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Method and device for determining a headstock orientation angle

A technology of head orientation and angle, which is applied in the field of image processing, and can solve problems such as the inability to accurately determine the angle of the head of the car, the inability to determine the angle of the head of the car, etc.

Active Publication Date: 2019-04-05
ZHEJIANG DAHUA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a method and device for determining the heading angle of a vehicle to solve the problem in the prior art that the heading angle of the vehicle head in a single frame image cannot be determined, and the heading angle of the vehicle head cannot be accurately determined in an environment interference scene question

Method used

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  • Method and device for determining a headstock orientation angle
  • Method and device for determining a headstock orientation angle
  • Method and device for determining a headstock orientation angle

Examples

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Embodiment 1

[0079] figure 1 It is a schematic diagram of the process of determining the heading angle of the vehicle head provided by the embodiment of the present invention, and the process includes the following steps:

[0080] S101: Input the obtained first image into a pre-trained vehicle detection model.

[0081] The method for determining the heading angle of the vehicle head provided by the embodiment of the present invention is applied to an electronic device, and the electronic device may be a PC, a tablet computer or the like, or may be an image acquisition device.

[0082] The pre-trained vehicle detection model is stored in the electronic device. If the electronic device is an image acquisition device, the electronic device will directly input the first image after collecting the image of the angle of the vehicle head to be determined, which is the first image. in the vehicle detection model. If the electronic device is a PC, a tablet computer, etc., after the image acquisit...

Embodiment 2

[0099] In order to make the determined target vehicle area more accurate, on the basis of the above embodiments, in the embodiment of the present invention, after each target vehicle area in the first image is determined, each target vehicle area is input into the pre-training Before completing the angular regression model, the method also includes:

[0100] Taking the vertical midline of the first image as an axis, performing mirroring processing on the first image to obtain a mirrored image;

[0101] Input the mirrored image into the pre-trained vehicle detection model, determine each second vehicle area in the mirrored image based on the vehicle detection model, and for any two second vehicle areas, according to The overlapping area of ​​the two second vehicle areas determines the third vehicle area corresponding to the two second vehicle areas; according to the preset area mapping relationship, each third vehicle area in the mirrored image is mapped into the first image, ...

Embodiment 3

[0119] On the basis of the above-mentioned embodiments, in the embodiment of the present invention, before performing image processing on the first image, the method further includes:

[0120] Determine whether the number of target vehicle areas is greater than one, and if yes, perform subsequent steps.

[0121] Before mirroring the first image, the electronic device first recognizes the number of target vehicle areas in the first image, and judges whether the number of target vehicle areas in the first image is greater than one, and if so, mirrors the first image deal with.

[0122] If the number of target vehicle areas is one, performing mirroring processing on the first image includes:

[0123] Perform mirroring processing on the target vehicle area in the first image.

[0124] If the number of the target vehicle area is one, the pixels outside the target vehicle area in the first image have no effect on determining the vehicle area in the mirrored image. In order to redu...

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PUM

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Abstract

The invention discloses a method and device for determining the orientation angle of a vehicle head, and the method comprises the steps: inputting a first image into a vehicle detection model, and determining a target vehicle region; And inputting each target vehicle region into the angle regression model, determining the normalized angle value of each target vehicle, and determining the head orientation angle of each target vehicle according to the corresponding relational expression. According to the embodiment of the invention; Vehicle-based detection model, Each first vehicle area in the first image can be determined, determining each target vehicle area according to the overlapping area of any two first vehicle areas, determining the normalized angle value of each target vehicle basedon the angle regression model, and determining the head orientation angle of each target vehicle according to the corresponding relation between the normalized angle values and the head orientation angles. Therefore, the headstock orientation angle in the single-frame image can be determined, and the headstock orientation angle can be accurately determined in an environment interference scene.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a method and device for determining the orientation angle of a vehicle head. Background technique [0002] With the rapid development of intelligent transportation related technologies in recent years, the application of judging the driving direction of the vehicle through the detection of the angle of the front of the vehicle is becoming more and more widely used, for example, it is used in the tracking of vehicle driving trajectory on the highway and the judgment of the driving direction of the vehicle in traffic accidents. , Judgment of the driving direction of the vehicle at the entrance and exit of the parking lot, the judgment of the driving direction of the vehicle in automatic driving, etc. [0003] In the prior art, when determining the heading angle of the vehicle, the vehicle's motion information is generally determined based on continuous multiple fra...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06K9/32G06K9/62
CPCG06T7/73G06T2207/10016G06T2207/20084G06T2207/20081G06T2207/30236G06V10/25G06V2201/08G06F18/2413
Inventor 朱梦超
Owner ZHEJIANG DAHUA TECH CO LTD