AUTOMATIC CALIBRATION METHOD AND APPARATUS FOR ONBOARD CAMERA

• US 20200134872A1
• Filed: 10/30/2019
• Published: 04/30/2020
• Est. Priority Date: 10/31/2018
• Status: Abandoned Application

• Current Assignee: Apollo Intelligent Connectivity Technology Company Limited
• Original Assignee: Baidu Online Network Technology (Beijing) Co., Ltd (Baidu Incorporated)
• Inventors: Feng, Yao, Zhuo, Xianjin, Zhou, Zhipeng, Li, Bing, Zhang, Binglin
• Application Number:
  US16/668,015
• Publication Number:
  US 20200134872A1
• Time in Patent Office: Days
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/402 Image calibration
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: H04N 17/002 for television cameras
• CPC Class Codes: H04N 23/634 Warning indications
• CPC Class Codes: H04N 23/661 Transmitting camera control signals through networks, e.g. control via the Internet
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

An automatic calibration method for an onboard camera is provided, the automatic calibration method includes: receiving a calibration start command, by a vehicle equipped with the onboard camera at a predetermined position; capturing an image of a target with the onboard camera, and calibrating a parameter of the onboard camera according to the captured image; and in a case that the onboard camera is calibrated, automatically writing the calibrated parameter of the onboard camera into a configuration file.

Claims

1. An automatic calibration method for an onboard camera, comprising:

receiving a calibration start command, by a vehicle equipped with the onboard camera at a predetermined position;

capturing an image of a target with the onboard camera, and calibrating a parameter of the onboard camera according to the captured image; and

in a case that the onboard camera is calibrated, automatically writing the calibrated parameter of the onboard camera into a configuration file.

2. The automatic calibration method according to claim 1, wherein the calibrating a parameter of the onboard camera according to the captured image comprises:

calculating a pitch angle and a yaw angle of the onboard camera.

3. The automatic calibration method according to claim 1, wherein the calibrating a parameter of the onboard camera according to the captured image comprises:

calibrating the parameter of the onboard camera according to a Direct Linear Transformation (DLT), Tsai two-step approach or a Zhang Zhengyou camera calibration method.

4. The automatic calibration method according to claim 1, wherein the receiving a calibration start command comprises:

receiving, by an onboard diagnostic system or a micro control unit, the calibration start command from a handheld device communicatively coupled to the vehicle; and

sending the calibration start command via a Controller Area Network (CAN) bus to a calibration application.

5. The automatic calibration method according to claim 1, wherein the receiving a calibration start command comprises:

receiving, by an onboard diagnostic system or a micro control unit, a calibration start command from a handheld device communicatively coupled to the vehicle;

sending the calibration start command on a Controller Area Network (CAN) bus; and

monitoring, by a calibration application, the calibration start command on the CAN bus.

6. The automatic calibration method according to claim 1, further comprising:

displaying a message of successful calibration on a screen in response to the calibration of the onboard camera.

7. The automatic calibration method according to claim 2, further comprising:

determining a failure calibration of the onboard camera, in a case that the pitch angle or the yaw angle exceeds respective threshold value, or in a case that the calibrated parameter of the onboard camera is not returned over a predetermined period of time.

8. The automatic calibration method according to claim 1, further comprising:

adjusting a position of the vehicle and/or a position of the onboard camera; and

recalibrating in response to a failure calibration of the onboard camera.

17. A non-transitory computer-readable storage medium comprising computer executable instructions stored thereon, wherein the executable instructions, when executed by a processor, causes the processor to implement the automatic calibration method of claim 1.

9. An automatic calibration apparatus for an onboard camera, comprising:

one or more processors;

a storage device configured to store one or more programs;

the onboard camera configured to capture an image of a target;

wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to;

receive a calibration start command, by a vehicle equipped with the onboard camera at a predetermined position;

capture the image of the target with the onboard camera, and calibrate a parameter of the onboard camera according to the captured image; and

in a case that the onboard camera is calibrated, automatically write the calibrated parameter of the onboard camera into a configuration file.

10. The automatic calibration apparatus according to claim 9, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:

calculate a pitch angle and a yaw angle of the onboard camera.

11. The automatic calibration apparatus according to claim 9, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:

calibrate the parameter of the onboard camera according to a Direct Linear Transformation (DLT), Tsai two-step approach or a Zhang Zhengyou camera calibration method.

12. The automatic calibration apparatus according to claim 9, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:

receive, by an onboard diagnostic system or a micro control unit, the calibration start command from a handheld device communicatively coupled to the vehicle; and

send the calibration start command via a Controller Area Network (CAN) bus to a calibration application.

13. The automatic calibration apparatus according to claim 9, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:

receive, by an onboard diagnostic system or a micro control unit, a calibration start command from a handheld device communicatively coupled to the vehicle;

send the calibration start command on a Controller Area Network (CAN) bus; and

monitor, by a calibration application, the calibration start command on the CAN bus.

14. The automatic calibration apparatus according to claim 9, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:

display a message of successful calibration on a screen in response to the calibration of the onboard camera.

15. The automatic calibration apparatus according to claim 10, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:

determine a failure calibration of the onboard camera, in a case that the pitch angle or the yaw angle exceeds respective threshold value, or in a case that the calibrated parameter of the onboard camera is not returned over a predetermined period of time.

16. The automatic calibration apparatus according to claim 9, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors further to:

adjust a position of the vehicle and/or a position of the onboard camera; and

recalibrate in response to a failure calibration of the onboard camera.