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公开(公告)号：US11151392B2
公开(公告)日：2021-10-19
申请号：US16716353
申请日：2019-12-16
Abstract: Embodiments of the present disclosure provide a method and an apparatus for camera calibration processing, a device for vehicle control and a storage medium. In the method according to the embodiments of the present disclosure, at least one pair of images collected by a camera and a vehicle position at a collection time of each of the images are acquired during a process of a vehicle travelling along a straight line, where each pair of images includes images taken by the camera at two different positions, and two images in each pair of images include a common static feature point. A current installation angle of the camera is calculated according to the at least one pair of images and the vehicle position at the collection time of each of the images.
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2.发明授权公开(公告)号：US11587332B2
公开(公告)日：2023-02-21
申请号：US17137457
申请日：2020-12-30
Inventor： Xun Zhou , Yuanfan Xie , Shirui Li
Abstract: The present application discloses a method, an apparatus, a system, and a storage medium for calibrating an exterior parameter of an on-board camera, relating to the field of autonomous driving technologies. A specific implementation scheme of the method in the application is: preprocessing two frames of images of a former frame and a latter frame collected by the on-board camera; performing feature point matching on the two preprocessed frames of images to obtain matched feature points; determining a moving posture of the on-board camera according to the matched feature points; determining a conversion relationship between a vehicle coordinate system and an on-board camera coordinate system according to the moving posture, and obtaining the external parameter of the on-board camera relative to a vehicle body.
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