Planar marker pose determination method and device

A determination method and technology of markers, applied in image data processing, instruments, calculations, etc., can solve the problems of unsatisfactory determination of signboard pose, unsatisfactory signboard construction effect, and inability to identify signboards, etc., so as to improve the construction effect , to achieve the effect of lightweight construction and good accuracy

Pending Publication Date: 2021-01-12
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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Problems solved by technology

However, the current method of building signboards with a monocular camera cannot accurately identify signboards, resulting in

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  • Planar marker pose determination method and device
  • Planar marker pose determination method and device
  • Planar marker pose determination method and device

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[0039] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0040] Application overview

[0041] As important landmarks in road scenes, planar landmarks such as sign boards have a very important indicating role in guiding vehicles, and are indispensable elements in high-precision maps. Therefore, when constructing high-precision maps, signs need to be cards to build.

[0042] One of the current solutions for building signboards is to use lidar scanning to obtain point clouds on signboards, and then extract the parameter information of signboards from the point clouds to realize the construction of signboards. Howe...

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Abstract

The invention discloses a planar marker pose determination method and device, a computer readable storage medium and electronic equipment. The method comprises the following steps: taking a planar marker in at least one frame of image; obtaining a first coordinate of the vertex of the plane marker in a pixel coordinate system; and obtaining a plane marker coordinate system and a second coordinateof the vertex of the plane marker in the plane marker coordinate system according to the plane marker. According to the pose determination method disclosed by the invention, lightweight construction of the planar marker is realized, and the obtained optimized planar marker pose can be effectively ensured to have good accuracy, so that the construction effect of the planar marker is improved.

Description

technical field [0001] The present application relates to the technical field of electronic maps, and more particularly, to a method and device for determining the pose of a planar marker. Background technique [0002] With the rapid development of science and technology, map navigation has become an indispensable part of people's driving vehicles. Since the high-precision map contains very rich detailed information, which plays a vital role in the navigation, positioning and control of the vehicle, it has attracted more and more attention from the market. The road scene of the high-precision map contains a lot of landmarks, among which the sign board is a very important type of landmark, which plays a very important role in guiding the driving of the vehicle, so it is an essential element in the high-precision map. [0003] When constructing high-precision maps, it is necessary to construct signs. Lidar has high accuracy, so it is widely used in the construction of high-p...

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Application Information

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IPC IPC(8): G06T7/70G06T7/33
CPCG06T7/344G06T7/70
Inventor 杨帅
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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