Parameter estimation method, parameter estimation apparatus and electronic equipment

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...

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