CN112308923B - Camera pose adjustment method and device based on lane lines, storage medium and equipment - Google Patents
Camera pose adjustment method and device based on lane lines, storage medium and equipment Download PDFInfo
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Abstract
The embodiment of the disclosure discloses a camera pose adjustment method and device based on lane lines, a storage medium and equipment, wherein the method comprises the following steps: acquiring images of two lane lines including a lane in which a vehicle is located based on a camera provided on the vehicle, and determining two slopes in the images of the two lane lines when the camera is in a first pose based on the images; determining a first increment parameter of the first pose based on two slopes in the images of the two lane lines when the camera is in the first pose; adjusting the first pose based on the first increment parameter to obtain a second pose; according to the method, the slope information is extracted through structural sensing of the lane lines, dynamic real-time calibration of the camera pose can be conveniently carried out in a straight-line scene, the calculation process is simple, and only incremental parameters are needed to be obtained, so that compared with other calibration methods depending on complex geometric projection models, the calculation speed of the method provided by the embodiment is faster, the efficiency is higher, and the instantaneity is better.
Description
Technical Field
The disclosure relates to camera external parameter calibration technology, in particular to a lane line-based camera pose adjustment method and device, a storage medium and equipment.
Background
The camera has installation errors after being installed on the vehicle, and the estimation of the installation errors is an important content in camera external parameter calibration. Since Roll angle Roll in the camera's external parameters has a great influence on the lateral distance measurement of the lane lines and the forward obstacle, a stable and reliable calibration scheme is very important.
In the prior art, the camera pose adjustment is realized by a static calibration (online calibration) method, but the static calibration method has very high requirements on the relative positions of the vehicle and the reference object, and the calibration process is very time-consuming and labor-consuming.
Disclosure of Invention
The present disclosure has been made in order to solve the above technical problems. The embodiment of the disclosure provides a camera pose adjustment method and device based on lane lines, a storage medium and equipment.
According to an aspect of the embodiments of the present disclosure, there is provided a camera pose adjustment method based on lane lines, including:
acquiring images of two lane lines including a lane in which a vehicle is located based on a camera provided on the vehicle;
Determining two slopes in an image of the two lane lines when the camera is in a first pose based on the image;
Determining a first increment parameter of a first pose based on two slopes of the two lane lines in an image of the camera in the first pose;
And adjusting the first pose based on the first increment parameter to obtain a second pose.
According to another aspect of the embodiments of the present disclosure, there is provided a camera pose adjustment device based on lane lines, including:
The image acquisition module is used for acquiring images of two lane lines comprising a lane where the vehicle is located based on a camera arranged on the vehicle;
A slope determination module for determining two slopes of the two lane lines in an image of the camera when the camera is in a first pose based on the image;
the increment parameter determining module is used for determining a first increment parameter of the first pose based on two slopes of the two lane lines determined by the slope determining module in an image of the camera in the first pose;
and the pose adjusting module is used for adjusting the first pose based on the first increment parameter determined by the increment parameter determining module to obtain a second pose.
According to still another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the lane line-based camera pose adjustment method of the above embodiments.
According to still another aspect of the embodiments of the present disclosure, there is provided an electronic device including:
A processor;
A memory for storing the processor-executable instructions;
The processor is configured to read the executable instruction from the memory, and execute the instruction to implement the lane line-based camera pose adjustment method described in the above embodiment.
According to the camera pose adjustment method and device based on the lane lines, the storage medium and the device, images of two lane lines comprising a lane where a vehicle is located are acquired based on a camera arranged on the vehicle, and two slopes in the images of the two lane lines when the camera is in a first pose are determined based on the images; determining a first increment parameter of a first pose based on two slopes of the two lane lines in an image of the camera in the first pose; adjusting the first pose based on the first increment parameter to obtain a second pose; according to the method, the slope information is extracted through structural sensing of the lane lines, dynamic real-time calibration of the camera pose can be conveniently carried out in a straight-line scene, the calculation process is simple, and only incremental parameters are needed to be obtained, so that compared with other calibration methods depending on complex geometric projection models, the calculation speed of the method provided by the embodiment is faster, the efficiency is higher, and the instantaneity is better.
The technical scheme of the present disclosure is described in further detail below through the accompanying drawings and examples.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing embodiments thereof in more detail with reference to the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, without limitation to the disclosure. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a system block diagram of a lane-based camera pose adjustment method provided by an embodiment of the present disclosure.
Fig. 2 is an alternative block diagram of the pose adjustment module according to the embodiment of the present disclosure.
Fig. 3a is a schematic view of pitch angle increment direction determination according to an exemplary embodiment of the present disclosure.
Fig. 3b is a schematic diagram of yaw angle increment direction determination according to an exemplary embodiment of the present disclosure.
Fig. 4 is a logic diagram for determining straight running of a vehicle according to an embodiment of the present disclosure.
Fig. 5 is a flowchart of a lane line-based camera pose adjustment method according to an exemplary embodiment of the present disclosure.
Fig. 6 is a flowchart illustrating a lane line-based camera pose adjustment method according to another exemplary embodiment of the present disclosure.
Fig. 7 is a schematic flow chart of step 502 in the embodiment shown in fig. 5 of the present disclosure.
Fig. 8 is another flow chart of step 502 in the embodiment of fig. 5 of the present disclosure.
Fig. 9 is a schematic structural view of a lane line-based camera pose adjustment device according to an exemplary embodiment of the present disclosure.
Fig. 10 is a schematic structural view of a lane line-based camera pose adjustment apparatus according to another exemplary embodiment of the present disclosure.
Fig. 11 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure.
Detailed Description
Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present disclosure and not all of the embodiments of the present disclosure, and that the present disclosure is not limited by the example embodiments described herein.
It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
It will be appreciated by those of skill in the art that the terms "first," "second," etc. in embodiments of the present disclosure are used merely to distinguish between different steps, devices or modules, etc., and do not represent any particular technical meaning nor necessarily logical order between them.
It should also be understood that in embodiments of the present disclosure, "plurality" may refer to two or more, and "at least one" may refer to one, two or more.
It should also be appreciated that any component, data, or structure referred to in the presently disclosed embodiments may be generally understood as one or more without explicit limitation or the contrary in the context.
In addition, the term "and/or" in this disclosure is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the front and rear association objects are an or relationship.
It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and that the same or similar features may be referred to each other, and for brevity, will not be described in detail.
Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Embodiments of the present disclosure may be applicable to electronic devices such as terminal devices, computer systems, servers, etc., which may operate with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with the terminal device, computer system, server, or other electronic device include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, mainframe computer systems, and distributed cloud computing technology environments that include any of the foregoing, and the like.
Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc., that perform particular tasks or implement particular abstract data types. The computer system/server may be implemented in a distributed cloud computing environment in which tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computing system storage media including memory storage devices.
Summary of the application
In the process of implementing the present disclosure, the inventor finds that the existing camera pose adjustment scheme is static calibration (offine), but the calibration method has at least the following problems: the vehicle is required to be stopped still and 'in a certain scene', camera external parameters are calculated according to a reference object arranged on site, and the calibration process is time-consuming and labor-consuming due to very high requirements on the relative positions of the vehicle and the reference object.
Exemplary System
The camera pose adjustment method based on the lane lines provided by the embodiment of the disclosure is a calibration method for gradually approaching a true value when a vehicle runs in a scene that a road is straight and left and right lane lines are clearly visible, and the parallelism and verticality of the left and right lane lines in a vehicle body coordinate system are observed in real time through a visual perception system, so that the pose (such as a pitch angle and a yaw angle) of the camera is fed back and adjusted. Gradually correcting pitch when the left lane line and the right lane line are detected to be not parallel by taking the slope of the lane line under a vehicle body coordinate system as a calculation basis of parallelism and perpendicularity; when the left and right lane lines are detected not to be vertical, the yaw is gradually corrected until convergence is stable.
The invention mainly carries out feedback regulation on the basis of Image processing flow. I.e. extracting lane line perception results from the image that has completed the perception process and calculating the increment of pitch and yaw, thereby changing the pitch and yaw used by the new input image until the increment no longer needs to be calculated.
Fig. 1 is a system block diagram of a lane-based camera pose adjustment method provided by an embodiment of the present disclosure. As shown in fig. 1, the image processing module (Imageflow) optionally includes an Input (Input) sub-module, a perception (Perception Precess) sub-module, and an Output (Output) sub-module, where the Input sub-module receives the image Input, then performs structural perception through the perception sub-module group, extracts the attributes of the lane lines and other objects, and finally transmits the perception result to the outside through the Output sub-module. Alternatively, there may be multiple sub-modules for the perception sub-module due to the different designs, and each sub-module typically processes one frame of image from a performance and speed perspective. The Image (Image) i in fig. 1 indicates that the i-th frame Image just completes all the sensing processes and is ready to be output outwards, so that the Image in the subsequent sub-module, the output sub-module, is just the i-1-th frame Image of the previous frame, and the images in the previous sub-modules are the i+1-th frame Image, the i+2-th frame Image, and the … -th frame Image up to the i+n-th frame Image in sequence.
And the pose adjusting module (Pitch Yaw Calibrator) 102 is used for performing incremental calculation on the pitch angle and the yaw angle based on the lane line slope observed in real time, so as to realize dynamic correction.
And the vehicle working condition observation module (Vehicle Condition Observer) 103 judges whether the vehicle is in a straight-road running state or not according to the CAN message data of the vehicle chassis.
The camera external parameter updating module (Camera Pose Parameters) 104 provides an interface for updating the external parameters of the camera in real time, and transmits the result feedback of the pose adjusting module 102 to the image processing module 101.
Among the above modules, the pose adjustment module 102 is a main inventive point embodying the present disclosure. The calculation flows of Pitch and Yaw in the pose information of the pose adjustment module 102 are the same, and are all deviation feedback calculation based on PID, and the pose adjustment module 102 includes a structure as shown in fig. 2, and fig. 2 is an optional structural block diagram of the pose adjustment module provided in the embodiment of the present disclosure. As shown in fig. 2, includes:
the PID control submodule 201 adopts a classical PID control algorithm to calculate a Pitch/Yaw incremental scaling factor (scale) according to the real-time deviation (the slope of two lane lines of the lane where the vehicle is located in the image acquired by the camera).
The increment Step calculation sub-module 202 selects a proper basic increment value (Step) according to the current real-time deviation, and selects a larger Step value when the deviation (Error) is larger; when the deviation (Error) is small, a small Step value is selected.
The increment direction determination submodule 203 determines whether the current controlled object should be increased or decreased based on a deviation (Error) or other characteristics.
The limiting submodule 204 is configured to limit the maximum and minimum values of the increment scale, and limit the maximum and minimum values of the output result of the PID control submodule 201 (the case where the maximum value is greater than the maximum value and the case where the minimum value is less than the minimum value is limited to the minimum value), thereby preventing the Roll value from becoming large or small and causing the subsequent control to be abnormal.
The increment calculating sub-module 205 performs increment calculation on the step output by the increment step calculating sub-module 202 and the increment direction output by the increment direction determining sub-module 203 according to scale output by the limiting sub-module 204, and the formula is as follows: delta=scale step (Delta) is equal to the Delta scaling factor scale multiplied by the base Delta value (step)). And, there are different step values in different increment directions, namely there are two kinds of steps seen from the direction, namely, step representing an increased positive value and step representing a decreased negative value, respectively, and step direction calculation is performed by the 203 module; there are two levels of step values, large step and small step, in each direction, and the calculation is performed by the 202 module.
The filtering sub-module 206 performs filtering processing on the calculation result of the increment calculation operator module 205, ensures smooth output and obtains a final increment value; here, simple first order filtering is chosen, for example: y n＝(1-a)*Yn-1+a*Xn.
Finally, the pose of the camera is adjusted according to the increment value output by the filtering submodule 206 and the increment direction determined by the increment direction determining submodule 203.
The control objects corresponding to the pitch angle pitch and yaw angle in the camera pose (i.e., the offset direction is determined by the control objects) are:
pitch: judging whether the left lane line and the right lane line are parallel to each other according to the slope difference of the left lane line and the right lane line in a vehicle body ground coordinate system;
Fig. 3a is a schematic view of pitch angle increment direction determination according to an exemplary embodiment of the present disclosure. As shown in fig. 3a, the corresponding method for determining the increment direction includes: when Pitch is larger, the slope of the left lane line is positive, the slope of the right lane line is negative, and the slope difference of the left lane line and the right lane line is positive; when Pitch is smaller, the slope of the left lane line is a negative value, the slope of the right lane line is a positive value, and the slope difference between the left lane line and the right lane line is a negative value; therefore, when the slope difference of the left and right lane lines is positive, pitch needs to be reduced; and when it is negative, pitch needs to be increased.
Yaw: judging the verticality of the left lane line and the right lane line (namely, the parallelism degree of the left lane line and the right lane line with an X axis in a vehicle body ground coordinate system) according to a smaller value of the slope of the left lane line and the right lane line in the vehicle body ground coordinate system;
Fig. 3b is a schematic diagram of yaw angle increment direction determination according to an exemplary embodiment of the present disclosure. As shown in fig. 3b, the corresponding method for determining the increment direction includes: when the Yaw is larger, the slopes of the left lane line and the right lane line are positive values; when the Yaw is smaller, the slopes of the left lane line and the right lane line are negative values; therefore, when the slopes of the left and right lane lines are simultaneously greater than a certain threshold value, yaw needs to be reduced; while when it is simultaneously less than a certain threshold, yaw needs to be increased.
According to the pose adjusting method, the vehicle can be adjusted under the condition of non-straight running in theory, but the effect is better during straight running, and the calibration result is more stable under the straight running than that under the non-straight running condition after the actual test, so that the pose adjustment of the vehicle under the straight running condition can be limited, and the current running working condition of the vehicle can be judged specifically, and the calibration of the system under the curved road and other scenes is avoided. The calculation of the vehicle state is mainly based on the vehicle speed and the yaw rate signals in the vehicle chassis CAN message, the logic of which is shown in fig. 4, and fig. 4 is a judgment logic diagram of the vehicle straight-road running according to the embodiment of the disclosure. Specifically, when the vehicle speed is sufficiently fast (greater than or equal to the speed threshold) and the steering wheel is substantially stable (the yaw rate is less than the yaw rate threshold), the vehicle is considered to be traveling on a straight road, otherwise the vehicle would be considered not to be traveling on a straight road, and the scenario is not suitable for calibration.
Exemplary method
Fig. 5 is a flowchart of a lane line-based camera pose adjustment method according to an exemplary embodiment of the present disclosure. The embodiment can be applied to an electronic device, as shown in fig. 5, and includes the following steps:
In step 501, images of two lane lines including a lane in which a vehicle is located are acquired based on a camera provided on the vehicle.
Alternatively, the camera may be disposed above the vehicle, and an image of the road surface in front of the vehicle is acquired by the camera so that two lane lines including the lane in which the vehicle is located in the image are obtained.
Step 502, determining two slopes of two lane lines in an image of the camera in a first pose based on the image.
Optionally, image features can be extracted based on a deep learning neural network or a traditional computer vision feature extraction method, then multi-frame image features are tracked and correlated to obtain a final structured sensing result, and attributes of lane lines (cubic equation coefficients, coordinates of starting points, middle sampling points and the like) and other objects (vehicles, pedestrians and the like) are extracted; wherein the slope is determined based on the cubic equation coefficient of the lane line.
Step 503, determining a first increment parameter of the first pose based on two slopes of the two lane lines in the image of the camera in the first pose.
In an embodiment, the pose may include a pitch angle and/or a yaw angle of the camera, and the embodiment may determine a first increment parameter of at least one of the pitch angle and the yaw angle by the slope, and adjust the pitch angle and/or the yaw angle with the first increment parameter.
Step 504, based on the first increment parameter, the first pose is adjusted to obtain the second pose.
For example, the first increment parameter includes an increment direction (e.g., an adjustment direction of the pose) and an increment value (e.g., an angle at which the pose is adjusted each time), and the first pose can be adjusted by the first increment parameter to obtain an adjusted second pose.
According to the camera pose adjustment method based on the lane lines, images of two lane lines including a lane where a vehicle is located are acquired based on a camera arranged on the vehicle, and two slopes in the images of the two lane lines when the camera is in a first pose are determined based on the images; determining a first increment parameter of a first pose based on two slopes of the two lane lines in an image of the camera in the first pose; adjusting the first pose based on the first increment parameter to obtain a second pose; according to the method, the slope information is extracted through structural sensing of the lane lines, dynamic real-time calibration of the camera pose can be conveniently carried out in a straight-line scene, the calculation process is simple, and only incremental parameters are needed to be obtained, so that compared with other calibration methods depending on complex geometric projection models, the calculation speed of the method provided by the embodiment is faster, the efficiency is higher, and the instantaneity is better.
Fig. 6 is a flowchart illustrating a lane line-based camera pose adjustment method according to another exemplary embodiment of the present disclosure. As shown in fig. 6, the method of this embodiment includes the following steps:
In step 501, images of two lane lines including a lane in which a vehicle is located are acquired based on a camera provided on the vehicle.
Step 502, determining two slopes of two lane lines in an image of the camera in a first pose based on the image.
Step 503, determining a first increment parameter of the first pose based on two slopes of the two lane lines in the image of the camera in the first pose.
Step 504, based on the first increment parameter, the first pose is adjusted to obtain the second pose.
Step 605, acquiring images of two lane lines including a lane in which the vehicle is located based on the camera in the adjusted second pose, and determining two slopes of the images of the two lane lines when the camera is in the adjusted second pose based on the images.
Step 606, it is determined whether the two slopes in the adjusted second pose meet the preset condition, if yes, step 607 is executed, otherwise, pose adjustment is ended.
Alternatively, the preset conditions may include, but are not limited to: the difference between the two slopes is not zero and/or the smaller of the two slopes is not the set threshold.
As provided in the embodiment shown in fig. 2, the parallelism and verticality of the left and right lane lines in the vehicle body coordinate system are observed in real time through the visual perception system, and the pose (pitch angle and yaw angle) of the camera is feedback-adjusted accordingly, the slope difference is zero to indicate parallelism, the smaller value in the slope is 90 degrees to indicate verticality, and the set threshold in this embodiment may be 90 degrees.
In step 607, step 501 is performed with the adjusted second pose corresponding to the camera as the first pose.
In this embodiment, iterative adjustment of the pose of the camera is achieved through a setting method, alternatively, multiple setting quantity adjustment can be achieved through a PID control method in the embodiment shown in fig. 2, multiple correction and successive approximation are achieved, and compared with single large increment adjustment, the method is more accurate and the problem of excessive adjustment does not occur.
In some alternative embodiments, the first delta parameters include: an increment parameter of the pitch angle and/or an increment parameter of the yaw angle; the delta parameters include a delta direction and a delta value.
In this embodiment, the pitch angle and the yaw angle in the pose of the camera are adjusted by using the slopes of the left lane line and the right lane line in the image, alternatively, the increment direction and the increment value of the pitch angle and/or the yaw angle can be obtained by the increment direction determining sub-module 203 and the increment operator module 205 respectively according to the embodiment provided in fig. 2, and the calculation process of this embodiment is very simple, and the increment direction and the increment value can be determined only based on the slope of the lane line, so that the calculation speed is fast, the efficiency is high, and the instantaneity is good.
The following layout is an embodiment of the slave rights, and each slave right may be combined as appropriate, but at least includes a next-level flowchart of the upper-level features, for example:
As shown in fig. 7, step 503 may include the following steps, based on the embodiment shown in fig. 5, described above:
step 5031, determining a slope difference between the two slopes based on the two slopes of the two lane lines in the image of the camera when in the first pose.
Step 5032, determining an incremental scaling factor and a base incremental value of a pitch angle of a camera disposed on the vehicle based on a slope difference between the two slopes.
Alternatively, the incremental scaling factor may be obtained by a PID algorithm.
Alternatively, the process of obtaining the base delta value may comprise: determining a first set point as a base increment value for the pitch angle in response to a slope difference between the two slopes being greater than zero; in response to the slope difference between the two slopes being less than zero, a second set point is determined as a base increment value for the pitch angle.
Wherein the first set point is greater than the second set point.
According to the embodiment, a proper basic increment value (step) is selected according to the current real-time deviation (the gradient difference between two gradients), and when the deviation Error is larger, a larger step value (corresponding to a first set value) is selected; when the deviation Error is smaller, a smaller step value (corresponding to the second set value) is selected.
Step 5033, determining an increment value in an increment parameter of the pitch angle based on the increment scaling factor of the pitch angle and the basic increment value of the two lane lines.
Alternatively, the method for determining an increment value according to this embodiment may be implemented by the embodiment provided in fig. 2, where the increment scaling factor is obtained and the base increment value is determined by different modules, where the base increment value may be preset, for example, two base increment values (large step and small step) are set as provided in the embodiment provided in fig. 2; the increment value can be determined by the formula delta=scale, namely, the increment value (Delta) is equal to the increment scaling factor scale multiplied by the basic increment value (step), the increment value is determined by combining the increment scaling factor and the basic increment value, so that the increment value can be diversified and adjustable, the increment value can be multiplied by the basic increment value by the increment scaling factor, the increment value can be more regular, and the operation is easy.
As shown in fig. 8, step 503 may further include the following steps, based on the embodiment shown in fig. 5, as described above:
step 5034, determining a relationship between a smaller one of the two slopes and the set threshold based on the two slopes in the image when the camera is in the current pose.
Step 5035, determining an incremental scaling factor and a base incremental value of a yaw angle of a camera disposed on the vehicle based on a relationship between the smaller slope and the set threshold.
Alternatively, the incremental scaling factor may be obtained by a PID algorithm.
Alternatively, the process of obtaining the base delta value may comprise: determining a third set point as a base delta value for the yaw angle in response to the smaller slope being greater than the set threshold; in response to the smaller slope being less than the set threshold, a fourth set point is determined as a base delta value for the yaw angle.
Wherein the third set value is greater than the fourth set value.
According to the embodiment, a proper basic increment value (step) is selected according to the current real-time deviation (smaller slope), and when the deviation Error is larger than a set threshold (for example, the set threshold is 90 degrees), a larger step value (corresponding to a third set value) is selected; when the deviation Error is smaller than the set threshold, a smaller step value (corresponding to the fourth set value) is selected.
Step 5036, determining an delta value in the delta parameter of the yaw angle based on the delta scaling factor of the yaw angle and the base delta value.
The determination of the increment value of the yaw angle in this embodiment is similar to the determination of the increment value of the pitch angle in the embodiment shown in fig. 7, and the difference is only that the process of determining the basic increment value, specifically the real-time deviation, is different, and the condition of determining the basic increment value is different.
In some alternative embodiments, based on the embodiment shown in fig. 7, before step 5033, the method may further include:
Responding to the increment scaling factor of the pitch angle being larger than the first set maximum value, and taking the set maximum value as the increment scaling factor of the pitch angle; and in response to the incremental scaling factor of the pitch angle being less than the first set minimum value, setting the minimum value as the incremental scaling factor of the pitch angle.
In the embodiment, the maximum value and the minimum value of the increment scaling factor of the pitch angle are limited through the first set maximum value and the first set minimum value, so that the increment value is prevented from being too large or too small, and the subsequent control is prevented from being abnormal due to the fact that the pitch angle is adjusted too large or too small once.
In some alternative embodiments, based on the embodiment shown in fig. 8, before step 5036, the method may further include:
Responding to the increment scaling factor of the yaw angle being larger than a second set maximum value, and setting the maximum value as the increment scaling factor of the yaw angle; the incremental scaling factor in response to the yaw angle is less than the second set minimum value to set the minimum value as the incremental scaling factor for the yaw angle.
In the embodiment, the maximum value and the minimum value of the incremental scaling factor of the yaw angle are limited through the second set maximum value and the second set minimum value, so that the increment value is prevented from being too large or too small, and the follow-up control is prevented from being abnormal due to the fact that the yaw angle is adjusted too large or too small once.
In some alternative embodiments, the process of determining the delta direction at step 503 may include:
Determining a slope difference between two slopes based on the two slopes in the image when the camera is in the first pose, and determining an increment direction in an increment parameter of the pitch angle based on the slope difference; and/or the number of the groups of groups,
The incremental direction in the incremental parameter of the yaw angle is determined based on a relationship between the smaller of the two slopes and a preset threshold.
In this embodiment, the Pitch angle increment direction is determined by the positive and negative of the slope difference between the slopes, as shown in fig. 3a, for example, when the slope difference between the left and right lane lines is positive, pitch needs to be reduced; whereas when it is negative, pitch needs to be increased; judging the increasing direction of the Yaw angle by the smaller slope of the two slopes, as shown in fig. 3b, for example, when the slopes of the left lane line and the right lane line are simultaneously larger than a certain threshold value, the Yaw needs to be reduced; while when it is simultaneously less than a certain threshold, yaw needs to be increased. The pitch angle and/or the yaw angle of the camera are/is adjusted according to the determined increment value and the determined increment direction of the embodiment, so that directional adjustment can be realized, secondary errors caused by error in adjustment direction are avoided, and the speed of correcting the pitch angle and/or the yaw angle is increased.
In some alternative embodiments, prior to step 501, further comprising:
it is determined whether the vehicle is in a straight running state.
Alternatively, determining whether the vehicle is in a straight running state may be accomplished by the judgment logic diagram shown in fig. 4.
Step 501 in this embodiment comprises: in response to the vehicle being in a straight-ahead state, images including two lane lines of a lane in which the vehicle is located are acquired based on a camera provided on the vehicle.
The method provided by the embodiment has the advantages that the observation effect is optimal during straight running, and the calibration result (slope) under the straight running is more stable than that under the non-straight running after the actual test, so that the embodiment limits the adjustment of the camera pose of the vehicle under the straight running condition, and the method can be particularly realized by judging the current running working condition of the vehicle, so that the calibration of the system under the curved road and other scenes is avoided. For example, when the vehicle speed is sufficiently fast (greater than or equal to the speed threshold) and the steering wheel is substantially stable (the yaw rate is less than the yaw rate threshold), the vehicle is considered to be traveling on a straight road, otherwise the vehicle would be considered not to be traveling on a straight road, and the scenario is not suitable for calibration.
Any of the lane-based camera pose adjustment methods provided by the embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including, but not limited to: terminal equipment, servers, etc. Or any of the lane-based camera pose adjustment methods provided by the embodiments of the present disclosure may be executed by a processor, such as the processor executing any of the lane-based camera pose adjustment methods mentioned by the embodiments of the present disclosure by calling corresponding instructions stored in a memory. And will not be described in detail below.
Exemplary apparatus
Fig. 9 is a schematic structural view of a lane line-based camera pose adjustment device according to an exemplary embodiment of the present disclosure. The device provided by the embodiment comprises:
an image acquisition module 91 for acquiring images of two lane lines including a lane in which the vehicle is located based on a camera provided on the vehicle.
The slope determining module 92 is configured to determine two slopes of the two lane lines in the image when the camera is in the first pose based on the image acquired by the image acquiring module 91.
The increment parameter determination module 93 is configured to determine a first increment parameter of the first pose based on two slopes in the image of the two lane lines determined by the slope determination module 92 when the camera is in the first pose.
The pose adjustment module 94 is configured to adjust the first pose based on the first increment parameter determined by the increment parameter determination module 93, and determine an adjusted second pose.
According to the camera pose adjusting device based on the lane lines, images of two lane lines including a lane where a vehicle is located are acquired based on a camera arranged on the vehicle, and two slopes in the images of the two lane lines when the camera is in a first pose are determined based on the images; determining a first increment parameter of a first pose based on two slopes of the two lane lines in an image of the camera in the first pose; adjusting the first pose based on the first increment parameter, and determining an adjusted second pose; according to the method, the slope information is extracted through structural sensing of the lane lines, dynamic real-time calibration of the camera pose can be conveniently carried out in a straight-line scene, the calculation process is simple, and only incremental parameters are needed to be obtained, so that compared with other calibration methods depending on complex geometric projection models, the calculation speed of the method provided by the embodiment is faster, the efficiency is higher, and the instantaneity is better.
Fig. 10 is a schematic structural view of a lane line-based camera pose adjustment apparatus according to another exemplary embodiment of the present disclosure. The device provided in this embodiment further includes:
An iteration adjustment module 95, configured to acquire images of two lane lines including a lane in which a vehicle is located based on the camera in the adjusted second pose, and determine two slopes of the images of the two lane lines when the camera is in the adjusted second pose based on the images; when the two slopes in the adjusted second pose meet the preset conditions; determining a second incremental parameter in the second pose based on the two slopes of the camera when in the adjusted second pose; and adjusting the second pose based on the second increment parameter to enable the camera to be in the adjusted third pose.
Wherein, the preset conditions can include, but are not limited to: the difference between the two slopes is not zero and/or the smaller of the two slopes is not the set threshold.
Optionally, the first delta parameters include: an increment parameter of the pitch angle and/or an increment parameter of the yaw angle; the delta parameters include a delta direction and a delta value.
The delta parameter determination module 93 includes:
A first increment value determination unit 931 for determining a slope difference between two slopes based on two slopes of the two lane lines in the image when the camera is in the first pose; determining an increment scaling factor and a basic increment value of a pitch angle of a camera arranged on the vehicle according to a slope difference between the two slopes; and determining an increment value in the increment parameter of the pitch angle based on the increment scaling factor and the basic increment value of the pitch angle of the two lane lines.
A first delta direction determination unit 932 for determining a slope difference between two slopes based on the two slopes in the image when the camera is in the first pose, and determining a delta direction in a delta parameter of the pitch angle based on the slope difference.
And/or the number of the groups of groups,
A second increment value determination unit 933 that determines a relationship between a smaller one of the two slopes and a set threshold based on the two slopes in the image when the camera is in the current pose; determining an incremental scaling factor and a base incremental value of a yaw angle of a camera provided on the vehicle based on a relationship between the smaller slope and the set threshold; an increment value in the increment parameter of the yaw angle is determined based on the increment scaling factor of the yaw angle and the base increment value.
A second delta direction determining unit 934 for determining a delta direction in the delta parameter of the yaw angle based on a relation between a smaller one of the two slopes and a preset threshold.
Alternatively, the first increment value determination unit 931 is configured to determine a first set value as a base increment value of a pitch angle of a camera provided on a vehicle in response to a slope difference between two slopes being greater than zero when determining the base increment value of the pitch angle of the camera based on the slope difference between the two slopes; in response to the slope difference between the two slopes being less than zero, a second set point is determined as a base increment value for the pitch angle.
Wherein the first set point is greater than the second set point.
Alternatively, the second increment value determination unit 933 is configured to determine, in determining a base increment value of the yaw angle of the camera provided on the vehicle based on a relationship between the smaller slope and the set threshold, a third set value as the base increment value of the yaw angle in response to the smaller slope being greater than the set threshold; in response to the smaller slope being less than the set threshold, a fourth set point is determined as a base delta value for the yaw angle.
Wherein the third set value is greater than the fourth set value.
The first increment value determining unit 931 is further configured to set the maximum value as an increment scaling factor of the pitch angle in response to the increment scaling factor of the pitch angle being greater than the first set maximum value; and in response to the incremental scaling factor of the pitch angle being less than the first set minimum value, setting the minimum value as the incremental scaling factor of the pitch angle.
A second increment value determination unit 933 further configured to set the maximum value as the increment scaling factor of the yaw angle in response to the increment scaling factor of the yaw angle being greater than the second set maximum value; the incremental scaling factor in response to the yaw angle is less than the second set minimum value to set the minimum value as the incremental scaling factor for the yaw angle.
The device provided in this embodiment further includes:
the straight line determination module 96 is configured to determine whether the vehicle is in a straight line state.
The slope determining module 91 is specifically configured to acquire, based on a camera provided on the vehicle, an image including two lane lines of a lane in which the vehicle is located, in response to the vehicle being in a straight traveling state.
Exemplary electronic device
Next, an electronic device according to an embodiment of the present disclosure is described with reference to fig. 11. The electronic device may be either or both of the first device 100 and the second device 200, or a stand-alone device independent thereof, which may communicate with the first device and the second device to receive the acquired input signals therefrom.
Fig. 11 illustrates a block diagram of an electronic device according to an embodiment of the disclosure.
As shown in fig. 11, the electronic device 110 includes one or more processors 111 and a memory 112.
Processor 111 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in electronic device 110 to perform desired functions.
Memory 112 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that may be executed by the processor 111 to implement the camera pose adjustment methods of the lane lines of the various embodiments of the disclosure described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the electronic device 110 may further include: an input device 113 and an output device 114, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
For example, when the electronic device is the first device 100 or the second device 200, the input means 113 may be a microphone or a microphone array as described above for capturing an input signal of a sound source. When the electronic device is a stand-alone device, the input means 113 may be a communication network connector for receiving the acquired input signals from the first device 100 and the second device 200.
In addition, the input device 113 may also include, for example, a keyboard, a mouse, and the like.
The output device 114 may output various information to the outside, including the determined distance information, direction information, and the like. The output device 114 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 110 that are relevant to the present disclosure are shown in fig. 11, components such as buses, input/output interfaces, etc. are omitted for simplicity. In addition, the electronic device 110 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer readable storage Medium
In addition to the methods and apparatus described above, embodiments of the present disclosure may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the camera pose adjustment method of lane lines according to various embodiments of the present disclosure described in the "exemplary methods" section of the present description.
The computer program product may write program code for performing the operations of embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium, having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform steps in a camera pose adjustment method of a lane line according to various embodiments of the present disclosure described in the above "exemplary method" section of the present description.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present disclosure have been described above in connection with specific embodiments, but it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present disclosure. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, since the disclosure is not necessarily limited to practice with the specific details described.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, so that the same or similar parts between the embodiments are mutually referred to. For system embodiments, the description is relatively simple as it essentially corresponds to method embodiments, and reference should be made to the description of method embodiments for relevant points.
The block diagrams of the devices, apparatuses, devices, systems referred to in this disclosure are merely illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
It is also noted that in the apparatus, devices and methods of the present disclosure, components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered equivalent to the present disclosure.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the disclosure to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (11)
1. A camera pose adjusting method based on lane lines comprises the following steps:
acquiring images of two lane lines including a lane in which a vehicle is located based on a camera provided on the vehicle;
Determining two slopes in an image of the two lane lines when the camera is in a first pose based on the image;
Determining a first increment parameter of a first pose based on two slopes of the two lane lines in an image of the camera in the first pose;
based on the first increment parameter, the first pose is adjusted, and a second pose is obtained;
the determining a first increment parameter of the first pose based on two slopes of the two lane lines in an image of the camera in the first pose comprises:
determining a slope difference between two slopes of the two lane lines in an image of the camera when in a first pose based on the two slopes;
Determining an increment scaling factor and a basic increment value of a pitch angle of a camera arranged on the vehicle according to the slope difference between the two slopes;
Determining an increment value in an increment parameter of the pitch angle based on the increment scaling factor and the basic increment value of the pitch angle of the two lane lines; and/or the number of the groups of groups,
Determining a relation between a smaller slope of two slopes and a set threshold based on the two slopes in the image when the camera is in the current pose;
Determining an incremental scaling factor and a base incremental value of a yaw angle of a camera provided on the vehicle based on a relationship between the smaller slope and a set threshold;
An delta value in the delta parameter of the yaw angle is determined based on the delta scaling factor of the yaw angle and the base delta value.
2. The method of claim 1, further comprising: acquiring images of two lane lines comprising a lane where the vehicle is located based on a camera in the adjusted second pose, and determining two slopes of the images of the two lane lines when the camera is in the adjusted second pose based on the images;
when the two slopes in the adjusted second pose meet the preset conditions;
determining a second delta parameter in the second pose based on two slopes of the camera when in the adjusted second pose;
And adjusting the second pose based on the second increment parameter to obtain a third pose.
3. The method of claim 2, wherein the preset condition comprises: the difference between the two slopes is not zero and/or the smaller of the two slopes is not the set threshold.
4. A method according to any one of claims 1-3, wherein the first delta parameters comprise: an increment parameter of the pitch angle and/or an increment parameter of the yaw angle; the delta parameters include a delta direction and a delta value.
5. A method according to any one of claims 1-3, wherein said determining a base increment value for a pitch angle of a camera provided on the vehicle from a slope difference between said two slopes comprises:
determining a first set point as a base increment value for the pitch angle in response to a slope difference between the two slopes being greater than zero;
Determining a second set point as a base increment value for the pitch angle in response to a slope difference between the two slopes being less than zero, the first set point being greater than the second set point;
the determining a base increment value of a yaw angle of a camera provided on the vehicle based on a relationship between the smaller slope and a set threshold value includes:
Determining a third setting as a base delta value for the yaw angle in response to the smaller slope being greater than the set threshold;
In response to the smaller slope being less than the set threshold, a fourth set point is determined as a base delta value for the yaw angle, the third set point being greater than the fourth set point.
6. A method according to any one of claims 1-3, further comprising, prior to determining an increment value in an increment parameter of the pitch angle based on the increment scaling factor and a base increment value of the pitch angle:
responding to the increment scaling factor of the pitch angle being larger than a first set maximum value, and taking the first set maximum value as the increment scaling factor of the pitch angle;
Responding to the increment scaling factor of the pitch angle being smaller than a first set minimum value, and taking the first set minimum value as the increment scaling factor of the pitch angle;
Before determining the delta value in the delta parameter of the yaw angle based on the delta scaling factor and the base delta value of the yaw angle, further comprising:
responsive to the incremental scaling factor for the yaw angle being greater than a second set maximum value, taking the second set maximum value as the incremental scaling factor for the yaw angle;
and responding to the yaw angle increment scaling coefficient being smaller than a second set minimum value, and taking the second set minimum value as the yaw angle increment scaling coefficient.
7. The method of claim 4, wherein the determining a first delta parameter in a first pose based on two slopes in an image of the two lane lines when the camera is in the first pose comprises:
Determining a slope difference between two slopes in an image of the camera in a first pose, determining an increment direction in an increment parameter of the pitch angle based on the slope difference; and/or the number of the groups of groups,
And determining the increment direction in the increment parameters of the yaw angle based on the relation between the smaller slope of the two slopes and a preset threshold value.
8. The method of claim 1, further comprising, prior to acquiring images of two lane lines including a lane in which the vehicle is located based on a camera disposed on the vehicle:
determining whether the vehicle is in a straight-ahead state;
the acquiring, based on a camera provided on a vehicle, an image including two lane lines of a lane in which the vehicle is located, includes:
In response to the vehicle being in a straight-ahead state, images of two lane lines including a lane in which the vehicle is located are acquired based on a camera provided on the vehicle.
9. A lane line-based camera pose adjustment device, comprising:
The image acquisition module is used for acquiring images of two lane lines comprising a lane where the vehicle is located based on a camera arranged on the vehicle;
the slope determining module is used for determining two slopes of the two lane lines in the image of the camera in the first pose based on the image acquired by the image acquisition module;
the increment parameter determining module is used for determining a first increment parameter of the first pose based on two slopes of the two lane lines determined by the slope determining module in an image of the camera in the first pose;
The pose adjusting module is used for adjusting the first pose based on the first increment parameter determined by the increment parameter determining module to obtain a second pose;
the incremental parameter determination module includes: a first increment value determining unit for determining a slope difference between two slopes based on two slopes of the two lane lines in the image when the camera is in the first pose; determining an increment scaling factor and a basic increment value of a pitch angle of a camera arranged on the vehicle according to a slope difference between the two slopes; determining an increment value in an increment parameter of the pitch angle based on the increment scaling factor and the basic increment value of the pitch angle of the two lane lines;
And/or a second increment value determining unit, configured to determine a relationship between a smaller one of the two slopes and a set threshold based on the two slopes in the image when the camera is in the current pose; determining an incremental scaling factor and a base incremental value of a yaw angle of a camera provided on the vehicle based on a relationship between the smaller slope and the set threshold; an increment value in the increment parameter of the yaw angle is determined based on the increment scaling factor of the yaw angle and the base increment value.
10. A computer-readable storage medium storing a computer program for executing the lane line-based camera pose adjustment method according to any one of the above claims 1 to 8.
11. An electronic device, the electronic device comprising:
A processor;
A memory for storing the processor-executable instructions;
The processor is configured to read the executable instructions from the memory and execute the instructions to implement the lane-based camera pose adjustment method according to any of the above claims 1-8.
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| CN114140538B (en) * | 2021-12-03 | 2022-09-27 | 禾多科技（北京）有限公司 | Vehicle-mounted camera pose adjusting method, device, equipment and computer readable medium |
| CN118411421B (en) * | 2024-02-02 | 2025-03-14 | 武汉环宇智行科技有限公司 | Online optimization method and device for external parameters of looking-around camera |
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| KR102022402B1 (en) * | 2017-10-12 | 2019-09-19 | 현대모비스 주식회사 | Calibration method and apparatus thereof |
| CN109141347A (en) * | 2017-06-28 | 2019-01-04 | 京东方科技集团股份有限公司 | Vehicle-mounted vidicon distance measuring method and device, storage medium and electronic equipment |
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| KR20140029794A (en) * | 2012-08-30 | 2014-03-11 | 주식회사 만도 | Image stabilization method and system using curve lane model |
| CN109389650A (en) * | 2018-09-30 | 2019-02-26 | 京东方科技集团股份有限公司 | A kind of scaling method of in-vehicle camera, device, vehicle and storage medium |
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