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Method, device and electronic device for determining coordinate system transformation parameters of imaging equipment

A technology for coordinate system conversion and imaging equipment, which is applied in graphics and image conversion, image data processing, image analysis, etc., and can solve problems such as no lidar sensor, external parameter calibration of imaging equipment, and no GPS signal

Active Publication Date: 2022-04-15
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in some scenarios such as underground parking lots, tunnels, etc., there may be no GPS signal, and no lidar sensor is installed, so it is difficult to calibrate the external parameters of the imaging device in this scenario

Method used

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  • Method, device and electronic device for determining coordinate system transformation parameters of imaging equipment
  • Method, device and electronic device for determining coordinate system transformation parameters of imaging equipment
  • Method, device and electronic device for determining coordinate system transformation parameters of imaging equipment

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Embodiment Construction

[0019] The principle and spirit of the present disclosure will be described below with reference to several exemplary embodiments shown in the accompanying drawings. It should be understood that these specific embodiments are described only to enable those skilled in the art to better understand and realize the present disclosure, rather than to limit the scope of the present disclosure in any way.

[0020] As used herein, the term "coordinate system conversion parameters" can be, for example, parameters required for conversion between camera coordinate system, image coordinate system, pixel coordinate system and world coordinate system, such as translation matrix, rotation matrix, etc. . In the context of the present disclosure, the world coordinate system may refer to a reference coordinate system covering a global scope, which may be used for assisting automatic driving or autonomous parking of vehicles, etc. Examples thereof include a UTM coordinate system, a latitude-long...

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PUM

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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, an initial value of a coordinate system conversion parameter of the imaging device is obtained, and the coordinate system conversion parameter is used to convert the world coordinate system into a device coordinate system of the imaging device. Obtaining a reflection value map of the imaging area of ​​the imaging device, the reflection value map has an abscissa axis and an ordinate axis coincident with the world coordinate system, and its coordinate points record the reflection intensity associated with at least one reflection point in the imaging area, at least one The reflection point is formed by reflecting the probe light from the object in the imaging area, and has the same abscissa and ordinate in the world coordinate system. The initial value of the coordinate system conversion parameter is updated based on the reflection value map to obtain the target value of the coordinate system conversion parameter. The embodiments of the present disclosure improve the flexibility and universality of parameter calibration of imaging devices.

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 of an imaging device. 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 enviro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G06T3/60
CPCG06T7/80G06T3/604
Inventor 时一峰
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD