车载相机自动标定和快速标定技术研究  

Research on Automatic Calibration and Rapid Calibration Technology of Vehicle Mounted Camera

作　　者：祁淼 陈安柱[1] 杨晓芳[1] 严国军[1,3] QI Miao;CHEN An-zhu;YANG Xiao-fang;YAN Guo-jun(College of Automotive Engineering,Yancheng Industrial Career Technical College,Jiangsu Yancheng 224000,China;College of Automobile and Traffic Engineering,Jiangsu University,Jiangsu Zhenjiang 212000,China;College of Mechanical and Electrical Engineering,Southeast University,Jiangsu Nanjing 210000,China)

机构地区：[1]盐城工业职业技术学院汽车工程学院,江苏盐城224000 [2]江苏大学汽车与交通工程学院,江苏镇江212000 [3]东南大学机电工程学院,江苏南京210000

出　　处：《机械设计与制造》2020年第12期221-223,227,共4页Machinery Design & Manufacture

基　　金：国家重点研发计划(2016YFD0700905);江苏省高职院校青年教师企业实践培训资助项目成果(2019QYSJ200);江苏高校“青蓝工程”资助。

摘　　要：针对车载相机的测距问题,利用小孔成像模型及透视投影原理实现车载摄像头外部参数的自动标定并给出一种快速标定模型。利用车道线本身平行的特性,使用车道线作为标定参考,实现车载相机在线自动标定,通过自动标定可以修正车辆动态行驶过程中带来的误差。根据透射投影定理和三线标定原理,给出一种利用标定板替代平行线的快速标定法,该标定方法灵活准确,可以用于车载相机的后装标定。对比试验表明快速标定法和传统方法标定结果误差小于2%,在可接受范围之内。In view of the distance measurement of the vehicle camera,the automatic calibration of the external parameters of the vehicle camera is realized by using the small aperture imaging model and the perspective projection principle,and a fast calibration model is given.Using the parallel characteristics of the lane line itself,the lane line is used as a calibration reference to realize on-line automatic calibration of the vehicle camera.The automatic calibration can correct the error caused by the dynamic driving of the vehicle.According to the transmission projection theorem and the three-line calibration principle,a fast calibration method using a calibration plate instead of a parallel line is presented.The calibration method is flexible and accurate and can be used for post-installation calibration of on-board cameras.Comparative tests show that the calibration results of the fast calibration method and the traditional method are less than 2%,which is within the acceptable range.

关 键 词：机器视觉 摄像头标定 三线标定法 快速标定 

分 类 号：TH16[机械工程—机械制造及自动化] U463.65[机械工程—车辆工程]