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Method and device for determining coordinates of plane marker

A technology of coordinate determination and landmarks, applied in the field of image analysis, can solve the problems of high cost of high-precision map drawing and expensive lidar, and achieve the effect of low cost, guaranteed accuracy and reduced cost

Pending Publication Date: 2021-02-02
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, due to the large number of planar markers on the roadside and the high price of lidar, the use of lidar scanning in a large area will result in extremely high cost of drawing high-precision maps

Method used

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  • Method and device for determining coordinates of plane marker
  • Method and device for determining coordinates of plane marker
  • Method and device for determining coordinates of plane marker

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Embodiment Construction

[0036] Hereinafter, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited by the exemplary embodiments described here.

[0037] Application overview

[0038] It is known above that in a high-definition map, elements representing road information, such as roads, lane lines in the road, signposts on both sides of the road, signboards, etc., all need to be expressed in mathematical form. The so-called mathematical forms may include spatial coordinates, curvilinear functions or structured parametric representations, etc. In the prior art, when expressing planar landmarks (such as road signs, traffic signs, etc.) in mathematical form, the point cloud image of the corresponding pl...

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Abstract

The invention discloses a method and a device for determining coordinates of a plane marker. The method comprises the following steps of: determining a first pixel coordinate of a reference point of the plane marker in a current frame image; determining a first space coordinate of the reference point according to the first pixel coordinate; obtaining a first camera parameter corresponding to a subsequent frame image of the current frame; determining a second pixel coordinate of a reference point of a plane marker in the subsequent frame image; and determining an optimized first space coordinate according to the first camera parameter, the first space coordinate and the second pixel coordinate. According to the invention, a point cloud picture is not needed, and an expensive laser radar isnot needed, so that the high-precision map drawing cost is reduced.

Description

technical field [0001] The present disclosure relates to the technical field of image analysis, in particular to a method and device for determining the coordinates of a planar marker. Background technique [0002] Unlike traditional maps that only use two-dimensional images to reflect elements such as landforms, buildings, and roads, high-precision maps, as an important part of assisted driving / automatic driving technology, pay more attention to "spatiality". In high-precision maps, many elements need to be represented in mathematical forms such as spatial coordinates, curve functions, or structured parameter representations. For example, roads, lane lines in roads, sign poles on both sides of roads, sign boards and other elements representing road information need to be expressed in mathematical form. [0003] Observation and acquisition of information on planar landmarks (such as road signs, traffic signs, etc.) in the prior art often involves scanning with lidar to obta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70G01S11/12G01C11/02
CPCG06T7/70G01S11/12G01C11/02G06T2207/10016
Inventor 杨帅
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD