Three-dimensional perception information acquisition method based on external parameters of roadside camera and roadside equipment
A 3D perception and camera technology, applied in 3D object recognition, road vehicle traffic control system, image communication, etc., can solve problems such as personal danger, high cost, and low efficiency, to ensure personnel safety, improve efficiency, and reduce costs Effect
Pending Publication Date: 2021-04-16
APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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[0004] However, in the prior art, due to the high cost of high-precision map production, and the high-precision map cannot be used when there is no lane line, the cost of determining the rotation matrix of the roadside camera in the world coordinate system is relatively high; The way of RTK equipment management is low in efficiency and there are problems of personal danger, and it is impossible to obtain the rotation matrix of the roadside camera in the world coordinate system in a timely and effective manner.
The above methods cannot effectively and quickly obtain 3D perception information
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[0036] Exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
[0037] In the roadside perception system, it is necessary to provide three-dimensional perception information for vehicles. Roadside cameras can be installed on poles at intersections. Roadside cameras include fisheye cameras, rear-view gun cameras and front-view gun cameras; in general, Fisheye cameras, rear-view bullet cameras and front-view bullet cameras will be ...
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The invention discloses a three-dimensional perception information acquisition method based on external parameters of a roadside camera and roadside equipment, and relates to automatic driving, intelligent transportation and computer vision in the computer technology. According to the specific implementation scheme, a first rotation matrix is generated according to a first matching point pair between an image collected by a first camera and an image collected by a second camera, and the first rotation matrix represents a rotation matrix of the first camera under a second camera coordinate system; according to the first rotation matrix and the second rotation matrix, a third rotation matrix is generated, the second rotation matrix represents a rotation matrix of the second camera in a world coordinate system, and the third rotation matrix represents a rotation matrix of the first camera in the world coordinate system; and three-dimensional perception information of the image acquired by the first camera is generated according to the third rotation matrix. And a common-view area is formed between the first camera and the second camera. And the two-dimensional perception information in the image acquired by the roadside camera can be effectively and quickly obtained.
Description
technical field [0001] This application relates to automatic driving, intelligent transportation and computer vision in computer technology, and in particular to a method for acquiring three-dimensional perception information based on external parameters of roadside cameras and roadside equipment. Background technique [0002] In the roadside perception system, it is necessary to provide vehicles with 3D perception information. Roadside cameras can be installed at intersections to obtain images through the roadside cameras, and 3D perception information can be obtained based on the images obtained by the roadside cameras. When the image acquired by the roadside camera is used to obtain 3D perception information, it is necessary to obtain the rotation matrix of the roadside camera in the world coordinate system. [0003] In the existing technology, it is possible to obtain the rotation matrix of the roadside camera in the world coordinate system through high-precision maps or...
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IPC IPC(8): G06K9/00G06T7/80
CPCG06T2207/10012G06T7/85G06T2207/30252G06T2207/30236G06V20/54G06V20/647G06V10/74G08G1/0116G08G1/0175G08G1/04H04N13/282H04N13/239H04N13/243H04N13/122G06V20/13G08G1/0141G08G1/0145
Inventor 苑立彬贾金让易光启
Owner APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD