Method and device for determining coordinate system conversion parameter, electronic device and storage medium

Abstract

The embodiment of the invention provides a method and a device for determining a coordinate system conversion parameter of an imaging device, an electronic device and a computer readable storage medium. The method is characterized by acquiring a reference value of the coordinate system conversion parameter and a reference image captured by the imaging device, wherein the reference value is determined when the imaging device is at a reference position and a reference orientation in a world coordinate system, and the reference image is captured when the imaging device is at the reference position and the reference orientation; responding to a change of at least one of the position and orientation of the imaging device in the world coordinate system, and determining an offset of a target image captured by the imaging device after the change occurs relative to the reference image; correcting the offset based on a corresponding coordinate of a reference pixel point in the reference image inthe world coordinate system; and acquiring a target value of the coordinate system conversion parameter based on the reference value and the corrected offset. In the invention, operation is simple, calibration efficiency is high, and precision guarantee is provided for road side perception of automatic driving and autonomous parking.

Description

technical field [0001] Embodiments of the present disclosure generally relate to the technical fields of imaging devices and automatic driving, and more particularly, relate to a method, device, electronic device and computer-readable storage medium for determining coordinate system transformation parameters. Background technique [0002] In recent years, technologies such as autonomous driving and autonomous parking have gradually emerged. These technologies are based on the perception of the surrounding environment of the vehicle, that is, the recognition of the specific conditions of the environment near the vehicle. It has been proposed that, in addition to on-board (also called "vehicle-side") sensor devices (e.g., on-board lidar, imaging equipment, etc.), sensor devices outside the vehicle (also called "roadside") (for example, imaging equipment installed on both sides of the road or in the parking lot) to obtain relevant data of the vehicle environment in order to bet...

AI Technical Summary

Problems solved by technology

However, when the position or orientation of the imaging device outside the vehicle changes, the extrinsic parameters of the imaging device will also change accordingly

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