Method and device for determining height of curb, electronic equipment and storage medium

Abstract

The application provides a method and device for determining the height of a curb, an electronic device and a storage medium. The method comprises: determining a first position and a second position of the curb in a target image with a curb collected by a collection device; obtaining a first image coordinate of the first position in the target image and a second image coordinate of the second position in the target image; determining a first road surface coordinate of the first position based on at least the first image coordinate, determining a second road surface coordinate of the second position based on at least the second image coordinate; and determining a target height of the curb between the first position and the second position based on at least a first absolute coordinate of the collection device, the first road surface coordinate and the second road surface coordinate. The application improves the accuracy of calculating the height of the curb, thereby improving the accuracy of the map, and reduces the manual workload and saves the cost of manual annotation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of map making, and particularly relates to a method and device for determining the height of a curbstone, an electronic device and a storage medium. BACKGROUND

[0002] In the process of making a high-precision map, the making of a curbstone is involved, and in the process of making the curbstone, the height of the curbstone needs to be determined first.

[0003] In the related art, the height of the curbstone is determined by using two images containing the curbstone and having different angles, and a same feature point position on the curbstone is manually marked in the two images respectively, and then the height of the curbstone is calculated based on a SLAM algorithm.

[0004] However, the manual marking of the same feature point position in the two images is prone to errors. Specifically, the marking of the feature point in any one of the images is likely to have errors, and the marking of the feature point in both of the images will amplify the errors, thereby reducing the accuracy of calculating the height of the curbstone and further reducing the accuracy of the map. SUMMARY

[0005] To overcome the problems in the related art, the present application provides a method and device for determining the height of a curbstone, an electronic device and a storage medium, so as to improve the accuracy of calculating the height of the curbstone and further improve the accuracy of the map.

[0006] The first aspect of the present application provides a method for determining the height of a curbstone, comprising:

[0007] determining a first position and a second position of the curbstone in a target image containing the curbstone and collected by a collection device;

[0008] obtaining a first image coordinate of the first position in the target image and a second image coordinate of the second position in the target image;

[0009] determining a first road surface coordinate of the first position based on at least the first image coordinate, and determining a second road surface coordinate of the second position based on at least the second image coordinate;

[0010] determining a target height of the curbstone between the first position and the second position based on at least a first absolute coordinate of the collection device, the first road surface coordinate and the second road surface coordinate.

[0011] Optionally, the method further comprises:

[0012] loading a video image collected by the collection device onto a target platform;

[0013] acquire a target image based on the target platform and having a curb within a specified distortion frame.

[0014] Optionally, further comprising:

[0015] determining a timestamp of the target image;

[0016] determining a first absolute coordinate of the acquisition device at the timestamp.

[0017] Optionally, the determining the first absolute coordinate of the acquisition device at the timestamp comprises:

[0018] determining a second absolute coordinate of a positioning module on the target vehicle at the timestamp;

[0019] determining the first absolute coordinate of the acquisition device based on the second absolute coordinate and a pre-determined relative position between the positioning module and the acquisition device;

[0020] wherein the target vehicle has the acquisition device thereon.

[0021] Optionally, the determining at least a first road surface coordinate of the first position based on the first image coordinate, and determining at least a second road surface coordinate of the second position based on the second image coordinate comprises:

[0022] determining a road surface absolute height of a road surface on which the target vehicle is located based on the second absolute coordinate and a pre-determined first height of the positioning module on the target vehicle;

[0023] determining the first road surface coordinate of the first position based on the road surface absolute height, the first picture coordinate, a pre-determined camera intrinsic parameter, and a rotation matrix of the positioning module and a translation distance of the positioning module; and

[0024] determining the second road surface coordinate of the second position based on the road surface absolute height, the second picture coordinate, a pre-determined camera intrinsic parameter, and a rotation matrix of the positioning module and a translation distance of the positioning module.

[0025] Optionally, the determining a target height of a curb between the first position and the second position based on at least the first absolute coordinate of the acquisition device, the first road surface coordinate and the second road surface coordinate comprises:

[0026] determining a second height of the acquisition device relative to the road surface and a third road surface coordinate of the acquisition device according to the road surface absolute height and the first absolute coordinate;

[0027] determining a first length based on the third road surface coordinate and the first road surface coordinate;

[0028] determining a second length based on the first road coordinate and the second road coordinate;

[0029] calculating a target height of the curb based on the second height, the first length, the second length by a similar triangle algorithm.

[0030] The second aspect of the present application provides a device for determining a height of a curb, comprising:

[0031] a first determining unit configured to determine a first position and a second position of the curb in a target image with the curb collected by a collection device;

[0032] a first obtaining unit configured to obtain a first image coordinate of the first position in the target image and a second image coordinate of the second position in the target image;

[0033] a second determining unit configured to determine a first road coordinate of the first position based on at least the first image coordinate and determine a second road coordinate of the second position based on at least the second image coordinate;

[0034] a height determining unit configured to determine a target height of the curb between the first position and the second position based on at least a first absolute coordinate of the collection device, the first road coordinate and the second road coordinate.

[0035] Optionally, the device further comprises:

[0036] an image loading unit configured to load a video image collected by a collection device onto a target platform;

[0037] a target image determining unit configured to obtain a target image with a curb in a specified distortion frame based on the target platform.

[0038] Optionally, the device further comprises:

[0039] a time determining unit configured to determine a timestamp of the target image;

[0040] a third determining unit configured to determine a first absolute coordinate of the collection device at the timestamp.

[0041] Optionally, the third determining unit comprises:

[0042] a first determining module configured to determine a second absolute coordinate of a positioning module on a target vehicle at the timestamp;

[0043] a second determining module configured to determine the first absolute coordinate of the collection device based on the second absolute coordinate and a relative position between the positioning module and the collection device determined in advance;

[0044] The target vehicle has the collection device.

[0045] Optionally, the second determining unit comprises:

[0046] A road surface height determining module is configured to determine an absolute height of a road surface on which the target vehicle is located based on the second absolute coordinate and a first height of the positioning module on the target vehicle determined in advance.

[0047] A third determining module is configured to determine a first road surface coordinate of the first position based on the absolute height of the road surface, the first picture coordinate, a camera intrinsic parameter determined in advance, a rotation matrix of the positioning module and a translation distance of the positioning module.

[0048] A fourth determining module is configured to determine a second road surface coordinate of the second position based on the absolute height of the road surface, the second picture coordinate, the camera intrinsic parameter determined in advance, the rotation matrix of the positioning module and the translation distance of the positioning module.

[0049] Optionally, the height determining unit comprises:

[0050] A fifth determining module is configured to determine a second height of the collection device relative to the road surface and a third road surface coordinate of the collection device based on the absolute height of the road surface and the first absolute coordinate.

[0051] A first length determining module is configured to determine a first length based on the third road surface coordinate and the first road surface coordinate.

[0052] A second length determining module is configured to determine a second length based on the first road surface coordinate and the second road surface coordinate.

[0053] A target height determining module is configured to calculate a target height of the curb based on the second height, the first length, the second length and a similar triangle algorithm.

[0054] The third aspect of the present application provides an electronic device, comprising:

[0055] a processor; and

[0056] a memory having stored executable codes, which, when executed by the processor, cause the processor to perform the method as described above.

[0057] The fourth aspect of the present application provides a non-transitory machine readable storage medium having stored executable codes, which, when executed by a processor of an electronic device, cause the processor to perform the method as described above.

[0058] The technical scheme provided in the application can have the following beneficial effects:

[0059] The first position first road surface coordinate and the second position second road surface coordinate are determined by acquiring the first image coordinate of the first position and the second image coordinate of the second position of the curb in the target image, so that the target height of the curb between the first position and the second position is determined based on the first absolute coordinate of the collection device, the first position first road surface coordinate and the second position second road surface coordinate. That is, the application achieves the purpose of determining the height of the curb through a single target image, without manually marking the same feature point position in two images, thereby improving the accuracy of calculating the height of the curb and the accuracy of the map. In addition, the artificial workload is reduced, and the labor cost of manual annotation is saved.

[0060] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0061] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of exemplary embodiments of the present application taken in conjunction with the accompanying drawings, in which like reference characters refer to the like parts throughout the figures, and in which:

[0062] Figure 1 FIG. 1 is a flow diagram of a method for determining the height of a curb according to an embodiment of the present application;

[0063] Figure 2a FIG. 2 is a schematic diagram of a target image according to an embodiment of the present application;

[0064] Figure 2b FIG. 3 is a partial enlarged schematic diagram of a target image according to an embodiment of the present application;

[0065] Figure 3 FIG. 4 is a schematic diagram of a similar triangle according to an embodiment of the present application;

[0066] Figure 4 FIG. 5 is a flow diagram of a method for determining the height of a curb according to another embodiment of the present application;

[0067] Figure 5 FIG. 6 is a structural schematic diagram of a device for determining the height of a curb according to an embodiment of the present application;

[0068] Figure 6 FIG. 7 is a structural schematic diagram of a device for determining the height of a curb according to another embodiment of the present application;

[0069] Figure 7is a structural schematic diagram of an electronic device shown in another device embodiment of the present application. DETAILED DESCRIPTION

[0070] The preferred embodiments of the present application will be described in more detail by referring to the attached drawings. Although the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application can be more thoroughly and completely conveyed to those skilled in the art, and the scope of the present application can be fully conveyed to those skilled in the art.

[0071] The terms used in the present application are merely for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0072] It should be understood that although the terms "first", "second", "third", etc. can be used in the present application to describe various information, these information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the present application. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0073] One method embodiment of the present application provides a method for determining the height of a curb, as shown in Figure 1 The method can include the following steps:

[0074] Step 101: In a target image with a curb collected by a collection device, determining a first position and a second position of the curb;

[0075] The collection device is an image collection device, such as a camera. Specifically, the collection device can be arranged on a target vehicle to collect images or videos during the driving process of the target vehicle. The target image can be derived from a frame image in the video collected by the collection device, or from a static picture collected by the collection device.

[0076] That is, the present application can determine a frame of target image with a curb in the video image collected by the collection device, or directly determine the target image with the curb from the static image collected by the collection device.

[0077] In order to determine the height of the curb, two positions for representing the height of the curb, i.e. the height between the first position and the second position, are marked first, and the height between the first position and the second position is the height of the curb. Then, the first position and the second position can be two points in the same vertical direction on the curb that can represent the height of the curb. In one case, the first position and the second position can be marked by a person based on the target image, and in another case, the first position and the second position can be automatically identified by the target platform based on the target image.

[0078] In some embodiments, the second position is the bottom position of the curb on the road surface, and the first position is the top position of the curb in the same vertical direction above the second position. Conversely, the first position is the bottom position of the curb on the road surface, and the second position is the top position of the curb in the same vertical direction above the first position.

[0079] In some embodiments, before step 101, the method can further comprise:

[0080] (1.1) loading the video image collected by the collection device onto the target platform;

[0081] (1.2) obtaining a target image based on the target platform, the target image having a curb located in a specified distortion frame.

[0082] The target platform is a data making platform specified in the present application, and the target platform is used to determine a single target image of the curb in the specified distortion frame from the video image. By screening the target image of the curb in the specified distortion frame in the video image, the accuracy of determining the height of the curb can be improved.

[0083] For example, Figure 2a An example of a target image is shown, which is a part of the video image collected by the collection device. Figure 2a As can be seen, the specified distortion frame JB has a curb, and the height between the first position A and the second position B in the same vertical direction on the curb is used to represent the height of the curb.

[0084] Figure 2b For Figure 2a The local enlarged view of

[0085] Step 102: obtaining a first image coordinate of the first position in the target image and a second image coordinate of the second position in the target image;

[0086] The first image coordinate and the second image coordinate can be directly determined based on the target image.

[0087] Step 103: determining a first road surface coordinate of the first position based on at least the first image coordinate;

[0088] Step 104: determining a second road surface coordinate of the second position based on at least the second image coordinate;

[0089] In some embodiments, the method can further comprise the following steps:

[0090] (2.1) determining a timestamp of a target image;

[0091] (2.2) determining a second absolute coordinate of the positioning module at the timestamp;

[0092] (2.3) determining a road surface absolute height of a road surface on which the target vehicle is located based on the second absolute coordinate of the positioning module and a first height of the positioning module on the target vehicle.

[0093] Correspondingly, step 103 can specifically be: determining a first road surface coordinate by using a first formula based on the road surface absolute height, the first picture coordinate, a pre-determined camera intrinsic parameter, a rotation matrix of the positioning module, and a translation distance of the positioning module;

[0094] Correspondingly, step 104 can specifically be: determining a second road surface coordinate by using the first formula based on the road surface absolute height, the second picture coordinate, the pre-determined camera intrinsic parameter, the rotation matrix of the positioning module, and the translation distance of the positioning module.

[0095] In the above steps, the second absolute coordinate of the positioning module is an absolute latitude and longitude coordinate, specifically a three-dimensional coordinate, if the second absolute coordinate is represented by (x1, y1, z1), then the absolute height of the positioning module is the value of z1. The first height of the positioning module on the target vehicle is a pre-set known parameter.

[0096] Wherein, the road surface absolute height = the absolute height of the positioning module - the first height.

[0097] The first formula is as follows:

[0098]

[0099] In the above first formula, Z is the road surface absolute height, k is the camera intrinsic parameter (corresponding to the intrinsic parameter of the collection device), R is the rotation matrix of the positioning module, r is the translation distance of the positioning module, P c is the intermediate conversion parameter, P w is the road surface coordinate to be solved.

[0100] is the picture coordinate, when the first image coordinate is input, P w is the first road surface coordinate, when the second image coordinate is input, P w is the second road surface coordinate.

[0101] The camera intrinsic parameters can be determined in advance by the collection device.

[0102] The rotation matrix and the translation distance of the positioning module are calculated based on the heading angle, the pitch angle of the positioning module, and the second absolute coordinates of the positioning module. The specific calculation method is described in related technologies, and will not be described in detail here.

[0103] It should be noted that the above positioning module is a module on the same target vehicle as the collection device. The positioning module can be an RTK (Real Time Kinematic) positioning module.

[0104] Step 105: determining the target height of the curb between the first position and the second position based on at least the first absolute coordinates of the collection device, the first road coordinates, and the second road coordinates.

[0105] The first absolute coordinates of the collection device are absolute latitude and longitude coordinates, specifically three-dimensional coordinates, and the specific determination method will be described later.

[0106] In some embodiments, the step of determining the target height of the curb between the first position and the second position based on at least the first absolute coordinates of the collection device, the first road coordinates, and the second road coordinates can include the following steps:

[0107] (3.1) determining the second height of the collection device relative to the road surface of the target vehicle and the third road coordinates of the collection device according to the absolute height of the road surface and the first absolute coordinates;

[0108] (3.2) determining the first length based on the third road coordinates and the first road coordinates;

[0109] (3.3) determining the second length based on the first road coordinates and the second road coordinates;

[0110] (3.4) calculating the target height of the curb based on the second height, the first length, and the second length using the similar triangle algorithm.

[0111] The first absolute coordinates of the collection device are three-dimensional coordinates. If the first absolute coordinates are represented by (x2, y2, z2), the absolute height of the collection device is the value of z2, and the second height of the collection device relative to the road surface is the absolute height of the collection device minus the absolute height of the road surface.

[0112] The third road coordinates of the collection device can be obtained by replacing the value of z2 in the first absolute coordinates of the collection device with the absolute height of the road surface. Let the absolute height of the road surface be z3, then the third road coordinates of the collection device are (x2, y2, z3).

[0113] It can be understood that the way of determining the distance between two positions based on the coordinates of the two positions is known in the related art, which will not be described in detail here.

[0114] As shown in Figure 3 , C point is the position of the collection device, M point is the third road surface coordinate position of the collection device, A point is the first position of the curb, and B point is the second position of the curb.

[0115] A' point corresponds to the first road surface coordinate of the first position, which can be understood as the projection point of the ray emitted by the collection device passing through the first position to the road surface; B' coincides with B point, which corresponds to the second road surface coordinate of the second position, which can be understood as the projection point of the ray emitted by the collection device passing through the second position to the road surface.

[0116] As Figure 3 can be seen, H(CM) corresponds to the second height, L(MA') corresponds to the first length, and L(A'B') corresponds to the second length. Assuming that the target height of the curb is h, based on the principle of similar triangles, H(CM) / h = L(MA') / L(A'B') can be determined, and h can be determined when H(CM), L(MA'), and L(A'B') are known.

[0117] It can be understood that the above description is based on the first position being above the second position. If the second position is above the first position, the method is similar, which will not be described in detail here.

[0118] As can be seen, in this embodiment, the first image coordinate of the first position and the second image coordinate of the second position of the curb in the target image are obtained to determine the first road surface coordinate of the first position and the second road surface coordinate of the second position, so as to determine the target height of the curb between the first position and the second position based on the first absolute coordinate of the collection device, the first road surface coordinate of the first position, and the second road surface coordinate of the second position. That is, the application achieves the purpose of determining the height of the curb through a single target image, without manually marking the same feature point position in two images, improving the accuracy of calculating the height of the curb, and thus improving the accuracy of the map; and reducing the manual workload and saving the labor cost of manual annotation.

[0119] Another method embodiment of the application provides a method for determining the height of a curb, as shown in Figure 4 , the method can include the following steps:

[0120] Step 401: determining the first position and the second position of the curb in the target image with the curb collected by the collection device;

[0121] Step 402: obtaining a first image coordinate of the first position in the target image and a second image coordinate of the second position in the target image;

[0122] Step 403: determining a timestamp of the target image;

[0123] Step 404: determining a first absolute coordinate of the acquisition device at the timestamp;

[0124] In an embodiment of the present application, in one way, another positioning module (which can be referred to as a second positioning module) can be set on the acquisition device, which is different from the above-mentioned positioning module (which can be referred to as a first positioning module). Thus, the absolute coordinate output by the second positioning module on the acquisition device at the timestamp of the target image can be determined, which is the absolute coordinate of the acquisition device.

[0125] In another way, determining the first absolute coordinate of the acquisition device at the timestamp can include the following steps:

[0126] (4.1) determining a second absolute coordinate of the positioning module on the target vehicle at the timestamp;

[0127] (4.2) determining the first absolute coordinate of the acquisition device based on the second absolute coordinate and a relative position between the positioning module and the acquisition device which is determined in advance;

[0128] The target vehicle has the acquisition device, that is, the acquisition device and the positioning module are both set on the target vehicle, and the positioning module and the acquisition device are both separately set.

[0129] The first absolute coordinate of the acquisition device can be determined based on the second absolute coordinate of the positioning module and the relative position between the positioning module and the acquisition device. The relative position is represented by the distance between the positioning module and the acquisition device and the angle between them. By converting the relative position between the positioning module and the acquisition device into a three-dimensional coordinate, and then adding the same coordinate axis value in the second absolute coordinate of the positioning module, the first absolute coordinate of the acquisition device is obtained.

[0130] The relative position between the positioning module and the acquisition device is a known parameter determined in advance.

[0131] Step 405: determining a first road surface coordinate of the first position based on at least the first image coordinate, and determining a second road surface coordinate of the second position based on at least the second image coordinate;

[0132] In some embodiments, determining the first road surface coordinate of the first position based on at least the first image coordinate, and determining the second road surface coordinate of the second position based on at least the second image coordinate, can comprise the following steps:

[0133] (5.1) determining a road surface absolute height of a road surface on which the target vehicle is located based on the second absolute coordinate and a pre-determined first height of the positioning module on the target vehicle;

[0134] (5.2) determining the first road surface coordinate of the first position based on the road surface absolute height, the first picture coordinate, a pre-determined camera intrinsic parameter, and a rotation matrix of the positioning module and a translation distance of the positioning module; and

[0135] (5.3) determining the second road surface coordinate of the second position based on the road surface absolute height, the second picture coordinate, a pre-determined camera intrinsic parameter, and a rotation matrix of the positioning module and a translation distance of the positioning module.

[0136] The specific implementation of steps (5.1)-(5.3) can refer to the description of steps (2.3)-(2.5) in the above embodiments, and will not be described in detail here.

[0137] Step 406: determining a target height of a curb between the first position and the second position based on at least the first absolute coordinate of the collection device, the first road surface coordinate and the second road surface coordinate.

[0138] In some embodiments, determining a target height of a curb between the first position and the second position based on at least the first absolute coordinate of the collection device, the first road surface coordinate and the second road surface coordinate, can comprise the following steps:

[0139] (6.1) determining a second height of the collection device relative to the road surface and a third road surface coordinate of the collection device according to the road surface absolute height and the first absolute coordinate;

[0140] (6.2) determining a first length based on the third road surface coordinate and the first road surface coordinate

[0141] (6.3) determining a second length based on the first road surface coordinate and the second road surface coordinate;

[0142] (6.4) calculating the target height of the curb by a similar triangle algorithm based on the second height, the first length, the second length.

[0143] The specific implementation of steps (6.1)-(6.4) can refer to the description of steps (3.1)-(3.4) in the foregoing embodiment, and will not be described in detail here.

[0144] Corresponding to the foregoing application function implementation method embodiments, the application further provides a device for determining the height of a curb, an electronic device, and corresponding embodiments.

[0145] One device embodiment of the application provides a method for determining the height of a curb, as shown in the figure, the device can include: a first determination unit 110, a first acquisition unit 120, a second determination unit 130, a height determination unit 140; wherein: Figure 5

[0146] The first determination unit 110 is configured to determine a first position and a second position of the curb in a target image with a curb collected by a collection device.

[0147] In some embodiments, the device can further include:

[0148] An image loading unit (not shown in the figure) is configured to load a video image collected by a collection device onto a target platform.

[0149] A target image determination unit (not shown in the figure) is configured to acquire a target image with a curb in a specified distortion frame based on the target platform.

[0150] The first acquisition unit 120 is configured to acquire a first image coordinate of the first position in the target image and a second image coordinate of the second position in the target image.

[0151] The second determination unit 130 is configured to determine a first road surface coordinate of the first position based on at least the first image coordinate, and determine a second road surface coordinate of the second position based on at least the second image coordinate.

[0152] In some embodiments, the device can further include:

[0153] A time determination unit (not shown in the figure) is configured to determine a timestamp of a target image.

[0154] A fourth determination unit (not shown in the figure) is configured to determine a second absolute coordinate of a positioning module at the timestamp.

[0155] A fifth determination unit (not shown in the figure) is configured to determine a road surface absolute height of a road surface on which the target vehicle is located based on the second absolute coordinate of the positioning module and a first height of the positioning module on the target vehicle.

[0156] ​Correspondingly, the second determining unit 130 can specifically determine a first road surface coordinate based on the road surface absolute height, the first picture coordinate, the pre-determined camera intrinsic parameter, the rotation matrix of the positioning module, and the translation distance of the positioning module by using a first formula; and determine a second road surface coordinate based on the road surface absolute height, the second picture coordinate, the pre-determined camera intrinsic parameter, the rotation matrix of the positioning module, and the translation distance of the positioning module by using the first formula.

[0157] The height determining unit 140 is configured to determine a target height of the curb between the first position and the second position based on at least the first absolute coordinate of the collection device, the first road surface coordinate, and the second road surface coordinate.

[0158] In some embodiments, the height determining unit 140 includes:

[0159] The fifth determining module (not shown in the figure) is configured to determine a second height of the collection device relative to the road surface and a third road surface coordinate of the collection device based on the road surface absolute height and the first absolute coordinate.

[0160] The first length determining module (not shown in the figure) is configured to determine a first length based on the third road surface coordinate and the first road surface coordinate.

[0161] The second length determining module (not shown in the figure) is configured to determine a second length based on the first road surface coordinate and the second road surface coordinate.

[0162] The target height determining module (not shown in the figure) is configured to calculate the target height of the curb by using a similar triangle algorithm based on the second height, the first length, and the second length.

[0163] Therefore, in the present embodiment, the first image coordinate of the first position and the second image coordinate of the second position of the curb in the target image are acquired to determine the first road surface coordinate of the first position and the second road surface coordinate of the second position, so as to determine the target height of the curb between the first position and the second position based on the first absolute coordinate of the collection device, the first road surface coordinate of the first position, and the second road surface coordinate of the second position. That is, the present application achieves the purpose of determining the height of the curb by using a single target image, without manually marking the same feature point position in two images, thereby improving the accuracy of calculating the height of the curb and further improving the accuracy of the map. In addition, the present application reduces the manual workload and saves the labor cost of manual marking.

[0164] Another device embodiment of the present application provides a method for determining the height of a curb, which includes: Figure 6As shown, the apparatus can comprise: a first determining unit 110, a first obtaining unit 120, a time determining unit 150, a third determining unit 160, a second determining unit 130, and a height determining unit 140; wherein:

[0165] The first determining unit 110 is configured to determine a first position and a second position of a curb in a target image with the curb collected by a collection device.

[0166] The first obtaining unit 120 is configured to obtain a first image coordinate of the first position in the target image and a second image coordinate of the second position in the target image.

[0167] The time determining unit 150 is configured to determine a timestamp of the target image.

[0168] The third determining unit 160 is configured to determine a first absolute coordinate of the collection device at the timestamp.

[0169] In an embodiment of the present application, in one way, another positioning module (which can be referred to as a second positioning module) that is different from the above positioning module (which can be referred to as a first positioning module) can be set on the collection device, so as to determine an absolute coordinate output by the second positioning module on the collection device at the timestamp of the target image, which is the absolute coordinate of the collection device.

[0170] In another way, the third determining unit 160 comprises:

[0171] A first determining module (not shown in the figure) is configured to determine a second absolute coordinate of a positioning module on a target vehicle at the timestamp.

[0172] A second determining module (not shown in the figure) is configured to determine the first absolute coordinate of the collection device based on the second absolute coordinate and a pre-determined relative position between the positioning module and the collection device.

[0173] The target vehicle has the collection device.

[0174] The second determining unit 130 is configured to determine a first road surface coordinate of the first position based on at least the first image coordinate, and determine a second road surface coordinate of the second position based on at least the second image coordinate.

[0175] In some embodiments, the second determining unit 130 comprises:

[0176] A road surface height determining module (not shown in the figure) is configured to determine a road surface absolute height of a road surface on which the target vehicle is located based on the second absolute coordinate and a pre-determined first height of the positioning module on the target vehicle.

[0177] a third determining module (not shown in the figure) configured to determine a first road surface coordinate of the first position based on the road surface absolute height, the first picture coordinate, a pre-determined camera intrinsic parameter, a rotation matrix of the positioning module and a translation distance of the positioning module; and

[0178] a fourth determining module (not shown in the figure) configured to determine a second road surface coordinate of the second position based on the road surface absolute height, the second picture coordinate, the pre-determined camera intrinsic parameter, the rotation matrix of the positioning module and the translation distance of the positioning module.

[0179] a height determining unit 140 configured to determine a target height of a curb between the first position and the second position based on at least the first absolute coordinate of the collection device, the first road surface coordinate and the second road surface coordinate.

[0180] In some embodiments, the height determining unit 140 comprises:

[0181] a fifth determining module (not shown in the figure) configured to determine a second height of the collection device relative to the road surface and a third road surface coordinate of the collection device based on the road surface absolute height and the first absolute coordinate;

[0182] a first length determining module (not shown in the figure) configured to determine a first length based on the third road surface coordinate and the first road surface coordinate

[0183] a second length determining module (not shown in the figure) configured to determine a second length based on the first road surface coordinate and the second road surface coordinate;

[0184] a target height determining module (not shown in the figure) configured to calculate the target height of the curb based on the second height, the first length, the second length and a similar triangle algorithm.

[0185] As to the apparatus in the above-mentioned embodiments, the specific manners in which the respective modules perform operations have been described in detail in the embodiments of the method, and thus will not be described in detail here.

[0186] Figure 7 is a structural schematic diagram of an electronic device according to another apparatus embodiment of the present application.

[0187] Referring to Figure 7 , the electronic device 1000 comprises a memory 1010 and a processor 1020.

[0188] The processor 1020 can be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like. The general-purpose processor can be a microprocessor, or the processor can be any conventional processor.

[0189] The memory 1010 can include various types of storage units, such as a system memory, a read-only memory (ROM), and a permanent storage device. Among them, the ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device can be a readable and writable storage device. The permanent storage device can be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, a flash memory) as a permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, an optical drive). The system memory can be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory can store some or all instructions and data required by the processor during runtime. In addition, the memory 1010 can include a combination of any computer readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks and / or optical disks. In some embodiments, the memory 1010 can include a readable and / or writable removable storage device, such as a compact disc (CD), a read-only digital versatile disc (such as DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a min SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer readable storage medium does not include a carrier wave and a transient electronic signal transmitted through wireless or wired transmission.

[0190] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to perform part or all of the above-mentioned methods.

[0191] The solutions of the present application have been described in detail above with reference to the accompanying drawings. In the above examples, the description of each example is focused on a certain aspect, and the parts not described in detail in a certain example can be referred to the relevant description of other examples. It should also be appreciated by those skilled in the art that the actions and modules involved in the specification are not necessarily required by the present application. In addition, it can be understood that the steps in the method embodiments of the present application can be adjusted, combined and reduced in sequence according to actual needs, and the modules in the device embodiments of the present application can be combined, divided and reduced according to actual needs.

[0192] In addition, the method according to the present application can also be implemented as a computer program or computer program product, which includes computer program code instructions for executing part or all of the steps in the above method of the present application.

[0193] Alternatively, the present application can also be implemented as a non-transitory machine readable storage medium (or computer readable storage medium, or machine readable storage medium) having stored executable code (or computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform part or all of the steps of the above method according to the present application.

[0194] Those skilled in the art will also appreciate that the various example logical blocks, modules, circuits, and algorithm steps described in connection with the present application herein can be implemented as electronic hardware, computer software, or a combination of the two.

[0195] The flowcharts and block diagrams in the accompanying drawings show the architectural, functional and operational aspects of possible implementations of systems and methods according to embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a portion of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in different orders from those marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0196] Having described various embodiments of the application, it is to be understood that the above description is meant not to limit and not to encompass all of the possible embodiments. Many modifications and variations of this application can be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. It is intended that the scope of the application be defined by the scope of the patent and by the claims as allowed by the patent office, which can include adaptations based on the description, equivalents, and / or substitutions of elements individually or collectively to the entire disclosure.

Claims

1. A method for determining the height of a curbstone, characterized in that, include: In the target image containing the curbstone acquired by the acquisition device, the first and second positions of the curbstone are determined; Obtain the first image coordinates of the first position in the target image and the second image coordinates of the second position in the target image; The first road surface coordinates of the first location are determined based at least on the first image coordinates, and the second road surface coordinates of the second location are determined based at least on the second image coordinates. The target height of the curb between the first position and the second position is determined based at least on the first absolute coordinates of the acquisition device, the first road surface coordinates, and the second road surface coordinates. Also includes: Determine the timestamp of the target image; Determine the second absolute coordinates of the positioning module on the target vehicle at the timestamp; The first absolute coordinates of the acquisition device are determined based on the second absolute coordinates and the pre-determined relative position between the positioning module and the acquisition device; wherein the acquisition device is located on the target vehicle. Determining the first road surface coordinates of the first location based at least on the first image coordinates, and determining the second road surface coordinates of the second location based at least on the second image coordinates, includes: The absolute height of the road surface where the target vehicle is located is determined based on the second absolute coordinates and the first height of the positioning module on the target vehicle in advance. The first road surface coordinates at the first position are determined based on the absolute height of the road surface, the coordinates of the first image, pre-determined camera intrinsic parameters, the rotation matrix of the positioning module, and the translation distance of the positioning module; and The second road surface coordinates of the second position are determined based on the absolute height of the road surface, the coordinates of the second image, the predetermined camera intrinsic parameters, the rotation matrix of the positioning module, and the translation distance of the positioning module.

2. The method according to claim 1, characterized in that, Also includes: Load the video images captured by the acquisition device onto the target platform; Obtain a target image based on the target platform, showing a curbstone located within a specified distortion frame.

3. The method according to claim 1, characterized in that, Determining the target height of the curb between the first location and the second location based at least on the first absolute coordinates of the acquisition device, the first road surface coordinates, and the second road surface coordinates includes: Based on the absolute height of the road surface and the first absolute coordinates, determine the second height of the data acquisition device relative to the road surface and the third road surface coordinates of the data acquisition device; The first length is determined based on the third road surface coordinates and the first road surface coordinates; The second length is determined based on the first road surface coordinates and the second road surface coordinates; The target height of the curbstone is calculated using a similar triangle algorithm based on the second height, the first length, and the second length.

4. A device for determining the height of a curbstone, characterized in that, include: The first determining unit is used to determine the first position and the second position of the curbstone in the target image with the curbstone acquired by the acquisition device; The first acquisition unit is configured to acquire the first image coordinates of the first position in the target image and the second image coordinates of the second position in the target image; The second determining unit is configured to determine the first road surface coordinates of the first location based at least on the first image coordinates, and to determine the second road surface coordinates of the second location based at least on the second image coordinates. A height determination unit is used to determine the target height of the curb between the first position and the second position based at least on the first absolute coordinates of the acquisition device, the first road surface coordinates, and the second road surface coordinates. Also includes: A time determination unit is used to determine the timestamp of the target image; The third determining unit is used to determine the second absolute coordinates of the positioning module on the target vehicle at the timestamp; and to determine the first absolute coordinates of the acquisition device based on the second absolute coordinates and the pre-determined relative position between the positioning module and the acquisition device; wherein the acquisition device is located on the target vehicle. The second determining unit includes: A road surface height determination module is used to determine the absolute height of the road surface where the target vehicle is located based on the second absolute coordinates and a pre-determined first height of the positioning module on the target vehicle; The third determining module is used to determine the first road surface coordinates of the first position based on the absolute height of the road surface, the coordinates of the first image, pre-determined camera intrinsic parameters, the rotation matrix of the positioning module, and the translation distance of the positioning module; and The fourth determining module is used to determine the second road surface coordinates of the second position based on the absolute height of the road surface, the coordinates of the second image, the predetermined camera intrinsic parameters, the rotation matrix of the positioning module, and the translation distance of the positioning module.

5. The apparatus according to claim 4, characterized in that, Also includes: The image loading unit is used to load video images captured by the acquisition device onto the target platform; An image unit is defined for acquiring a target image based on the target platform, showing a curbstone located within a specified distortion frame.

6. The apparatus according to claim 4, characterized in that, The height determination unit includes: The fifth determining module is used to determine the second height of the acquisition device relative to the road surface and the third road surface coordinates of the acquisition device based on the absolute height of the road surface and the first absolute coordinates; The first length determination module is used to determine the first length based on the third road surface coordinates and the first road surface coordinates. The second length determination module is used to determine the second length based on the first road surface coordinates and the second road surface coordinates; The target height determination module is used to calculate the target height of the curbstone based on the second height, the first length, and the second length using a similar triangle algorithm.

7. An electronic device, characterized in that, include: processor; as well as A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in any one of claims 1-3.

8. A non-transitory machine-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method as described in any one of claims 1-3.

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