Target vehicle position and orientation detection method and system and storage medium

A target vehicle and vehicle technology, applied in neural learning methods, measuring devices, surveying and navigation, etc., can solve the problems of distance value error, large position and distance error, difficult to measure motion posture, etc., to improve detection accuracy and increase prediction , Movement attitude detection and accurate effect

CN113643355APending Publication Date: 2021-11-12GUANGZHOU AUTOMOBILE GROUP CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2021-11-12

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Abstract

The invention provides a target vehicle position and orientation detection method. The method comprises the steps: step S10, collecting a front view image of the vehicle through a vehicle-mounted camera; step S11, preprocessing the front view image collected by the vehicle-mounted camera; step S12, performing image motion compensation on the front view image according to vehicle-mounted inertial measurement equipment; step S13, according to an inverse perspective transformation rule, converting the position of each target vehicle in the front view after image motion compensation into a top view; and step S14, inputting the top view into a pre-trained convolutional neural network to obtain position and orientation information of each target vehicle. The invention further provides a corresponding system and a storage medium. According to the invention, the distance and orientation detection precision of the target vehicle based on vision can be greatly improved.
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Description

technical field

[0001] The present invention relates to the technical field of intelligent driving, in particular to a method, system and storage medium for detecting the position and orientation of a target vehicle. Background technique

[0002] In the intelligent driving of the car, it is necessary to detect the distance between the front and rear targets according to the driving environment. At present, the main method of vision-based target detection is: in the front view, obtain the two-dimensional rectangular frame (bounding box) of the vehicle target in the image according to the CNN convolutional neural network (YOLO, SSD or Faster-rcnn, etc.). Its general method flow is as follows figure 1 As shown, the steps include: firstly carry out preprocessing operations such as resize on the input front view image; then perform neural network reasoning on the preprocessed front view to obtain possible two-dimensional rectangular boxes (bounding boxes) of all target vehicles;...

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Embodiment Construction

[0073] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0074] Such as figure 1 As shown, it shows a schematic diagram of the main flow of an embodiment of a method for detecting the position and orientation of a target vehicle provided by the present invention; together with Figure 2 to Figure 5 As shown, in this embodiment, a method for detecting the position and orientation of a target vehicle provided by the present invention includes the following steps:

[0075] Step S10, collecting the front-view image of the vehicle through the vehicle-mounted camera, and the front-view image includes at least one image of other vehicles except the vehicle;

[0076] Step S11, performing preprocessing on the front-view image collected by the vehicle camera to obtain a front-view image conforming to a predetermined size, wherei...