Automobile and monocular camera ranging method and device

Abstract

The invention provides a vehicle, a monocular camera distance measurement method and device. The monocular camera distance measurement method comprises the following steps: an image is acquired through the monocular camera; pixel coordinates of a to-be-measured object in the image are acquired; a distance measurement model is selected according to the pixel coordinates, and the selected distance measurement model is used to calculate the distance between the to-be-measured object and the monocular camera according to the pixel coordinates, wherein the distance measurement model comprises a first distance measurement model and a second distance measurement model. According to the monocular camera distance measurement method, the distance measurement model is selected according to the pixelcoordinates, the selected distance measurement model is used to calculate the distance between the to-be-measured object and the monocular camera according to the pixel coordinates, the distance measurement precision is high, the operation is simple, and the application range is wide.

Description

technical field [0001] The invention relates to the technical field of cameras, in particular to a monocular camera ranging method, a monocular camera ranging device and an automobile. Background technique [0002] In the related art, the following scheme is disclosed when performing monocular camera ranging: if the distance of the target vehicle is within 30 meters, the camera projection model is established according to the principle of pinhole imaging, and the world coordinate system is projected into the image coordinate system. The corresponding relationship between the two coordinate systems is used to establish the vehicle ranging geometric relationship model, and the distance of the target vehicle in front is calculated; if the distance of the target vehicle is greater than 30 meters, the distance between the actual road sample point and the image plane is first obtained by data fitting method. mapping relationship, and calculate the distance of the target vehicle in...

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Problems solved by technology

[0003] However, there are two obvious deficiencies in the above-mentioned ranging scheme: 1. The ranging accuracy is low, because when the distance from the monocular camera is relatively close within 30 meters, the ranging accuracy of the ranging model based on pinhole imaging is compared with that of the distance from the monocular camera. The accuracy of ranging from 30 meters to 100 meters is greatly reduced; 2. The workload is heavy, because when the distance from the monocular camera is farther than 30 meters, interpolation and re-fitting must be performed, and the distance is far, so in order to achieve the expected accuracy, Large number of interpolation points

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