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WO2015178542A1 - Appareil de mesure de paramètre de caméra et procédé associé - Google Patents

Appareil de mesure de paramètre de caméra et procédé associé Download PDF

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Publication number
WO2015178542A1
WO2015178542A1 PCT/KR2014/007502 KR2014007502W WO2015178542A1 WO 2015178542 A1 WO2015178542 A1 WO 2015178542A1 KR 2014007502 W KR2014007502 W KR 2014007502W WO 2015178542 A1 WO2015178542 A1 WO 2015178542A1
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WO
WIPO (PCT)
Prior art keywords
image
camera
images
calculated
distance
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Ceased
Application number
PCT/KR2014/007502
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English (en)
Korean (ko)
Inventor
박순용
장호진
백승해
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Industry Academic Cooperation Foundation of KNU
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Industry Academic Cooperation Foundation of KNU
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Publication of WO2015178542A1 publication Critical patent/WO2015178542A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof

Definitions

  • the present invention relates to a camera parameter measuring apparatus and a method thereof, and more particularly to a camera parameter measuring apparatus and method for automatically calibrating external parameters of the camera, such as the height of the camera, the shooting angle.
  • the present invention is to enhance the driver's field of view-centered vehicle for improving the driving safety and convenience of the AUTOSAR-based vehicle internal and external communication platform and application technology task (task no. 201302380000) for the smart car of the Ministry of Knowledge Economy, Ministry of Knowledge Economy It is derived from the research conducted as part of the technology development task of the reality information system (project number 201305520000).
  • the distance information to the vehicle or obstacle in front is very essential information for controlling the smart vehicle.
  • the method of measuring the distance in front includes a method of measuring by a sensor such as a radar, a laser, an infrared ray, or an ultrasonic wave, and a method of estimating the distance by analyzing an image input from a camera.
  • the error of the measured value is small, but it is a noise-sensitive and expensive.
  • the method of estimating the distance by analyzing the image coming into the camera can be divided into two methods: a stereo camera and a mono camera.
  • a stereo camera an image is acquired using two cameras by applying the visual distance measurement principle of a human, and the distance is estimated by matching between the two images.
  • the method of using a mono camera is to estimate the distance by analyzing an image coming from one camera, and it is simpler to install and has a faster processing speed than the method of using a stereo camera.
  • it is necessary to know external parameters and to recalibrate when the camera position or shooting angle changes. That is, in order to measure the distance of the front object from the image information, it is necessary to find out information such as the installation height or angle of the camera through camera calibration, and it is cumbersome to use a target having a special pattern or manually measure the camera calibration. .
  • An object of the present invention is to provide an apparatus and method for measuring camera parameters capable of automatically calibrating external parameters of a camera.
  • Another problem to be solved by the present invention is to efficiently calculate the pitch angle of the camera and the height from the horizontal plane using a small amount of computational throughput using known length information of a reference mark, such as a dotted line lane on a road. have.
  • An apparatus for measuring a camera parameter includes a camera for generating a plurality of images by photographing a reference mark having a predetermined length at different points of time; And calculating, from each of the plurality of images, two projection points corresponding to both end points of the reference mark and an image distance between a preset reference image point, and based on the image distance calculated from different images, And a parameter calculator that calculates a parameter including at least one of a height and a photographing direction.
  • the parameter calculator calculates the parameter based on the image distance and the length of the reference mark.
  • the parameter calculator may include a projection point determiner configured to determine two projection points corresponding to both endpoints of the reference mark from an image; An image distance calculator configured to calculate an image distance between the projection point and the reference image point; And a photographing direction calculation unit configured to calculate a photographing direction of the camera based on the image distance calculated for each of the plurality of images.
  • the photographing direction calculation unit may include a virtual center line connecting the focal point of the camera and the reference image point based on the image distance and the focal length of the camera, and the focal point of the camera and the An image angle between virtual projection lines connecting the projection points is calculated, and a photographing direction of the camera is calculated based on the image angles calculated for each of the plurality of images.
  • the photographing direction calculating unit calculates the photographing direction of the camera according to Equation 1 below.
  • Equation 1 ⁇ is a photographing direction of the camera, ⁇ and ⁇ are image angles calculated from a first image among the plurality of images, and ⁇ 2 and ⁇ 2 are image angles calculated from a second image among the plurality of images.
  • the parameter calculator is configured to calculate a height of the camera based on the photographing direction of the camera, the image angle calculated for at least one image, and the length of the reference mark. Includes more wealth.
  • the height calculator calculates the height of the camera according to Equation 2 below.
  • Equation 2 H is the height of the camera, L is the length of the reference mark, ⁇ and ⁇ is an image angle calculated from any one of the plurality of images.
  • a camera parameter measuring apparatus including a parameter calculator for calculating an image distance between points and calculating a parameter including at least one of a height and a shooting direction of the camera based on the image distance calculated from different images.
  • the camera is installed in the vehicle, the camera to generate a plurality of images by taking a dotted line lane on the road at different times; And from each of the plurality of images, calculating image distances between two projection points corresponding to both end points of the dotted line lane and a preset reference image point, and based on the image distances calculated from different images,
  • a camera parameter measuring apparatus including a parameter calculator configured to calculate a parameter including at least one of a height and a shooting direction.
  • the present invention from the plurality of images generated by photographing a reference mark having a predetermined length at different points of view, two projection points corresponding to both end points of the reference mark and a predetermined reference Calculating an image distance between image points; And calculating a parameter including at least one of a height and a shooting direction of the camera, based on the image distance calculated from different images.
  • the calculating of the parameter may include calculating the parameter based on the image distance and the length of the reference mark.
  • the calculating of the parameter may include determining two projection points corresponding to both endpoints of the reference mark from an image; Calculating an image distance between the projection point and the reference image point; And calculating a photographing direction of the camera based on the image distance calculated for each of the plurality of images.
  • the calculating of the photographing direction may include: a virtual center line connecting the focal point of the camera and the reference image point based on the image distance and the focal length of the camera; Calculating an image angle between a virtual projection line connecting a focus point and the projection point; And calculating a photographing direction of the camera based on the image angle calculated for each of the plurality of images.
  • the calculating of the parameter may include calculating a height of the camera based on a photographing direction of the camera, the image angle calculated for at least one image, and the length of the reference mark. It further comprises the step.
  • a computer-readable recording medium recording a program for executing the camera parameter measuring method.
  • a camera for generating a plurality of images by photographing a reference mark having a predetermined length at different times; From each of the plurality of images, an image distance between two projection points corresponding to both end points of the reference mark and a preset reference image point is calculated, and based on the image distance calculated from different images, A parameter calculator for calculating a height and a photographing direction; And a distance measuring unit configured to calculate a distance between the camera and the target object based on the height of the camera, the photographing direction of the camera, and an image angle corresponding to the target object in the image. do.
  • the camera is installed in the vehicle, the camera to generate a plurality of images by taking a dotted line lane on the road at different times; From each of the plurality of images, an image distance between two projection points corresponding to both end points of the dotted line lane and a preset reference image point is calculated, and based on the image distance calculated from different images,
  • a parameter calculator configured to calculate a parameter including at least one of a height and a shooting direction;
  • a distance measuring unit configured to calculate a distance between the camera and the target object based on the height of the camera, the photographing direction of the camera, and an image angle corresponding to the target object in the image. do.
  • the step of generating a plurality of images by photographing a reference mark having a predetermined length at different times From each of the plurality of images, an image distance between two projection points corresponding to both end points of the reference mark and a preset reference image point is calculated, and based on the image distance calculated from different images, Calculating a height and a photographing direction; And calculating a distance between the camera and the measured object based on the height of the camera, the photographing direction of the camera, and an image angle corresponding to the measured object in the image.
  • the pitch angle of the camera and the height from the horizontal plane are efficiently calculated using the known length information of the reference mark, which is known. can do.
  • FIG. 1 is a diagram illustrating that the distance measuring device according to an embodiment of the present invention is mounted on a vehicle.
  • FIG. 2 is a block diagram of a distance measuring device according to an embodiment of the present invention.
  • FIG. 3 is a block diagram of a parameter calculator configured to configure a camera parameter measuring apparatus according to an exemplary embodiment.
  • FIG. 4 is a diagram for describing a camera parameter measuring method according to an embodiment of the present invention, and shows a camera constituting a camera parameter measuring apparatus photographing a dotted line lane at a first time point.
  • FIG. 5 is a diagram illustrating an image photographed by a camera constituting a camera parameter measuring apparatus according to an exemplary embodiment.
  • FIG. 6 is a diagram illustrating a camera constituting a camera parameter measuring apparatus according to an exemplary embodiment photographing a dotted line lane at a second time point.
  • FIG. 7 is a view for explaining a distance measuring method according to an embodiment of the present invention.
  • ' ⁇ unit' used throughout this specification may mean a unit for processing at least one function or operation.
  • ' ⁇ ' may mean a hardware component such as software, FPGA, or ASIC.
  • ' ⁇ ' is not meant to be limited to software or hardware.
  • ' ⁇ Portion' may be configured to be in an addressable storage medium or may be configured to play one or more processors.
  • ' ⁇ ' means components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, procedures, and the like. Subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays and variables. Functions provided by ' ⁇ ' may be provided separately by a plurality of components, or may be provided by being merged with other components.
  • FIG. 1 is a diagram illustrating that a distance measuring device according to an embodiment of the present invention is mounted on a vehicle
  • FIG. 2 is a block diagram of a distance measuring device according to an embodiment of the present invention.
  • the distance measuring device 100 according to an embodiment of the present invention is mounted on the vehicle 10 to measure external parameters of the camera 110, that is, the height and the shooting direction of the camera 110.
  • the distance to the measurement target object located in front of the vehicle 10 may be measured using the measured height and the shooting direction of the camera.
  • the distance measuring device 100 includes a camera 110, a parameter calculator 120, and a distance measurer 130.
  • the camera 110 and the parameter calculator 120 constitute a camera parameter measuring apparatus.
  • the camera 110 generates an image by photographing the dotted lane 30 on the road 20.
  • the dotted lane 30 corresponds to an example of the reference mark.
  • other marks of known length may be used as reference marks. Since the reference mark has a predetermined length, by using a known length of the reference mark in the image processing process, it is possible to efficiently measure external parameters of the camera 110.
  • the camera 110 may capture an image at regular time intervals. While the vehicle 10 moves along the longitudinal direction of the dotted lane 30 on the flat road 20, the camera 110 generates a plurality of images by photographing the dotted lane 30 at different points in time.
  • the plurality of images may be images of two consecutive frames, but the present invention is not limited thereto.
  • a plurality of images generated by the camera 110 are provided to the parameter calculator 120.
  • the parameter calculator 120 calculates, from each of the plurality of images input from the camera 110, two projection points corresponding to both end points of the dotted line lane 30, and an image distance between a preset reference image point.
  • the external parameter of the camera 110 that is, the height of the camera 110 and the photographing direction are calculated based on the image distance calculated from the different images and the length information of the dotted line lane 30.
  • a detailed process of calculating the parameter in the parameter calculator 120 will be described later with reference to FIGS. 3 to 6.
  • FIG. 3 is a block diagram of a parameter calculation unit constituting a camera parameter measuring apparatus according to an embodiment of the present invention
  • Figure 4 is a view for explaining a camera parameter measuring method according to an embodiment of the present invention
  • the camera parameter measurement FIG. 5 is a diagram illustrating a camera photographing a dotted line lane at a first time point
  • FIG. 5 is a diagram illustrating an image photographed by a camera configuring a camera parameter measuring apparatus according to an exemplary embodiment
  • FIG. 6 is a diagram illustrating a camera constituting a camera parameter measuring apparatus according to an exemplary embodiment photographing a dotted line lane at a second time point.
  • the parameter calculator 120 includes a projection point determiner 122, an image distance calculator 124, a photographing direction calculator 126, and a height calculator 128. .
  • the projection point determiner 122 determines two projection points p and q corresponding to both end points P and Q of the dotted line lane 30 in the image IMG input from the camera 110.
  • the projection point determiner 122 may determine the projection points p and q in the image IMG by finding boundary points such as edges and sides of the image object.
  • the projection point determiner 122 may determine a projection point p, q of the dotted line 30 by finding a zero intersection point of an edge using a Laplacian of gaussian (LoG) mask.
  • LiG Laplacian of gaussian
  • the image distance calculator 124 calculates the image distances l and l + m between the projection points p and q determined by the projection point determiner 122 and the predetermined reference image point PP.
  • the reference image point PP may be determined as, for example, a principal point corresponding to the center pixel of the image IMG.
  • the image distance l, l + m may mean a vertical distance between the projection point p and q and the reference image point PP.
  • the projection point determiner 122 and the image distance calculator 124 determine the projection points p and q for each of a plurality of images sequentially input from the camera 110 to determine the image distance l. , l + m).
  • projection points corresponding to both end points of the dotted line lane 30 are indicated by p and q in the first image photographed at the first viewpoint, and the projection points in the first image.
  • the image distance between (p, q) and the reference image point PP is represented by l and m
  • the projection points corresponding to both end points of the dotted line 30 in the second image photographed at the second time point are represented by p2 and q2.
  • the image distance between the projection points p2 and q2 and the reference image point PP in the second image is represented by l2 and m2.
  • the image distance calculator 124 calculates the image distances l and l + m between the reference image point PP and the projection point p and q in the first image according to Equations 1 to 2 below.
  • the image distances l2 and l2 + m2 between the reference image point PP and the projection points p2 and q2 in the second image may be calculated according to Equations 3 to 4 below.
  • 'ccdUnitSize' represents mm distance per pixel
  • 'p_1' is the number of pixels between the reference image point PP and the upper projection point p in the first image
  • 'q_1' Is the number of pixels between the reference image point PP and the lower projection point q in the first image
  • 'p_2' is the number of pixels between the reference image point PP and the upper projection point p2 in the second image
  • q_2 ' is the number of pixels between the reference image point PP and the lower projection point q2 in the second image.
  • 'ccdUnitSize' can be obtained from the camera lens focal length (mm) divided by the camera focal length (px) obtained by camera calibration.
  • the photographing direction calculating unit 126 may calculate image distance l, l + m, l2, l2 + m2 information calculated by the image distance calculating unit 124 for each of a plurality of images, and focal length information of the camera 110. Based on this, the photographing direction [theta] information of the camera 110 is calculated. To this end, the photographing direction calculator 126 may calculate the image distances l, l + m, l2, and l2 + m2 calculated by the image distance calculator 124, a focal point of the camera 110, and a reference image. The image angles ⁇ and ⁇ are calculated between the virtual center line connecting the point PP and the virtual projection line connecting the focus point and the projection points p, q, p2 and q2 of the camera 110.
  • the photographing direction calculating unit 126 uses a trigonometry according to Equation 5 to Equation 8 below to determine projection lines p and p2 separated by the image distance l and l2 from the main point and the line passing through the main point at the camera focus. Angle ( ⁇ , ⁇ 2) between the line passing through the main point and the line passing through the projection point (q, q2) separated by the image distance (l + m, l2 + m2) from the main point. Obtain
  • ⁇ 2 arctan ((l2 + m2) / f)
  • the photographing direction calculating unit 126 calculates the photographing direction ⁇ of the camera 110 based on the image angles ⁇ , ⁇ , ⁇ 2, and ⁇ 2 calculated for each of the plurality of images.
  • Equations 9 to 10 L is the length of the dotted lane 30, H is the height of the camera 110 from the ground, and ⁇ is between the line projected to the main point and the line parallel to the horizontal plane passing through the focal point Is the angle between the projection point p of the point P and the point projected to the main point in the first image, ⁇ is the angle between the projection point q of the point Q and the point projected to the main point in the first image, ⁇ 2 is the angle between the projection point p2 of the point P and the point projected to the main point in the second image, and ⁇ 2 is the angle between the projection point q2 of the point Q and the point projected to the main point in the second image. From Expressions 9 to 10, the relationship between Expression 11 and Expression 12 below can be derived.
  • ⁇ is a photographing direction of the camera 110
  • ⁇ and ⁇ are image angles calculated from the first image
  • ⁇ 2 and ⁇ 2 are image angles calculated from the second image.
  • the photographing direction calculating unit 126 uses the image angles ⁇ , ⁇ , ⁇ 2, and ⁇ 2 calculated according to Equations 5 to 8 described above, and according to Equation 12, that is, the photographing angle of the camera 110.
  • the pitch value 110 sees down can be obtained.
  • the height calculating unit 128 is based on the photographing angle ⁇ of the camera 110, the image angles ⁇ and ⁇ calculated for at least one image, and the length L of the dotted line lane 30.
  • the height H of 110 may be calculated.
  • the height calculator 128 may calculate the height H of the camera 110 according to Equation 13 below.
  • the height H from the horizontal plane to the camera 110 can be obtained using the photographing angle ⁇ of the camera 110 and the known length L of the dotted line lane 30.
  • the distance measuring unit 130 may measure the height information H of the camera 110 calculated by the parameter calculator 120, the photographing direction ⁇ of the camera 110, that is, the camera ( Based on the photographing angle information of 110 and the image angle ⁇ corresponding to the subject 40 in the image, the distance between the camera and the subject 40, that is, the front distance, may be measured.
  • the distance measuring unit 130 may measure, for example, the distance D between the camera 110 and the object 40 according to Equation 14 below.
  • the distance measuring unit 130 uses the photographing direction ⁇ of the camera 110 calculated by the parameter calculator 120 and the height H of the camera 110. And the distance D between the target object 40 and the front distance of the vehicle can be measured. Similarly to Equation 5, the image angle ⁇ of the target object 40 can be obtained from the image distance k between the main point and the projection point p3 corresponding to the target object 40 in the image.
  • an external parameter of the camera 110 may be automatically calibrated in real time using only a mono camera without using a stereo camera, and may be forwarded by using an external parameter of the calibrated camera 110.
  • the distance to an object can be estimated accurately.
  • the pitch angle of the camera 110 and the height from the horizontal plane are efficiently estimated using a small amount of computational throughput using known length information of a reference mark such as a dotted line lane. can do.
  • Camera parameter measuring method and distance measuring method can be written in a program that can be executed in a computer, for example, implemented in a general-purpose digital computer to operate the program using a computer-readable recording medium Can be.
  • the computer-readable recording medium may include volatile memory such as static RAM (SRAM), dynamic RAM (DRAM), and synchronous DRAM (SDRAM), read only memory (ROM), programmable ROM (PROM), and electrically programmable ROM (EPROM).
  • Non-volatile memory such as electrically erasable and programmable ROM (EEPROM), flash memory device, phase-change RAM (PRAM), magnetic RAM (MRAM), resistive RAM (RRAM), ferroelectric RAM (FRAM), floppy disk, hard disk Or an optical reading medium, for example, a storage medium in the form of CD-ROM, DVD, etc., but is not limited thereto.
  • EEPROM electrically erasable and programmable ROM
  • flash memory device phase-change RAM
  • MRAM magnetic RAM
  • RRAM resistive RAM
  • FRAM ferroelectric RAM
  • floppy disk hard disk
  • hard disk or an optical reading medium, for example, a storage medium in the form of CD-ROM, DVD, etc., but is not limited thereto.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention porte sur un appareil de mesure d'un paramètre de caméra et un procédé associé, l'appareil de mesure d'un paramètre de caméra comprenant : une caméra destinée à créer une pluralité d'images en photographiant un repère d'une longueur prédéfinie depuis différents points de vue ; et une unité de calcul de paramètre destinée à calculer, à partir de chacune de la pluralité d'images, une distance d'image entre deux points de projection correspondant aux deux points d'extrémité du repère et un point d'image de référence prédéfini, et à calculer, en fonction de la distance d'image calculée à partir des différentes images, un paramètre comprenant la direction de photographie et/ou la hauteur de la caméra.
PCT/KR2014/007502 2014-05-23 2014-08-12 Appareil de mesure de paramètre de caméra et procédé associé Ceased WO2015178542A1 (fr)

Applications Claiming Priority (2)

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KR10-2014-0062368 2014-05-23
KR1020140062368A KR101584693B1 (ko) 2014-05-23 2014-05-23 카메라 파라미터 측정 장치 및 그 방법

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