case of predeterminated position, backward image collecting device is according to currently settingIn the virtual image of second calibration cloth caused by under fixed mount message installment state, the second of the default angle point of the second calibration clothVirtual location；If the difference between the second physical location and the second virtual location is less than backward minimum value, current settingThe mount message of backward image collecting device be the actual mount message of backward image collecting device；If the second physical locationAnd the second difference between virtual location is more than or equal to backward minimum value, then the peace of backward image collecting device is resetInformation is filled, and performs subsequent operation, until determining the actual mount message of backward image collecting device.
3rd processing module 604, for setting the mount message of left-hand image collecting device；According to left-hand image collectorPut the position in world coordinate system, calculate vehicle in the case of predeterminated position, left-hand image collecting device is according to currently settingIn the virtual image of 3rd calibration cloth caused by under fixed mount message installment state, the 3rd of the default angle point of the 3rd calibration cloth theVirtual location；If the difference between the 3rd physical location and the 3rd virtual location is less than left-hand minimum value, current settingThe mount message of left-hand image collecting device be the actual mount message of left-hand image collecting device；If the 3rd physical locationAnd the 3rd difference between virtual location is more than or equal to left-hand minimum value, then the peace of left-hand image collecting device is resetInformation is filled, and performs subsequent operation, until determining the actual mount message of left-hand image collecting device.
Fourth processing module 605, for setting the mount message of dextrad image collecting device；According to dextrad image collectorPut the position in world coordinate system, calculate vehicle in the case of predeterminated position, dextrad image collecting device is according to currently settingIn the virtual image of 4th calibration cloth caused by under fixed mount message installment state, the 4th of the default angle point of the 4th calibration cloth theVirtual location；If the difference between the 4th physical location and the 4th virtual location is less than dextrad minimum value, current settingThe mount message of dextrad image collecting device be the actual mount message of dextrad image collecting device；If the 4th physical locationAnd the 4th difference between virtual location is more than or equal to dextrad minimum value, then the peace of dextrad image collecting device is resetInformation is filled, and performs subsequent operation, until determining the actual mount message of dextrad image collecting device.
Finally, it is to be noted that, herein, such as first and second or the like relational terms be used merely to byOne entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operationBetween any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant meaningCovering including for nonexcludability, so that process, method, article or equipment including a series of elements not only include thatA little key elements, but also the other element including being not expressly set out, or also include for this process, method, article orThe intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arrangedExcept other identical element in the process including the key element, method, article or equipment being also present.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and otherThe difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodimentFor, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method partIt is bright.