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Image projection method and device, equipment and storage medium

A technology in images and images, applied in image communication, image data processing, instruments, etc., can solve the problems of reducing the AR effect projection efficiency and accuracy, wasting system resources, and poor fit of the real scene, etc., to improve projection efficiency and Accuracy, improved transferability, enhanced fit

Pending Publication Date: 2019-07-02
APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the existing technology is highly dependent on the display device, and it is difficult to migrate the AR effect to the real-scene images of different display devices. For different display devices, repetitive calculation of the position of the AR object is required, which wastes system resources and reduces the projection of the AR effect. Efficiency and accuracy, poor fit with the real scene

Method used

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  • Image projection method and device, equipment and storage medium
  • Image projection method and device, equipment and storage medium

Examples

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Embodiment 1

[0029] figure 1 It is a flow chart of an image projection method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation in which a 3D virtual image corresponding to an actual target object is projected to a display device capable of displaying a real scene in the process of intelligent driving , the method can be performed by an image projection device, which can be implemented in software and / or hardware, and is preferably configured on a display device of an intelligent driving vehicle, such as a central control screen, an instrument panel, a head-up display, and an electronic navigation equipment etc. The method specifically includes the following:

[0030] S110. Determine the three-dimensional coordinates of the target object in the vehicle coordinate system in the image captured by the camera according to the camera parameters.

[0031] In a specific embodiment of the present invention, the three-dimensional virtual image corre...

Embodiment 2

[0040] On the basis of the first embodiment above, this embodiment provides a preferred implementation of the image projection method, which can determine the conversion relationship between the current actual scene and the 3D virtual scene according to the equivalent camera model of the display device. image 3 A flow chart of an image projection method provided by Embodiment 2 of the present invention, such as image 3 As shown, the method includes:

[0041] S310. Determine the three-dimensional coordinates of the target object in the vehicle coordinate system according to the camera parameters.

[0042] In a specific embodiment of the present invention, the target object may be an object obtained from an actual scene, or an object obtained from map data according to vehicle positioning information. Therefore, according to the camera parameters, the three-dimensional coordinates of the target object in the vehicle coordinate system are determined.

[0043] Optionally, iden...

Embodiment 3

[0063] Figure 8 It is a schematic structural diagram of an image projection device provided by Embodiment 3 of the present invention. This embodiment is applicable to projecting a three-dimensional virtual image corresponding to an actual target object to a display device capable of displaying a real scene in the process of intelligent driving , the device can implement the image projection method described in any embodiment of the present invention. Specifically, the device includes:

[0064] The AR object coordinate determining module 810 is used to determine the three-dimensional coordinates of the target object in the vehicle coordinate system in the image collected by the camera according to the camera parameters;

[0065] The AR projection module 820 is configured to project the three-dimensional virtual image of the target object according to the three-dimensional coordinates of the target object in the vehicle coordinate system, the camera parameters, and the equival...

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Abstract

The embodiment of the invention discloses an image projection method and device, equipment and a storage medium. The method comprises the steps of determining three-dimensional coordinates of a targetobject in an image collected by a camera in a vehicle coordinate system according to camera parameters; and projecting the three-dimensional virtual image of the target object into the live-action image of each display device according to the three-dimensional coordinates of the target object in the vehicle coordinate system, the camera parameters and the equivalent parameters of the equivalent camera model of each display device. According to the embodiment of the invention, the three-dimensional virtual image of the target object is projected to the live-action image of the display device;three-dimensional coordinates of a target object are determined in a vehicle coordinate system in a unified manner; the mobility of the image enhancement effect on different display devices is improved, the problems of system resource waste and the like caused by repeated position calculation for different display devices are avoided, the projection efficiency and accuracy of the image enhancementeffect are improved, and the fitting degree between the image enhancement effect and a real scene is enhanced.

Description

technical field [0001] Embodiments of the present invention relate to the technical fields of intelligent driving and image enhancement, and in particular to an image projection method, device, device and storage medium. Background technique [0002] With the rapid development of computer technology, AR (Augmented Reality, Augmented Reality) technology has been widely used. By overlaying digital images on the real world that people can see, the information projected by AR is integrated with the real environment into a One. [0003] In the intelligent driving scene, the AR effect rendering is realized by projecting the AR objects collected and processed by the camera into the real picture of the display device. Currently, the image coordinate system can be directly used for AR effect rendering, or the AR effect can be projected into the real scene according to a fixed coordinate system and scale. Among them, for different display devices, it is also necessary to calculate t...

Claims

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Application Information

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IPC IPC(8): G06T19/00H04N13/363
CPCG06T19/006Y02T10/40
Inventor 李映辉冯遥马瑞兵胡俊霄周志鹏
Owner APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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