Title:
路側カメラの外部パラメータに基づく三次元感知情報取得方法及び路側機器
Document Type and Number:
Japanese Patent JP7321231
Kind Code:
B2
Abstract:
The present application discloses a method for acquiring three-dimensional perception information based on external parameters of a roadside camera, and a roadside device, and relates to automatic driving, intelligent traffic and computer vision in computer technologies. The specific implementation solution is as follows: acquiring a first matching point pair between an image captured by the first camera and an image captured by the second camera, and generating a first rotation matrix, where the first rotation matrix represents a rotation matrix of the first camera in a second camera coordinate system; generating a third rotation matrix according to the first rotation matrix and the second rotation matrix, where the second rotation matrix represents a rotation matrix of the second camera in a world coordinate system, and the third rotation matrix represents a rotation matrix of the first camera in the world coordinate system; generating three-dimensional perception information of the image captured by the first camera according to the third rotation matrix. A common view area is provided between the first camera and the second camera. Three-dimensional perception information of the image captured by the roadside camera is obtained effectively and quickly.
Inventors:
Ritsuen
Jakin
Yi Koukei
Jakin
Yi Koukei
Application Number:
JP2021178763A
Publication Date:
August 04, 2023
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 | ||||
| JP2012526995A | ||||
| JP2015232442A | ||||
| JP2018180860A | ||||
| JP2013168757A |
Foreign References:
| WO2019049331A1 |
Attorney, Agent or Firm:
Yuji Hayakawa
Keisuke Murasame
Keisuke Murasame