Road vanishing point extraction method, vehicle-mounted sensor calibration method and device

A vehicle-mounted sensor and extraction method technology, which is applied in the field of automatic driving, can solve problems such as difficulties in extracting road vanishing points and affecting the calibration of vehicle-mounted sensor parameters, and achieve the effect of ensuring accuracy and strong scene adaptability

Pending Publication Date: 2022-05-27
深圳海星智驾科技有限公司
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[0005] In view of this, the embodiment of the present invention provides a road vanishing point extraction method, vehicle sensor calibration method and device, to overcome the diffi

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  • Road vanishing point extraction method, vehicle-mounted sensor calibration method and device
  • Road vanishing point extraction method, vehicle-mounted sensor calibration method and device
  • Road vanishing point extraction method, vehicle-mounted sensor calibration method and device

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[0069] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0070] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for th...

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Abstract

The invention provides a road vanishing point extraction method and a vehicle-mounted sensor calibration method and device. The road vanishing point extraction method comprises the following steps: acquiring environment image data acquired by a target vehicle; extracting the same feature points in each video frame from the environment image data; performing straight line fitting on the same feature points to obtain a fitting straight line; respectively calculating an intersection point of every two fitting straight lines, and constructing an intersection point set; and determining a road vanishing point from the intersection point set based on the distance relationship between the intersection points. According to the method, straight lines are fitted and the intersection points are calculated by using the relationship of the same feature points in each video frame in the environment image data among the image frames in the vehicle movement process, and the vanishing points are screened through the distance relationship among the intersection points, so that the accuracy of the road vanishing point extraction result is ensured, and the road vanishing point extraction efficiency is improved. The straight line is fitted through feature point collection, automatic extraction of the road vanishing points is achieved when structured road information does not need to be provided, and the scene adaptability is high.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a road vanishing point extraction method, a vehicle sensor calibration method and a device. Background technique [0002] At present, in the field of engineering vehicles, most of the perception requirements of automatic driving systems depend on the detection of various on-board sensors, so the quality of sensor-based target detection results will directly affect the performance of the entire automatic driving system. In target detection, the orientation and speed of the target are all very critical status outputs. The calculation of these status outputs is based on the calibration results of the internal and external parameters of the sensor. The external parameters of the sensor will be calibrated when the vehicle leaves the factory. A static calibration is performed, but in the actual use process, the external parameters are actually a dynamic change process due to ...

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Application Information

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IPC IPC(8): G06V20/40G06V10/40G06F17/11G01D18/00G01S17/86G01S17/931
CPCG06F17/11G01S17/931G01S17/86G01D18/00
Inventor 王发平熊伟姜波
Owner 深圳海星智驾科技有限公司
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