Method and device for sending information
A technology for sending information and numbers, which is applied in the computer field and can solve problems such as deviations of key parameters such as position and speed, and affecting the safety of automatic driving technology
Active Publication Date: 2019-06-07
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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Problems solved by technology
Since the calibration parameters reflect the transformation of the coordinate system between different sensors, when the calibration parameters do not match the installed sensors, there will be deviations between the obstacles perceived by the automatic driving system and the key parameters such as the position and speed in the actual environment. , thus seriously affecting the safety of autonomous driving technology
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[0031] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.
[0032] It should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and embodiments.
[0033] figure 1 An exemplary architecture 100 to which the method for sending information or the apparatus for sending information of the present disclosure can be applied is shown.
[0034] Such as figure 1 As shown, the system architecture 100 may include terminal d...
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The embodiment of the invention discloses a method and device for sending information. One specific implementation mode of the method comprises the steps of acquiring a target image, wherein the target image comprises a first number of image areas of a preset type and a second number of polygons, and the polygons are used for representing the positions, indicated after point cloud data is mapped based on preset calibration parameters, of objects of the preset type in the target image; generating a target number of predetermined types of image regions-based on the first number of predeterminedtypes of image regions and the second number of polygons Polygon matching data pairs; for the matching data pair in the target number of matching data pairs, determining the deviation between the image region of the predetermined type included in the matching data pair and the position of the corresponding polygon in the target image; and based on comparison between the obtained at least one deviation and a preset threshold, sending information representing that the preset calibration parameter is abnormal. According to the embodiment, online detection of whether the preset calibration parameter is abnormal or not is realized.
Description
technical field [0001] The embodiments of the present disclosure relate to the field of computer technology, and in particular to a method and device for sending information. Background technique [0002] With the development of autonomous driving technology, the comprehensive application of multi-sensors is becoming more and more extensive. Since the calibration parameters reflect the transformation of the coordinate system between different sensors, when the calibration parameters do not match the installed sensors, there will be deviations between the obstacles perceived by the automatic driving system and the key parameters such as the position and speed in the actual environment. , thus seriously affecting the safety of autonomous driving technology. Therefore, ensuring the correct calibration parameters is an important part of ensuring the safe driving of autonomous vehicles. [0003] The related method is usually to manually verify the preset calibration parameters ...
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IPC IPC(8): G06T7/30G06T7/80G01S7/497
Inventor 程凯王军
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD