Vehicle positioning method and device, vehicle system and storage medium
A technology of vehicle positioning and positioning method, which is applied in the field of vehicles and can solve problems such as mismatching and inability to accurately determine vehicle position information.
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment 1
[0050] figure 1 It is a flow chart of a vehicle positioning method provided by Embodiment 1 of the present invention. This embodiment is applicable to situations where precise positioning of a vehicle is required. The method can be performed by a vehicle positioning device, and specifically includes the following steps:
[0051] Step 110, acquire a target image including a fixed target based on an image acquisition device included in the vehicle.
[0052] Wherein, the image acquisition device may be a wide-angle camera. In order to ensure that the wide-angle camera can stably and cleanly capture target images including fixed targets, the wide-angle camera may be installed at a fixed position of the vehicle at a preset elevation angle. Of course, cameras can be installed in different parts of the vehicle according to the environment and the driving state of the vehicle. For example, a front camera can be installed on the front side of the vehicle, a rear camera can be installed...
Embodiment 2
[0071] figure 2 It is a flow chart of a vehicle positioning method provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the foregoing embodiments. Such as figure 2 As shown, in this embodiment, the method may also include:
[0072] Step 210, acquire a target image including a fixed target based on an image acquisition device included in the vehicle.
[0073] In one embodiment, step 210 may specifically include:
[0074] Acquire a plurality of environmental images based on the plurality of image acquisition devices included in the vehicle; compare the environmental images, and determine the environmental image including the fixed target as the target image.
[0075] Specifically, during the driving process of the vehicle, due to the different installation angles of the cameras, the environmental images acquired by each camera at the same time are also different. The environmental images can be acquired simultaneously based on each ...
Embodiment 3
[0106] Figure 4 It is a schematic structural diagram of a vehicle positioning device provided in Embodiment 3 of the present invention. The device can be applied to situations where precise positioning of a vehicle is required to improve the accuracy of vehicle positioning. The device can be realized by software and / or hardware and is generally integrated in the vehicle system.
[0107] Such as Figure 4 As shown, the device includes:
[0108] An acquisition module 410, configured to acquire a target image including a fixed target based on an image acquisition device included in the vehicle;
[0109] A coordinate determination module 420, configured to determine the world coordinates of the fixed target in the world coordinate system according to the world coordinates of the fixed marker in the world coordinate system where the fixed target is located;
[0110] The position determination module 430 is configured to determine the pixel coordinates of the fixed target in the...
PUM
Login to View More Abstract
Description
Claims
Application Information
Login to View More