METHOD AND APPARATUS FOR CALIBRATING EXTERNAL PARAMETERS OF IMAGE ACQUISITION DEVICE, DEVICE AND STORAGE MEDIUM

The present application discloses a method and an apparatus for calibrating external parameters of an image acquisition device, a device and a storage medium, and relates to the technical field of vehicle positioning. The specific implementation solution is as follows: acquiring an image captured by the image acquisition device; determining a plurality of marking points on a calibration plate in the image; determining a first conversion matrix based on coordinates of each of the marking points in the image pixel coordinate system and the calibration plate coordinate system; determining a second conversion matrix based on coordinates of at least one wheel grounding point of the vehicle in the calibration plate coordinate system and the vehicle body coordinate system; and determining external parameters of the image acquisition device by using the first conversion matrix and the second conversion matrix.