Triple lines approach to calibration of camera mounted in intelligent vehicle

机译：三线法校准安装在智能汽车中的摄像机

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摘要

A simple and practical approach to calibrate extrinsic parameters of camera mounted in intelligent vehicle is presented. Because mapping of three parallel lines in the world into image plane have same vanishing point and different slope, according to perspective projection principle, an inherent relationship exists among camera extrinsic parameters and vanishing point and slope. Such the analytic expression of camera extrinsic parameters can be built by mathematical derivation, without iterative and optimizing calculation. After positioning intersection points and slopes of imaging lines manually or automatically, extrinsic parameters can be calculated directly. The experimental results show that the method can be applied in various circumstances.

机译：提出了一种简单实用的方法来校准安装在智能车辆中的摄像机的外部参数。因为世界上的三条平行线到图像平面的映射具有相同的消失点和不同的斜率，所以根据透视投影原理，相机外部参数与消失点和斜率之间存在固有的关系。可以通过数学推导来建立这样的相机外部参数的解析表达式，而无需迭代和优化计算。手动或自动定位成像线的交点和斜率后，可以直接计算外部参数。实验结果表明，该方法可以在各种情况下应用。

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来源
《Conference on Unmanned Ground Vehicle Technology VI; 20040413-20040415; Orlando,FL; US》|2004年|P.541-548|共8页
会议地点 Orlando FL(US)
作者
Qing Li; Nanning Zheng; Xuetao Zhang;
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作者单位

Inst. of Artificial Intelligence and Robotics, Xi'an Jiaotong Univ., Xi'an, China 710049;

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会议组织
原文格式 PDF
正文语种 eng
中图分类自动化技术及设备;
关键词
camera calibration; navigation based on vision; perspective projection; intelligent vehicle; vanishing point; slope; camera mounted in vehicle; hough transform; lane markings detection;

机译：摄像机标定；基于视觉的导航；透视投影；智能车辆；消失点；坡度；安装在车辆中的摄像机；经过变换；车道标记检测;

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1. Calibration of laser scanner and camera fusion system for intelligent vehicles using Nelder-Mead optimization [J] . Thomas J Osgood, Yingping Huang Measurement Science & Technology . 2013,第3期

机译：使用Nelder-Mead优化对智能车辆的激光扫描仪和照相机融合系统进行校准
2. Prospective motion correction using coil‐mounted cameras: Cross‐calibration considerations [J] . Maclaren Julian, Aksoy Murat, Ooi Melvyn B., Magnetic resonance in medicine: official journal of the Society of Magnetic Resonance in Medicine . 2018,第4期

机译：使用线圈式摄像机的前瞻性运动校正：交叉校准注意事项
3. Automatic Degradation Estimation of Manhole Covers for Efficient Inspection via Vehicle-mounted Cameras [J] . Kazuhiko Murasaki, Shingo Ando, Tetsuya Kinebuchi NTT Technical Review . 2018,第8期

机译：通过车载摄像头进行有效检查的人孔盖自动降解估计
4. Triple lines approach to calibration of camera mounted in intelligent vehicle [C] . Qing Li, Nanning Zheng, Xuetao Zhang, Conference on unmanned ground vehicle technology . 2004

机译：智能车辆安装相机校准的三线方法
5. Structure and camera calibration from active correspondence of lines and intersection points. [D] . Gatla, Chandra Sekhar. 2009

机译：从线和交点的主动对应关系进行结构和摄像机校准。
6. Constrained Multiple Planar Reconstruction for Automatic Camera Calibration of Intelligent Vehicles [O] . Sang Jun Lee, Jae-Woo Lee, Wonju Lee, 2021

机译：对智能车辆自动相机校准的约束多个平面重建
7. A Sim2Real Deep Learning Approach for the Transformation of Images from Multiple Vehicle-Mounted Cameras to a Semantically Segmented Image in Bird’s Eye View [O] . Lennart Reiher, Bastian Lampe, Lutz Eckstein 2020

机译：一种SIM2REAL深度学习方法，用于在鸟瞰图中从多车载摄像机从多载载体摄像机转换图像的深度学习方法

Triple lines approach to calibration of camera mounted in intelligent vehicle

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