基于摄像机标定的实时倒车轨迹算法

摘要

通过建立车辆倒车运动学模型,利用摄像机标定理论,推导出实时倒车轨迹方程算法.该算法通过读取倒车运动车辆方向盘的旋转角度值,可将在世界坐标系下推导的倒车轨迹算法经过摄像机坐标系、成像坐标系和图像坐标系的坐标变换得到倒车预测轨迹.该轨迹再经过径向畸变模型矫正后以影像的方式显示.实验测试结果表明,该算法生成的预测倒车轨迹精度较高.%Kinematic model of vehicle reversing was built,and the algorithms of real-time reverse trajectory equation were derived according to camera calibration theory.With the help of acquired rotational angle of vehicle steering wheels when vehicles are reversing,vehicles reversing trajectory in world coordinate is transformed to the trajectory in image coordinate,and then the image of the trajectory,which is transformed via the radial distortion model,is displayed.Drivers will reverse by means of observing reversing trajectory in the screen,which is very helpful to beginners especially.Experimental results show that the reversing trajectory,which is calculated by the algorithms in this paper,has high accuracy and certain practical value.