Method and device for measuring vehicle distance
A technology for vehicles and target vehicles, applied in the computer field, can solve the problems of limited use scenarios and poor stability of measurement results, and achieve the effect of improving stability and accuracy
Active Publication Date: 2021-02-02
ENBOTAI TIANJIN TECH CO LTD
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Problems solved by technology
[0003] Although the existing vehicle distance measurement technology has many possibilities, such as distance measurement based on 2D detection frame, or calculation of 2D detection frame combined with vehicle 3D size and relative angle, and the method of directly using depth map for distance measurement, Some of these methods have very limited use scenarios, making the measurement results less stable
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[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0050] The terms "first" and "second" in the specification and claims of the present invention and the above drawings are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "comprising" and "having", and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or apparatus comprising a series of steps or units is not defined by listed steps or u...
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The invention discloses a vehicle ranging method and device, which performs 3D projection on a target vehicle to obtain 3D projection information of the target vehicle; acquires camera parameters for photographing the target vehicle, and based on the camera parameters and the obtained The 3D projection information, calculating the orientation information of the target vehicle; determining the target orientation of the target vehicle in the orientation information of the target vehicle; calculating the distance between the target vehicle and the target point based on the target orientation information. Regardless of the way the camera is in the vehicle or what kind of camera is used, the present invention can determine the exact orientation of the vehicle according to the camera parameters and the 3D projection information of the vehicle, thereby calculating the distance information between the vehicle and the target point, and realizing the application for various cameras Vehicle distance measurement improves the stability and accuracy of measurement results.
Description
technical field [0001] The invention relates to the field of computer technology, in particular to a vehicle distance measuring method and device. Background technique [0002] Ranging is the basis of vehicle automatic driving. The vehicle needs to measure the surrounding objects accurately to obtain accurate environmental information of the vehicle, so that the vehicle automatic control system can make decisions. [0003] Although the existing vehicle distance measurement technology has many possibilities, such as distance measurement based on 2D detection frame, or calculation of 2D detection frame combined with vehicle 3D size and relative angle, and the method of directly using depth map for distance measurement, Some of these methods have very limited usage scenarios, making the measurement results less stable. Contents of the invention [0004] In view of the above problems, the present invention provides a vehicle ranging method and device, which realizes vehicle r...
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IPC IPC(8): G01S17/08G01S17/894G06T7/70G06T7/80G06T7/00
CPCG01S17/08G06T7/0002G06T2207/10012G06T2207/30252G06T7/70G06T7/80G01S17/894
Inventor 王曦程士庆刘孟绅
Owner ENBOTAI TIANJIN TECH CO LTD