Camera extrinsic parameter calibration method, image stitching method and apparatus thereof

An apparatus for calibrating extrinsic parameters of a camera, comprising:

• an acquisition module for acquiring a plurality of images captured by the camera based on a plurality of sets of extrinsic parameters to be calibrated, wherein each of the plurality of sets of extrinsic parameters to be calibrated include a horizontal rotation angle and a vertical rotation angle of Euler angles instead of all Euler angles;
• a matching module for obtaining at least one matched image pair based on feature point matching among the plurality of images, wherein each matched image pair comprises matched feature point pairs with a quantity satisfying a threshold condition;
• and
• a calibration module for calibrating the plurality of sets of extrinsic parameters to be calibrated according to a first difference representation between coordinate representations of each matched feature point pair of each matched image pair in a reference coordinate system,
• wherein, the camera comprises a single camera and the camera is configured to rotate in at least one of a horizontal direction or a vertical direction when capturing images,
• wherein obtaining at least one matched image pair based on feature point matching among the plurality of images, the matching module is configured to:
• perform feature point matching on each image pair in the plurality of images, and determine at least one image pair whose number of matched feature point pairs meets the threshold condition as the at least one matched image pair;
• or
• determine pairwise adjacent images in the plurality of images to obtain candidate adjacent image pairs, and perform feature point matching on each adjacent image pair in the candidate adjacent image pairs, and determining at least one candidate adjacent image pair whose number of matched feature point pairs meets the threshold condition as the at least one matched image pair.