Page History
...
The UndistortPoints function transforms the image/pixel coordinates to metric coordinates on the driving surface (floor). The calculation is based on a calibration image. See https://git.rwth-aachen.de/CPM/Project/Lab/softwaregithub.com/embedded-software-laboratory/cpm-lab/tree/master/matlab_scripts/camera_calibration
The DetectVehicles function groups and classifies points as front
, center
, back_left
or back_right
. Points that appear to not belong to a vehicle are discarded.
...
The PoseCalculation function calculates the vehicle reference pose based on the front
, back_left
and back_right
points. The calculation is based on manually collected calibration data. See https://git.rwth-aachen.de/CPM/Project/Lab/softwaregithub.com/embedded-software-laboratory/cpm-lab/tree/master/matlab_scripts/ips_pose_calibration
The implementation can be found at https://git.rwth-aachen.de/CPM/Project/Lab/softwaregithub.com/embedded-software-laboratory/cpm-lab/tree/master/ips2/src
Calibration
Camera Calibration
...
The Matlab function detectCheckerboardPoints
is used to determine a list of matching points (x_floor, y_floor, x_image, y_image)
. Then a 5th order 2D polynomial is fitted to the data using linear least squares.
See https://git.rwth-aachen.de/CPM/Project/Lab/softwaregithub.com/embedded-software-laboratory/cpm-lab/tree/master/matlab_scripts/camera_calibration
Anchor | ||||
---|---|---|---|---|
|
...