Distance measuring method and device and electronic equipment

Abstract

The embodiment of the invention provides a distance measuring method and device and electronic equipment, and the method comprises the steps of obtaining the class information of a to-be-measured target, and the parameter information of the to-be-measured target in a first image; according to the category information, determining an envelope body corresponding to the to-be-measured target in the space coordinate system and size information of the envelope body; performing a first iteration process, where the first iteration process comprises the steps of determining the distance value of the ith iteration, and determining first coordinate information of the envelope body in the space coordinate system according to the distance value of the ith iteration, the preset view angle and the size information; projecting the envelope into the first image according to the first coordinate information to obtain a first projection area, where i is a positive integer; and under the condition that a specific condition is met, taking the distance value of the ith iteration as a distance measurement value. The embodiment of the invention can effectively reduce the calculation amount of the distance measurement value calculation process and improve the distance measurement efficiency.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a ranging method, device and electronic equipment. Background technique [0002] In applications such as unmanned driving, there is usually a need for ranging objects such as obstacles, and ranging based on visual sensors is one of the more common ranging methods at present. The visual sensors that can be used for ranging are mainly classified into monocular cameras and binocular cameras according to the number of lenses. Among them, monocular cameras are widely used in ranging occasions due to their advantages such as low cost and strong adaptability. application. [0003] Due to the lack of depth information of the monocular camera itself, it is usually difficult to accurately obtain the distance from the target to the vehicle directly through the monocular camera. Instead, the above-mentioned distance needs to be calculated based on the pixel coordinates of the targe...

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a ranging method, device, and electronic equipment to solve the problem of using a relatively complex conversion model between pixel distance and actual distance when using a monocular camera for ranging in the prior art, which in turn leads to distance The calculation process has a large amount of calculation and the problem of low ranging efficiency

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