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Method, device and equipment for determining coordinate system conversion parameters of roadside imaging equipment

A technology of coordinate system conversion and imaging equipment, applied in the field of off-vehicle interaction, can solve problems such as no lidar sensor, no global positioning system, and inability to use data from imaging equipment

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 Global Positioning System (GPS) signal, and no LiDAR sensor is installed, so it is difficult to implement the imaging device installed in the scenario by calibrating the above relationship. Calibration of the extrinsic parameters of , making it impossible to use the data from the imaging device

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  • Method, device and equipment for determining coordinate system conversion parameters of roadside imaging equipment

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Embodiment Construction

[0018] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein; A more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only, and are not intended to limit the protection scope of the present disclosure.

[0019] In the description of the embodiments of the present disclosure, the term "comprising" and its similar expressions should be interpreted as an open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be read as "at least one ...

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Abstract

Embodiments of the present disclosure provide a method, apparatus, apparatus, and computer-readable storage medium for coordinate system transformation parameters of an imaging device. The method includes selecting a set of reference points from a three-dimensional map of an environment in which an imaging device is located, the three-dimensional map being unrelated to a world coordinate system; determining a first coordinate set of the set of reference points in the world coordinate system; determining a set of target points corresponding to the set of reference points in the two-dimensional image of the environment, the set of target points having a second set of coordinates in the pixel coordinate system of the two-dimensional image; and determining based on the first set of coordinates and the second set of coordinates Coordinate system transformation parameters. Thus, the coordinate system conversion parameters of the imaging device can be determined in an environment where GPS information cannot be obtained, for example, and the flexibility and universality of parameter calibration of the imaging device can be improved.

Description

technical field [0001] Embodiments of the present disclosure mainly relate to the field of out-of-vehicle interaction, and more specifically, to a method, device, device, and computer-readable storage medium for determining coordinate system transformation parameters of a roadside imaging device. Background technique [0002] In recent years, technologies related to autonomous driving, such as autonomous parking and video surveillance, have gradually emerged. The basis of autonomous driving technology is the perception of the surrounding environment of the vehicle, that is, the recognition of the specific conditions of the surrounding environment. It has been proposed that, in addition to on-board (also referred to as "vehicle-side") sensor devices (e.g., on-board lidar), sensor devices outside the vehicle (also referred to as "roadside") (e.g., side imaging equipment) to obtain relevant data to better support autonomous driving technology. [0003] At present, the externa...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/30252
Inventor 时一峰
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD