AUTOMATIC CALIBRATION METHOD AND APPARATUS FOR ONBOARD CAMERA
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.
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.
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.
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 .