Obstacle positioning method, device and terminal
A positioning method and obstacle technology, applied in character and pattern recognition, image data processing, instruments, etc., can solve problems not involving unmanned vehicles and not suitable for use in the field of unmanned vehicles, so as to improve driving quality and ensure safety driving effect
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Embodiment 1
[0046] In a specific embodiment, such as figure 1 As shown, a flowchart of an obstacle positioning method is provided, and the method includes:
[0047] Step S10: Obtain a picture of the surrounding environment of the unmanned vehicle.
[0048] Step S20: Input the surrounding environment picture into the obstacle recognition model for prediction, and obtain the position coordinates of the obstacle in the plane coordinate system in the surrounding environment picture.
[0049] Step S30: Convert the position coordinates of the obstacle in the plane coordinate system in the surrounding environment picture into the position coordinates of the obstacle in the world coordinate system.
[0050] In an example, a camera can be installed on the unmanned vehicle to obtain pictures of the surrounding environment of the unmanned vehicle. The camera can be installed in different directions on the body. For example, the camera can be installed at the license plate in the horizontal center of the wi...
Embodiment 2
[0067] In a specific embodiment, such as image 3 As shown, an obstacle positioning device is provided, including:
[0068] The surrounding environment picture obtaining module 10 is used to obtain the surrounding environment picture of the unmanned vehicle;
[0069] The obstacle position prediction module 20 in the plane coordinate system is used to input the surrounding environment picture into the obstacle recognition model for prediction, and obtain the position coordinates of the obstacle in the plane coordinate system in the surrounding environment picture;
[0070] The world coordinate system obstacle position conversion module 30 is used to convert the position coordinates of the obstacle in the plane coordinate system in the surrounding environment picture into the position coordinates of the obstacle in the world coordinate system.
[0071] In one embodiment, such as Figure 4 As shown, also includes:
[0072] The obstacle recognition model training module 11 is used to input ...
Embodiment 3
[0082] The embodiment of the present invention provides an obstacle positioning terminal, such as Figure 5 Shown, including:
[0083] The memory 400 and the processor 500, and a computer program that can be run on the processor 500 is stored in the memory 400. When the processor 500 executes the computer program, the obstacle positioning method in the foregoing embodiment is implemented. The number of the memory 400 and the processor 500 may be one or more.
[0084] The communication interface 600 is used for the memory 400 and the processor 500 to communicate with the outside.
[0085] The memory 400 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), for example, at least one disk memory.
[0086] If the memory 400, the processor 500, and the communication interface 600 are implemented independently, the memory 400, the processor 500, and the communication interface 600 may be connected to each other through a bus and complete mu...
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