Method and device for determining vanishing point and computer storage medium

Pending Publication Date: 2020-12-29
SHANGHAI GOLDWAY INTELLIGENT TRANSPORTATION SYST CO LTD
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AI Technical Summary

Problems solved by technology

[0003] In the related art, the intersection point of two parallel lane lines is determined through the grayscale image of the lane line in the image,

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  • Method and device for determining vanishing point and computer storage medium
  • Method and device for determining vanishing point and computer storage medium
  • Method and device for determining vanishing point and computer storage medium

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[0066]In order to make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following further describes the embodiments of the present application in detail with reference to the accompanying drawings.

[0067]Before explaining the embodiments of the present application, the application scenarios of the embodiments of the present application are first explained.

[0068]In machine vision technology, it is usually necessary to convert the image coordinates of a certain pixel in the image collected by the camera and the spatial coordinates of the corresponding position of the pixel in the three-dimensional space. Wherein, the conversion between the image coordinates of the pixel point and the spatial coordinates of the corresponding position point of the pixel point in the three-dimensional space can be realized through a coordinate conversion matrix.

[0069]The coordinate conversion matrix can be determined by the camera's internal pa...

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Abstract

The embodiment of the invention discloses a method and device for determining a vanishing point and a computer storage medium, and belongs to the technical field of machine vision. The method comprises the steps of performing image segmentation on a first image based on a deep learning segmentation network to obtain a first area of interest and a second area of interest; determining image coordinates of a first reference vanishing point according to the first area of interest; determining image coordinates of a second reference vanishing point according to the second area of interest; and determining the image coordinates of the vanishing points in the first image according to the image coordinates of the first reference vanishing points and the image coordinates of the second reference vanishing points. The image segmentation technology based on the deep learning segmentation network is used to identify the identification straight line and the vanishing point, the anti-interference capability is stronger, and the efficiency is higher. Moreover, the vanishing points in the first image are determined by adopting the information of the identification straight line and the informationof the vanishing point in the first image, and the information on which the vanishing points are determined is more comprehensive, so that the accuracy of the determined vanishing points is improved.

Description

technical field [0001] The embodiments of the present application relate to the technical field of machine vision, and in particular to a method, device and computer storage medium for determining a vanishing point. Background technique [0002] When the parallel lines in the three-dimensional space are projected onto the image, the two parallel lines will intersect at a point in the image, which is the vanishing point. For example, in an image collected for two lane lines parallel to each other on the road, the two lane lines in the image will intersect at a point. In machine vision technology, calibrating the camera through the image coordinates of the vanishing point in the image collected by the camera can avoid the need to perform a large number of experimental operations in the calibrating process. Wherein, how to determine the image coordinates of the vanishing point in the image will affect the accuracy of the parameters of the calibrated camera to a certain extent....

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/11G06K9/32G06K9/62
CPCG06T7/80G06T7/11G06V10/25G06F18/25
Inventor 王永宏
Owner SHANGHAI GOLDWAY INTELLIGENT TRANSPORTATION SYST CO LTD
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