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

Abstract

Embodiments of the present disclosure provide a method, an apparatus, an electronic device, and a computer-readable storage medium for determining a coordinate system conversion parameter of an imaging device. In the method, reference values ​​of coordinate system conversion parameters and a reference image captured by an imaging device are obtained. The reference value is determined when the imaging device is at a reference position and a reference orientation in the world coordinate system. A reference image is captured by the imaging device at a reference position and a reference orientation. In response to a change in at least one of the position and orientation of the imaging device in the world coordinate system, an offset of the target image captured by the imaging device relative to the reference image after the change occurs is determined. The offset is corrected based on the coordinates corresponding to the reference pixels in the reference image in the world coordinate system. A target value for a coordinate system transformation parameter is obtained based on the reference value and the corrected offset. The embodiment of the present disclosure has simple operation and high calibration efficiency, and provides accuracy guarantee for roadside 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 conversion 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 better ...

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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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