Title:
METHOD AND DEVICE FOR DETERMINING DISTORTION PARAMETERS OF CAMERA
Document Type and Number:
WIPO Patent Application WO/2020/259506
Kind Code:
A1
Abstract:
The embodiments of the present application relate to the technical field of unmanned driving, and provide a method and device for determining distortion parameters of a camera. The method comprises: calibrating a radar coordinate system and a camera coordinate system; obtaining point cloud data acquired by a radar, the point cloud data comprising at least one scanning point; obtaining image data acquired by a camera, the image data comprising at least one first feature point; determining the scanning point corresponding to the first feature point; and determining distortion parameters of the camera in real time according to a distortion parameter algorithm. By using the present application, when the height information or angle information of the camera changes during a driving process of an unmanned vehicle, the camera can determine the distortion parameters of the camera in real time according to the point cloud data acquired by the radar and the image data acquired by the camera, thereby reducing the error of 6D information of a target object measured by the unmanned vehicle by means of the camera.
Inventors:
WEI ZHIFANG (CN)
CHI QINGHUA (CN)
CHI QINGHUA (CN)
Application Number:
PCT/CN2020/097761
Publication Date:
December 30, 2020
Filing Date:
June 23, 2020
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G01M11/02; G06T7/80; H04N17/00
Foreign References:
| CN109146978A | 2019-01-04 | |||
| CN108964777A | 2018-12-07 | |||
| CN101345890A | 2009-01-14 | |||
| CN108198223A | 2018-06-22 | |||
| US20140132723A1 | 2014-05-15 |
Attorney, Agent or Firm:
E-TONE INTELLECTUAL PROPERTY FIRM (GENERAL PARTNERSHIP) (CN)
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