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

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 ...

AI Technical Summary

Problems solved by technology

[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 difficulty in extracting road vanishing points in the prior art when there is no structured road information, which in turn affects the vehicle The problem of sensor parameter calibration

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