Verfahren und Gerät zur Kamerakalibrierung, Elektronisches Gerät, Speichermedium, Programmprodukt und Strassenseitiges Gerät

Details

Veröffentlichungs-Nr.

EP3998580

Aktenzeichen

EP22164046

Anmeldetag

24. März 2022

Veröffentlichung

10. Januar 2024

Erteilung

10. Januar 2024

Rechtsraum

EP

IPC

G06T7/80

Abstract

A camera calibration method and apparatus, an electronic device, a storage medium, a computer program product, and a road side device are provided, and relate to the technical field of intelligent transportation and vehicle and infrastructure cooperation. The method includes: determining an initial value of an internal parameter of a camera, an initial value of an external parameter of the camera, and an initial value of a distortion coefficient of the camera; determining a conversion relationship of a point in an image captured by the camera from a world coordinate system to a pixel coordinate system, based on the initial value of the internal parameter, the initial value of the external parameter, the initial value of the distortion coefficient and a mathematical model of the camera; projecting a plurality of feature points in a high-precision map of a first area onto the pixel coordinate system of a first image, of the first area, captured by the camera to obtain a plurality of projection points; and obtaining the internal parameter and the distortion coefficient of the camera through a least square method, based on coordinates of the plurality of feature points in the pixel coordinate system, the conversion relationship and world coordinates of the plurality of projection points.

Anmelder

Firma

Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd.

Land

🇨🇳 China

Fachgebiete