Monocular camera ranging method and device

A distance measurement method and target camera technology, which are applied to measurement devices, distance measurement, line-of-sight measurement, etc., can solve the problems of high cost and difficult time synchronization of sensors, and achieve the effect of low cost of the solution.

Pending Publication Date: 2021-04-20
深兰人工智能(深圳)有限公司
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Problems solved by technology

[0005] The above methods of multi-sensor fusion, camera fusion, millimeter-wave radar or lidar to realize target perception and ranging at intersections have high cost and difficult time synchronization between sensors.

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  • Monocular camera ranging method and device
  • Monocular camera ranging method and device

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Embodiment Construction

[0040] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in this application. Obviously, the described embodiments are part of the embodiments of this application , but not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0041] Another existing technology is the existing technology based on visual monocular distance measurement, which can calculate the target distance through the camera installation height, angle and camera internal parameters, or directly estimate the distance through the neural network, but the calculation of distance through the camera height angle and internal parameters is difficult. The ground needs to be flat. If t...

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Abstract

The embodiment of the invention relates to the technical field of image processing, and provides a monocular camera ranging method and device, and the method comprises the steps: collecting original image data of a target scene through a target camera; performing target detection on the original image data to obtain a target object in the original image data; performing target tracking on the target object, and obtaining a motion trail of the target object on the original image data; and converting the motion trail of the target object on the original image data into an aerial view, and obtaining the actual distance between the target object and the target camera according to a preset conversion ratio of aerial view pixels to the actual distance. According to the scheme, the cost is low, target detection, target tracking and target distance measurement can be achieved only through the camera at the intersection, and due to the fact that the target camera is static at the target intersection, the accurate monocular distance measurement effect can be achieved through simple calibration.

Description

technical field [0001] The present application relates to the technical fields of image processing and laser ranging, and in particular to a monocular camera ranging method and device. Background technique [0002] In the scene of automatic driving or anti-collision (pedestrian protection) of the vehicle, it is necessary to measure the distance between the vehicle and the target object (vehicle in front, pedestrian, lane line). The distance measurement method often used in the prior art is multi-sensor fusion, camera fusion, Methods such as millimeter-wave radar or lidar. [0003] Multi-sensor Information Fusion (MSIF for short) is the use of computer technology to automatically analyze and synthesize information and data from multiple sensors or sources under certain criteria to complete the required decision-making and estimation. information processing process. [0004] The traditional multi-camera fusion method only uses the image sensor. On the basis of using the imag...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/00
Inventor 陈海波陈讯
Owner 深兰人工智能(深圳)有限公司
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