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19 October 2023 Parking obstacle height measurement based on monocular fisheye camera
Xuemiao Liu, Wenbo Ma, Kongjian Qin
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Proceedings Volume 12709, Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023); 127092F (2023) https://doi.org/10.1117/12.2685059
Event: Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023), 2023, Nanjing, China
Abstract
Aiming at the problem of measuring the height of surrounding obstacles using the monocular fisheye camera of AVM system in parking scenarios, a method of measuring height through inverse perspective transformation and multiple calibration is proposed and verified by simulation experiments. First, the distortion correction of the fish-eye camera and the calculation of the homography transformation matrix are performed to complete the inverse perspective transformation, and the transformation relationship between the original camera image and the vertical plane image is obtained. Secondly, the YOLO-v4 target detection algorithm is used to identify obstacles and return the pixel height of obstacles. Then, according to the calculation formula of monocular camera height measurement and the relationship between pixel distance and object distance established by calibration, the method of measuring obstacle height is determined. Finally, the effectiveness of the method is verified by simulation experiments.
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Xuemiao Liu, Wenbo Ma, and Kongjian Qin "Parking obstacle height measurement based on monocular fisheye camera", Proc. SPIE 12709, Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023), 127092F (19 October 2023); https://doi.org/10.1117/12.2685059
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KEYWORDS
Cameras
Calibration
Target detection
Detection and tracking algorithms
Ranging
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