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CN-116258775-B - Parameter accuracy evaluation method and device, electronic equipment, storage medium and product

CN116258775BCN 116258775 BCN116258775 BCN 116258775BCN-116258775-B

Abstract

The disclosure provides a parameter accuracy assessment method, a device, electronic equipment, a storage medium and a product, relates to the technical field of camera shooting parameter calibration, and particularly relates to the technical field of parameter verification. The method comprises the steps of taking an imaging plane of shooting equipment and a target plane in a parallel state as targets, adjusting the shooting equipment with calibrated internal parameters, shooting the target plane based on the adjusted shooting equipment to obtain an image of the target plane, determining at least two angular points on the image, calculating the distance between the angular points on the target plane to obtain a calculated value of a real distance between the angular points, obtaining a measured value of the real distance between the angular points, and evaluating the accuracy of calibrating the internal parameters of the shooting equipment based on the difference between the calculated value and the measured value.

Inventors

  • Qi Yangjia
  • LI LINGCHANG

Assignees

  • 北京百度网讯科技有限公司

Dates

Publication Date
20260512
Application Date
20221226

Claims (11)

  1. 1. A method of parameter accuracy assessment, the method comprising: Taking the imaging plane of the shooting equipment and the target plane in a parallel state as targets, and adjusting the position of the shooting equipment with calibrated internal parameters; Shooting the target plane based on the adjusted shooting equipment to obtain an image of the target plane, and determining two corner points on the image; Calculating the distance of the corner points on the target plane to obtain a calculated value of the real distance between the corner points; acquiring a measured value of a real distance between the angular points, and evaluating the accuracy of calibrating internal parameters of the shooting equipment based on the difference between the calculated value and the measured value; The calculating the distance of the corner point on the target plane comprises the following steps: Measuring pixel distances of the corner points on the image; Acquiring a camera focal length calibrated by internal parameters of the shooting equipment, and acquiring a vertical distance from the camera of the shooting equipment to a target plane; calculating the distance of the corner point on the target plane based on the pixel distance, the camera focal length and the vertical distance; Calculating the distance of the corner point on the target plane meets the following formula: wherein H is the pixel distance between two corner points on the image after de-distortion, f is the camera focal length obtained by calibration, D is the vertical distance between the forefront end of the camera lens and the target plane, which is actually measured, and the starting point of the field angle of the lens is added, and H is the calculated distance between the two corner points in the real space.
  2. 2. The method of claim 1, wherein the adjusting the photographing apparatus with the imaging plane of the photographing apparatus and the target plane being in a parallel state includes: acquiring a vertical line perpendicular to a target plane; Based on the vertical line, adjusting a cross level until the light of the cross level coincides with the vertical line, and determining the center point of the cross light of the cross level on the target plane; in the case where the area of the target plane in the photographed screen is greater than a set threshold value, the photographing apparatus is adjusted based on the center point.
  3. 3. The method of claim 2, wherein adjusting the capture device based on the center point comprises: marking the center point to determine a marking point; a light transmission pipeline is vertically arranged between the cross level instrument and the target plane; Adjusting the light-passing pipeline, irradiating cross light rays emitted by the cross level instrument on the target plane through the light-passing pipeline, and determining that the central point of the cross light rays coincides with the marking point; and adjusting the height, angle and position of the shooting equipment, and determining the position of the shooting equipment in response to determining that the mark point in an imaging picture of the shooting equipment is positioned in the light transmission pipeline.
  4. 4. The method of claim 1 or 2, wherein the target plane comprises a plurality of square patterns, and the plurality of square patterns are arranged in a matrix; the determining that the imaging plane is in a parallel state with the target plane comprises: performing image processing on the image, and acquiring a first horizontal edge line and a first vertical edge line in the image, wherein the first horizontal edge line is a horizontal edge line of any row of square patterns, and the first vertical edge line is a vertical edge line of any column of square patterns; Acquiring a second horizontal edge line and a second vertical edge line, wherein the second horizontal edge line is a horizontal edge line of square patterns of other rows, and the second vertical edge line is a vertical edge line of square patterns of other columns; determining a first degree of overlap of the first horizontal edge line and the second horizontal edge line, and determining a second degree of overlap of the first vertical edge line and the second vertical edge line; And in response to determining that the first degree of overlap and the second degree of overlap are both fully coincident, determining that the imaging plane is in a parallel state with the target plane.
  5. 5. A parameter accuracy assessment apparatus, the apparatus comprising: the adjusting module is used for adjusting the position of the shooting equipment with the calibrated internal reference by taking the state that the imaging plane of the shooting equipment is parallel to the target plane as a target; the shooting module is used for shooting the target plane based on the adjusted shooting equipment, obtaining an image of the target plane, and determining two corner points on the image; The computing module is used for computing the distance between the angular points on the target plane to obtain a computing value of the real distance between the angular points, and is particularly used for measuring the pixel distance between the angular points on the image, acquiring the camera focal length calibrated by the internal parameters of the shooting equipment and the vertical distance between the camera of the shooting equipment and the target plane, computing the distance between the angular points on the target plane based on the pixel distance, the camera focal length and the vertical distance, and computing the distance between the angular points on the target plane to satisfy the following formula: Wherein, H is the pixel distance between two corner points on the image after de-distortion, f is the camera focal length obtained by calibration, D is the vertical distance between the forefront end of the camera lens which is actually measured and the target plane, and the starting point of the field angle of the lens is added; The evaluation module is used for acquiring the measured value of the real distance between the angular points and evaluating the accuracy of the calibration internal parameters of the shooting equipment based on the difference between the calculated value and the measured value.
  6. 6. The apparatus of claim 5, wherein the adjustment module is configured to: acquiring a vertical line perpendicular to a target plane; Based on the vertical line, adjusting a cross level until the light of the cross level coincides with the vertical line, and determining the center point of the cross light of the cross level on the target plane; in the case where the area of the target plane in the photographed screen is greater than a set threshold value, the photographing apparatus is adjusted based on the center point.
  7. 7. The apparatus of claim 6, wherein the adjustment module is configured to: marking the center point to determine a marking point; a light transmission pipeline is vertically arranged between the cross level instrument and the target plane; Adjusting the light-passing pipeline, irradiating cross light rays emitted by the cross level instrument on the target plane through the light-passing pipeline, and determining that the central point of the cross light rays coincides with the marking point; And adjusting the height, the corner point and the position of the shooting equipment, and determining the position of the shooting equipment in response to determining that the mark point in an imaging picture of the shooting equipment is positioned in the light transmission pipeline.
  8. 8. The apparatus of claim 5 or 6, wherein the target plane comprises a plurality of square patterns, and the plurality of square patterns are arranged in a matrix; The adjusting module is further configured to: performing image processing on the image, and acquiring a first horizontal edge line and a first vertical edge line in the image, wherein the first horizontal edge line is a horizontal edge line of any row of square patterns, and the first vertical edge line is a vertical edge line of any column of square patterns; Acquiring a second horizontal edge line and a second vertical edge line, wherein the second horizontal edge line is a horizontal edge line of square patterns of other rows, and the second vertical edge line is a vertical edge line of square patterns of other columns; determining a first degree of overlap of the first horizontal edge line and the second horizontal edge line, and determining a second degree of overlap of the first vertical edge line and the second vertical edge line; And in response to determining that the first degree of overlap and the second degree of overlap are both fully coincident, determining that the imaging plane is in a parallel state with the target plane.
  9. 9. An electronic device, comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
  10. 10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-4.
  11. 11. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-4.

Description

Parameter accuracy evaluation method and device, electronic equipment, storage medium and product Technical Field The disclosure relates to the technical field of camera shooting parameter calibration, in particular to the technical field of parameter verification, and specifically relates to a parameter accuracy assessment method, a device, electronic equipment, a storage medium and a product. Background The use of photographing devices has spread throughout various technical fields, particularly in intelligent driving perception technology for automatic driving, to obtain accurate road information for driving decisions. Wherein, the mapping relation between the point on the shooting image and the corresponding point in the actual three-dimensional space can be determined by the parameters of the shooting device. The parameters of the camera equipment can be calibrated in advance, and the accuracy of the calibration result can influence the accuracy of the perception result. Disclosure of Invention The disclosure provides a parameter accuracy assessment method, a parameter accuracy assessment device, electronic equipment, a storage medium and a product. According to a first aspect of the present disclosure, there is provided a parameter accuracy assessment method, the method comprising: the method comprises the steps of taking an imaging plane of shooting equipment and a target plane in a parallel state as targets, adjusting the shooting equipment with calibrated internal parameters, shooting the target plane based on the adjusted shooting equipment to obtain an image of the target plane, determining at least two angular points on the image, calculating the distance between the angular points on the target plane to obtain a calculated value of the real distance between the angular points, obtaining a measured value of the real distance between the angular points, and evaluating the accuracy of calibrating the internal parameters by the shooting equipment based on the difference between the calculated value and the measured value. According to a second aspect of the present disclosure, there is provided a parameter accuracy evaluation apparatus, the apparatus comprising: the device comprises an imaging plane of the imaging device, an adjusting module, a shooting module, a calculating module and an evaluation module, wherein the imaging plane of the imaging device is in parallel with a target plane, the shooting device is used for adjusting calibrated internal parameters, the shooting module is used for shooting the target plane based on the adjusted shooting device to obtain an image of the target plane and determine at least two angular points on the image, the calculating module is used for calculating the distance between the angular points on the target plane to obtain a calculated value of the real distance between the angular points, and the evaluation module is used for obtaining a measured value of the real distance between the angular points and evaluating the accuracy of calibrating the internal parameters of the imaging device based on the difference between the calculated value and the measured value. According to a third aspect of the present disclosure, there is provided an electronic device comprising: And a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect or the second aspect. According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method according to the first or second aspect. According to a fifth aspect of the present disclosure, there is provided a computer product comprising a computer program which, when executed by a processor, implements the method according to the first or second aspect. It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification. Drawings The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein: Fig. 1 is a schematic flow chart of a parameter accuracy evaluation method according to an embodiment of the disclosure; fig. 2 is a schematic flow chart of a device adjustment method according to an embodiment of the disclosure; fig. 3 is a schematic flow chart of a device adjustment method according to an embodiment of the disclosure; FIGS. 4 and 5 are schematic views showing a device adjustment method according to an embodiment of the present disclosure; FIG. 6 is a flow chart illustrating a method for determining face parallelism acco