Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Unmanned vehicle position detection method and device, equipment, storage medium and vehicle

A detection method, unmanned vehicle technology, applied in vehicle position/route/height control, motor vehicles, transportation and packaging, etc., can solve the problems of low accuracy, reduce the accuracy of 3D position coordinates of obstacles, and achieve improved The effect of accuracy

Active Publication Date: 2021-10-08
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
View PDF9 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The value of H in the above scheme is obtained according to the pre-trained machine model, and the accuracy is low, which in turn reduces the accuracy of the 3D position coordinates of the obstacle

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Unmanned vehicle position detection method and device, equipment, storage medium and vehicle
  • Unmanned vehicle position detection method and device, equipment, storage medium and vehicle
  • Unmanned vehicle position detection method and device, equipment, storage medium and vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] figure 1 It is a flowchart of an unmanned vehicle position detection method provided in Embodiment 1 of the present invention. This embodiment can be applied to the situation of detecting the 3D coordinate position of a target object in an unmanned vehicle system. This method can be detected by an unmanned vehicle position This device can be composed of hardware and / or software, and can generally be integrated into a device with the function of detecting the position of an unmanned vehicle. This device can be an electronic device such as a mobile terminal or a vehicle-mounted device. Such as figure 1 As shown, the method specifically includes the following steps:

[0032] S110. Detect the first lane line in the current image captured by the camera.

[0033] Specifically, during the driving process of the unmanned vehicle, the on-board camera continuously acquires the image in front of the vehicle. When the camera captures the current image, it detects the first lane l...

Embodiment 2

[0056] figure 2 It is a flow chart of an unmanned vehicle position detection method provided in Embodiment 2 of the present invention. Based on the above implementation, based on the detection result of the first lane line, the initial transformation matrix between the world coordinate system and the camera coordinate system is performed. Optimization can be implemented in the following way: determine the pitch angle corresponding to the vanishing point of the first lane line, the pitch angle refers to the angle between the optical axis of the camera and the ground plane; according to the pitch angle and the world coordinate system and the camera coordinate system The initial transformation matrix between is obtained, and the transformation matrix between the optimized world coordinate system and the camera coordinate system is obtained. Such as figure 2 As shown, the method specifically includes the following steps:

[0057] S210. Detect the first lane line in the current...

Embodiment 3

[0077] Figure 4 It is a schematic structural diagram of an unmanned vehicle position detection device provided in Embodiment 3 of the present invention. Such as Figure 4 As shown, the device includes: a first lane line detection module 410 , a pitch angle determination module 420 , a pitch angle smoothing and denoising module 430 , an initial transformation matrix optimization module 440 and a 3D coordinate determination module 450 .

[0078] The first lane line detection module 410 is configured to detect the first lane line in the current image captured by the camera;

[0079] The pitch angle determination module 420 is configured to determine the pitch angle corresponding to the vanishing point of the first lane line, and the pitch angle refers to the angle between the optical axis of the camera and the ground plane;

[0080] The pitch angle smoothing and denoising module 430 is configured to, according to the pitch angle corresponding to the vanishing point of the lane...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The embodiment of the invention discloses an unmanned vehicle position detection method and device, equipment, a storage medium and a vehicle. The method comprises the following steps: detecting a first lane line in a current image shot by a camera; based on the detection result of the first lane line, optimizing an initial transformation matrix between a world coordinate system and a camera coordinate system; and obtaining a first 3D coordinate of a target object in the current image according to the transformation matrix obtained after optimization, and determining a final 3D coordinate of the target object according to the first 3D coordinate. According to the unmanned vehicle position detection method provided by the embodiment of the invention, the first 3D coordinate of the target object in the image is acquired by using the optimized transformation matrix, and then the final 3D coordinate of the target object is determined according to the first 3D coordinate, so that the accuracy of detecting the 3D position coordinate of the target object such as an obstacle in an unmanned vehicle system can be improved.

Description

[0001] This application is a divisional application of the patent application with application number 201811044487.8 (the filing date of the original application is September 7, 2018, and the title of the invention is a position detection method, device, equipment, and storage medium. technical field [0002] The embodiments of the present invention relate to the technical field of unmanned vehicles, in particular to a method, device, equipment, storage medium and vehicle for detecting the position of an unmanned vehicle. Background technique [0003] At present, the unmanned vehicle system uses a vision-based detection algorithm to detect the 3D position of obstacles. [0004] Specifically, first calculate the z-axis coordinate value of the obstacle according to the following formula: h / H=f / z, where z is the z-axis coordinate value of the obstacle, f is the focal length of the camera installed on the unmanned vehicle, and h is the obstacle The height value of the object in ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/20G06K9/32G06K9/40
CPCG06T2207/30256G06T2207/30261G06T7/80G06V20/64G06V20/588G06V20/58G06V2201/07Y02T10/40G05D1/0088G05D1/0251G05D1/0274
Inventor 刘铭剑王煜城孙迅谢术富翟玉强王昊夏添
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
Features
  • Generate Ideas
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com