US 11,816,865 B2
Extrinsic camera parameter calibration method, extrinsic camera parameter calibration apparatus, and extrinsic camera parameter calibration system
Ye Tao, Shenzhen (CN); and Hongzhi Zhang, Shenzhen (CN)
Assigned to Shenzhen Horizon Robotics Technology Co., Ltd.
Filed by Shenzhen Horizon Robotics Technology Co., Ltd., Shenzhen (CN)
Filed on Nov. 24, 2021, as Appl. No. 17/535,203.
Claims priority of application No. 202011344151.0 (CN), filed on Nov. 25, 2020.
Prior Publication US 2022/0164987 A1, May 26, 2022
Int. Cl. G06T 7/80 (2017.01); G06T 7/33 (2017.01)
CPC G06T 7/80 (2017.01) [G06T 7/337 (2017.01); G06T 2207/30244 (2013.01); G06T 2207/30268 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An extrinsic camera parameter calibration method, including:
obtaining a calibration image that is photographed for a target location in a calibration cabin by a first camera provided in the calibration cabin;
determining calibration feature information of the target location from the calibration image;
obtaining reference feature information pre-determined from a reference image, wherein the reference image is an image photographed for a target location in a reference cabin by a second camera provided in the reference cabin, wherein the reference cabin is a simulation cabin which is a space structure that is pre-configured as a standard for performing extrinsic parameter calibration to the camera in the calibration cabin, the first camera and the second camera are respectively provided at same locations in the calibration cabin and the reference cabin, and the target location in the reference cabin is the same as the target location in the calibration cabin;
determining position-posture change data of the first camera relative to the second camera based on a calibration location of the calibration feature information in the calibration image and a reference location of the reference feature information in the reference image; and
determining an extrinsic parameter of the first camera based on the position-posture change data.