Parameter estimation method, parameter estimation apparatus and electronic equipment

A technology of parameter estimation and current position, applied in the field of image processing, can solve the problems of non-existence, unreliability, and inaccurate estimation of vanishing line, etc., and achieve the effect of meeting the requirements of vanishing line estimation

Active Publication Date: 2017-02-22
SHENZHEN HORIZON ROBOTICS TECH CO LTD
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Problems solved by technology

However, since the lane lines may not be complete or even exist on some roads, this solution cannot provide all-weather van

Method used

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  • Parameter estimation method, parameter estimation apparatus and electronic equipment
  • Parameter estimation method, parameter estimation apparatus and electronic equipment
  • Parameter estimation method, parameter estimation apparatus and electronic equipment

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Embodiment Construction

[0034] Hereinafter, an exemplary embodiment according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited by the exemplary embodiments described herein.

[0035] Application overview

[0036] As described above, because the vanishing line is easily occluded and the lane line may be incomplete, there is currently no effective vanishing line estimation method that can estimate the position of the vanishing line in the image captured by the imaging device all-weather.

[0037] In response to this technical problem, the basic idea of ​​this application is to propose a new parameter estimation method, device, electronic equipment, computer program product and computer readable storage medium, which can receive th...

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Abstract

The invention discloses a parameter estimation method, a parameter estimation apparatus and electronic equipment. The parameter estimation method includes the following steps: acquiring a current frame of image and a pre-frame of image acquired by an imaging device; determining the mapping relation between the current frame of image and the pre-frame of image; and according to the mapping relation and the pre position coordinates of the vanishing line in the pre-frame of image, estimating the current position coordinates of the vanishing line in the current frame of image. Therefore, the parameter estimation method and the parameter estimation apparatus can estimate the position coordinates of the vanishing line in the current frame of image acquired by the imaging device, with higher precision, and can satisfy the vanishing line estimation requirement in real time.

Description

Technical field [0001] This application relates to the field of image processing, and more specifically, to a parameter estimation method, device, electronic equipment, computer program product, and computer-readable storage medium. Background technique [0002] A vehicle (for example, a vehicle) may vibrate due to turbulence during movement, which causes the position and angle of the sensor (for example, imaging device, etc.) equipped on it to change with respect to the ground plane. This phenomenon can interfere with the environmental perception capabilities of various sensors, including imaging devices, so that the sensors cannot provide correct sensing results, and thus cannot well assist the driver in driving operations. Therefore, it is critical to accurately calibrate the above-mentioned parameters of various sensors equipped on vehicles. [0003] For this reason, a vanishing line estimation technique is proposed in the prior art, which can be used to calibrate the position...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T2207/10016G06T2207/10024G06T2207/30244G06T2207/30252
Inventor 余轶南黄畅都大龙余凯
Owner SHENZHEN HORIZON ROBOTICS TECH CO LTD
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