Title:
THREE-DIMENSIONAL SENSING INFORMATION ACQUISITION METHOD AND ROAD SIDE APPARATUS BASED ON EXTERNAL PARAMETER OF ROAD SIDE CAMERA
Document Type and Number:
Japanese Patent JP2022014921
Kind Code:
A
Abstract:
To provide a three-dimensional sensing information acquisition method and a road side apparatus based on an external parameter of the road side camera regarding automatic driving in computer technique, smart traffic and computer vision.SOLUTION: A three-dimensional sensing information acquisition method is a method for effectively and quickly obtaining three-dimensional sensing information in images collected by a road side camera. A first rotation matrix indicating a rotation matrix in a second camera coordinate system of a first camera is generated on the basis of a first matching point pair between images collected by the first camera and images collected by a second camera. A third rotation matrix is generated on the basis of the first rotation matrix and a second rotation matrix. The second rotation matrix indicates a rotation matrix in a world coordinate system of the second camera, and the third rotation matrix indicates a rotation matrix in a world coordinate system of the first camera. Three-dimensional sensing information on images collected by the first camera is generated on the basis of the third rotation matrix. A common visible region is provided between the first camera and the second camera.SELECTED DRAWING: Figure 2
Inventors:
YUAN LI BIN
JIA JIN RANG
YI GUANGQI
JIA JIN RANG
YI GUANGQI
Application Number:
JP2021178763A
Publication Date:
January 20, 2022
Filing Date:
November 01, 2021
Export Citation:
Assignee:
APOLLO INTELLIGENT CONNECTIVITY BEIJING TECHNOLOGY CO LTD
International Classes:
G06T7/80; G06T7/55; G08G1/04; G08G1/09
Domestic Patent References:
| JP2003331383A | 2003-11-21 | |||
| JP2012526995A | 2012-11-01 | |||
| JP2015232442A | 2015-12-24 | |||
| JP2018180860A | 2018-11-15 | |||
| JP2013168757A | 2013-08-29 | |||
| JP2008299458A | 2008-12-11 | |||
| JP2013092871A | 2013-05-16 |
Foreign References:
| WO2019049331A1 | 2019-03-14 |
Attorney, Agent or Firm:
Yuji Hayakawa
Keisuke Murasame
Keisuke Murasame