CN112446898A - Positioning method, device, equipment, system and storage medium based on vehicle-road cooperation - Google Patents
Positioning method, device, equipment, system and storage medium based on vehicle-road cooperation Download PDFInfo
- Publication number
- CN112446898A CN112446898A CN202011196121.XA CN202011196121A CN112446898A CN 112446898 A CN112446898 A CN 112446898A CN 202011196121 A CN202011196121 A CN 202011196121A CN 112446898 A CN112446898 A CN 112446898A
- Authority
- CN
- China
- Prior art keywords
- image
- reference point
- target reference
- coordinate
- plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000006243 chemical reaction Methods 0.000 claims abstract description 53
- 230000000007 visual effect Effects 0.000 claims abstract description 24
- 238000005070 sampling Methods 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 23
- 230000009466 transformation Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 8
- 230000003287 optical effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention discloses a positioning method, a positioning device, positioning equipment, a positioning system and a storage medium based on vehicle-road cooperation. The method comprises the following steps: acquiring an image containing an object to be positioned, and determining the position coordinates of a target reference point of the object to be positioned in the image, wherein the image is acquired by image acquisition equipment under the visual angle of the image acquisition equipment; and determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image, wherein the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate of the image acquisition equipment under the view angle. According to the scheme, the position coordinates of the target reference point under the visual angle of the image acquisition equipment are converted into the plane coordinates by utilizing the preset coordinate conversion relation, and the problem that the positioning accuracy of the target reference point is poor due to different visual angles is effectively solved.
Description
Technical Field
The embodiment of the invention relates to the technical field of image processing, in particular to a positioning method, a positioning device, positioning equipment, a positioning system and a storage medium based on vehicle-road cooperation.
Background
The vehicle-road cooperation is a technology which utilizes technologies such as wireless communication, internet and the like, implements dynamic real-time information interaction of vehicles and vehicles on all directions, develops vehicle active safety control and road cooperative management on the basis of full-time dynamic traffic information acquisition and fusion, effectively ensures traffic safety and improves traffic efficiency.
In the vehicle-road cooperative system, a camera at a traffic intersection is generally used for acquiring images, analyzing the images to determine the relative position and speed of a person or a vehicle, and then realizing active control of a vehicle according to the relative position and speed of the person or the vehicle. However, the image is collected under the visual angle of the camera, and the determined relative position and speed of the person or the vehicle have certain deviation with the position and speed of the person or the vehicle in the actual space, so that the positioning effect is poor.
Disclosure of Invention
The embodiment of the invention provides a positioning method, a positioning device, equipment, a positioning system and a storage medium based on vehicle-road cooperation, which can improve the accuracy of object positioning in the vehicle-road cooperation.
In a first aspect, an embodiment of the present invention provides a positioning method based on vehicle-road coordination, including:
acquiring an image containing an object to be positioned, and determining the position coordinates of a target reference point of the object to be positioned in the image, wherein the image is acquired by image acquisition equipment under the visual angle of the image acquisition equipment;
and determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image, wherein the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate of the image acquisition equipment under the view angle.
In a second aspect, an embodiment of the present invention further provides a positioning device based on vehicle-road coordination, including:
the device comprises a position coordinate determination module, a position coordinate determination module and a positioning module, wherein the position coordinate determination module is used for acquiring an image containing an object to be positioned and determining the position coordinate of a target reference point of the object to be positioned in the image, and the image is acquired by image acquisition equipment under the view angle of the image acquisition equipment;
and the plane coordinate determination module is used for determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image, wherein the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate of the image acquisition equipment under the view angle.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, implement the vehicle-road coordination-based positioning method according to the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a positioning system based on vehicle-road coordination, including: the system comprises image acquisition equipment, image processing equipment, roadside communication equipment and a terminal;
the image processing equipment is respectively in communication connection with the image acquisition equipment, the roadside communication equipment and the terminal, and the roadside communication equipment is also in communication connection with the terminal;
the image acquisition equipment is used for acquiring an image containing an object to be positioned under the visual angle of the image acquisition equipment and sending the image to the image processing equipment;
the image processing device is used for determining the position coordinates of the target reference point of the object to be positioned in the image, determining the plane coordinates of the target reference point according to a preset coordinate conversion relation and the position coordinates of the target reference point in the image, and sending the plane coordinates of the target reference point to the terminal through the roadside communication device;
and the terminal is used for adjusting the driving strategy in the vehicle-road cooperation according to the received plane coordinate of the target reference point.
In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for positioning based on vehicle-road coordination according to the first aspect.
The embodiment of the invention provides a positioning method, a positioning device, positioning equipment, a positioning system and a storage medium based on vehicle-road cooperation, wherein an image containing an object to be positioned is obtained, and the position coordinate of a target reference point of the object to be positioned in the image is determined, wherein the image is acquired by image acquisition equipment under the visual angle of the image acquisition equipment; and determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image, wherein the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate of the image acquisition equipment under the view angle. According to the scheme, the position coordinates of the target reference point under the visual angle of the image acquisition equipment are converted into the plane coordinates by utilizing the preset coordinate conversion relation, and the problem that the positioning accuracy of the target reference point is poor due to different visual angles is effectively solved.
Drawings
Fig. 1 is a flowchart of a positioning method based on vehicle-road coordination according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an image acquired by an image acquisition device in a vehicle-road cooperation scene according to an embodiment of the present invention;
fig. 3 is a flowchart of a positioning method based on vehicle-road coordination according to a second embodiment of the present invention;
fig. 4 is a schematic diagram of a conversion between a camera coordinate system and a plane coordinate system according to a second embodiment of the present invention;
fig. 5 is a schematic position diagram of an object to be positioned in a planar coordinate system according to a second embodiment of the present invention;
fig. 6 is a structural diagram of a positioning device based on vehicle-road coordination according to a third embodiment of the present invention;
fig. 7 is a structural diagram of an electronic device according to a fourth embodiment of the present invention;
fig. 8 is a structural diagram of a vehicle-road cooperation-based positioning system according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of a positioning method based on vehicle-road coordination according to an embodiment of the present invention, where the embodiment is applicable to a situation where a target object is positioned in a vehicle-road coordination scene, and the method may be executed by a positioning device based on vehicle-road coordination, where the positioning device may be implemented by software and/or hardware, and may be integrated in an electronic device with a data processing function, where the electronic device may be a mobile terminal such as a mobile phone and a notebook, or a fixed terminal such as a desktop or a server. Referring to fig. 1, the method may include the steps of:
s110, obtaining an image containing an object to be positioned, and determining the position coordinates of a target reference point of the object to be positioned in the image.
The image is acquired by image acquisition equipment under the visual angle of the image acquisition equipment. The image capturing device may be a device capable of capturing an image, for example, a camera or a video camera, and may capture the image in real time or once every set time. The position of the image capturing device can be determined according to the situation, and for example, the image capturing device can be arranged on a road pole where a street lamp is located, or can be arranged on other objects on the road surface where the image capturing device can be installed. It should be noted that the image capturing device of this embodiment captures an image under its own viewing angle, that is, the captured image is formed in a camera coordinate system constructed under the viewing angle of the image capturing device, that is, the position coordinates of the object to be positioned in the image are the coordinates in the camera coordinate system. The camera coordinate system is a three-dimensional rectangular coordinate system, the origin is located at the optical center of the lens, the x axis and the y axis are respectively parallel to two sides of the phase plane, and the z axis is the optical axis of the lens and is vertical to the image plane. Considering that the image acquisition equipment has a certain height with the ground, and because of the angle problem, the position of the object to be positioned in the camera coordinate system has a certain deviation with the position of the object to be positioned in the actual space, if the position of the object to be positioned in the camera coordinate system is taken as the basis, the active control of the vehicle is carried out, and danger is easy to occur. Therefore, in the embodiment, the object to be positioned in the camera coordinate system needs to be converted and converted into the actual space so as to guide the road surface to run and improve the traffic safety.
The object to be positioned may be an object to be positioned in a car-road cooperation scene, where the object may be a person or an object, and in this embodiment, the object to be positioned includes a user as an example. The number of the objects to be positioned may be determined according to an actual road condition, for example, an image obtained at a certain time may include at least one object to be positioned, an image obtained at a certain time may not include an object to be positioned, and the embodiment describes that the obtained image includes the object to be positioned. Exemplarily, referring to fig. 2, fig. 2 is a schematic diagram of an image acquired by an image acquisition device in a vehicle-road cooperation scene according to an embodiment of the present invention, where the image includes three objects to be positioned, which are No. 1, No. 2, and No. 3. The target reference point may be a point reflecting the position of the object to be positioned, the point may be a point in the object to be positioned, or a point outside the object to be positioned, for example, a point on a contour corresponding to the object to be positioned in fig. 2 may be selected as the target reference point, and the contour of each object to be positioned is as shown in fig. 2.
Optionally, the object to be positioned in the image may be identified in an image identification manner, and one point of the object to be positioned is selected as a target reference point, so as to determine the position coordinates of the target reference point. The embodiment does not limit the image recognition method. The image can also be input into a pre-trained image recognition network, the image recognition network outputs the outline of the object to be positioned and the position coordinates corresponding to the outline, one point is selected from the outline as a target reference point, and the coordinates of the point are used as the position coordinates of the target reference point, namely the position coordinates of the object to be positioned.
And S120, determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image.
And the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate under the visual angle of the image acquisition equipment. The embodiment does not limit the specific form of the preset coordinate transformation relationship, and may be, for example, a matrix, a function, or another form that can reflect the relationship between the camera coordinate system and the plane coordinate system. The predetermined coordinate transformation relationship may be predetermined, for example, a certain number of reference points may be selected from the image, and the corresponding predetermined coordinate transformation relationship may be determined according to coordinates of the reference points in the camera coordinate system and actual coordinates thereof in the plane coordinate system, where the reference points may be road signs having some special graphic marks, such as light poles, telegraph poles, and the like. The preset coordinate conversion relation can be updated according to actual conditions during subsequent application so as to improve the accuracy of the positioning result.
Specifically, the conversion of different coordinate systems can be realized by utilizing the preset coordinate conversion relation, so that the position coordinate of the target reference point in the camera coordinate system is converted into the plane coordinate in the plane coordinate system, the road surface driving is guided, and the traffic safety is ensured. Optionally, the plane coordinates of the target reference point may be determined and then sent to the corresponding vehicle-mounted terminal, so that the vehicle-mounted terminal adjusts the driving strategy according to the plane coordinates of the target reference point, and traffic accidents are avoided.
The embodiment of the invention provides a positioning method based on vehicle-road cooperation, which comprises the steps of obtaining an image containing an object to be positioned, and determining the position coordinate of a target reference point of the object to be positioned in the image, wherein the image is acquired by image acquisition equipment under the visual angle of the image acquisition equipment; and determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image, wherein the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate of the image acquisition equipment under the view angle. According to the method, the position coordinates of the target reference point under the visual angle of the image acquisition equipment are converted into the plane coordinates by using the preset coordinate conversion relation, so that the problem of poor positioning accuracy of the target reference point due to different visual angles is effectively solved.
On the basis of the above embodiment, before acquiring the image including the object to be positioned, a preset coordinate transformation relationship may be determined first, so as to determine the real coordinates of the target reference point based on the preset coordinate transformation relationship subsequently, and accordingly, before acquiring the image including the object to be positioned, the method may further include:
acquiring an image which is acquired by the image acquisition equipment under the visual angle of the image acquisition equipment and contains at least one sampling point;
determining sampling position coordinates of the at least one sampling point in the image and plane position coordinates in a plane;
and determining the preset coordinate conversion relation according to the sampling position coordinates and the plane position coordinates of the at least one sampling point.
Specifically, the sampling point may be a light pole, a telegraph pole, a railing, or other markers, whose plane position coordinates in the plane coordinate system are known. The number of the sampling points may be one or more, and when there are a plurality of sampling points, the accuracy of the preset coordinate conversion relationship may be improved. Optionally, the sampling points in the image may be identified in an image identification manner, and positions of pixels corresponding to the sampling points in the image are used as sampling position coordinates of the sampling points. And obtaining a preset coordinate conversion relation according to the sampling position coordinates and the plane position coordinates of the sampling points and the lens imaging principle. The preset coordinate transformation relationship of the present embodiment is exemplified by a perspective matrix, and the form of the preset coordinate transformation relationship may be as follows:
wherein f is related to the focal length of the image acquisition device. By utilizing the perspective matrix, points in the camera coordinate system can be converted into a plane coordinate system, and the positioning accuracy is improved.
Example two
Fig. 3 is a flowchart of a positioning method based on vehicle-road coordination according to a second embodiment of the present invention, where the present embodiment is optimized based on the foregoing embodiment, and referring to fig. 3, the method may include the following steps:
s210, obtaining an image containing the object to be positioned.
S220, determining the outline of the object to be positioned and the lower edge of the outline.
Optionally, the object to be positioned may be identified by an image identification method, and then the outline of the object to be positioned is determined according to the area occupied by the object to be positioned, referring to fig. 2, and fig. 2 exemplarily shows the outlines of three objects to be positioned. In this embodiment, the lower edge of the outline is the position where the bottom end of the object to be positioned is located, and when the object to be positioned is a user, the lower edge may specifically be the position where the foot of the user is located, which may reflect the information of the current position where the user is located.
And S230, taking the central point of the lower edge as a target reference point of the object to be positioned, and taking the coordinate of the central point as the position coordinate of the target reference point.
In this embodiment, a certain point corresponding to an object to be positioned represents the object to be positioned, and the position coordinates of the object in the image are determined. Referring to fig. 2, the center points of the lower edges of the three contours may be respectively used as corresponding target reference points, and the coordinates of the center points may be recorded as the position coordinates of the target reference points.
S240, determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image.
Exemplarily, referring to fig. 4, fig. 4 is a schematic diagram of a transformation of a camera coordinate system and a plane coordinate system according to a second embodiment of the present invention. The image under the camera view angle may be equivalent to the plane CDEF in fig. 4, the image in the plane coordinate system may be equivalent to the plane CDEF in fig. 4, assuming that the objects to be positioned are a and B, and the positions of the objects to be positioned in the camera coordinate system are as shown in fig. 4, the objects a and B to be positioned may be converted to a and B in the plane CDEF through the above-mentioned predetermined coordinate conversion relationship. Assuming that the moving speed of the object to be positioned is constant, the fact that the object to be positioned moves from the position of a to the position of b in a non-constant speed can be obtained according to the principle of large and small distances from the view angle of a camera, and the object to be positioned is converted into the plane CDEF through the conversion, so that the characteristic of constant-speed driving can be kept, particularly at intersections with complex traffic, the frequency of traffic accidents is effectively reduced, and the safety is improved.
Exemplarily, referring to fig. 5, fig. 5 is a schematic position diagram of an object to be positioned in a planar coordinate system according to a second embodiment of the present invention. Object a, object B, and object C correspond to numbers 1, 2, and 3 in fig. 2, respectively.
And S250, sending the plane coordinate of the target reference point to a corresponding terminal so that the terminal can adjust the driving strategy in the vehicle-road cooperation according to the plane coordinate of the target reference point.
The terminal of this embodiment may be a vehicle-mounted terminal or a user terminal with a communication function, and the user terminal may be an intelligent terminal such as a mobile phone, an intelligent bracelet, and a notebook. In the embodiment, after the plane coordinates of the target reference point are determined, the plane coordinates can be sent to the corresponding terminal, and the corresponding terminal adjusts the current driving strategy according to the plane coordinates of the target reference point, so that the safety is ensured. Optionally, the plane coordinate of the target reference point may be directly sent to the corresponding terminal, or may be sent to the roadside communication device first, and the roadside communication device forwards the plane coordinate to the corresponding terminal.
The second embodiment of the invention provides a positioning method based on vehicle-road cooperation, on the basis of the second embodiment, taking an object to be positioned as an example of a user, determining the position of the user in a camera coordinate system, converting the object to be positioned into a plane coordinate system through a predetermined coordinate conversion relation, acquiring the coordinate of the user in the plane coordinate system, and guiding the active control of a vehicle based on the coordinate of the user in the plane coordinate system, thereby effectively solving the problem of poor positioning accuracy of a target reference point caused by different visual angles and ensuring traffic safety.
EXAMPLE III
Fig. 6 is a structural diagram of a positioning apparatus based on vehicle-road coordination according to a third embodiment of the present invention, where the apparatus may execute the positioning method based on vehicle-road coordination according to the foregoing embodiment, and referring to fig. 6, the apparatus may include:
the position coordinate determination module 31 is configured to acquire an image including an object to be positioned, and determine a position coordinate of a target reference point of the object to be positioned in the image, where the image is an image acquired by an image acquisition device under a viewing angle of the image acquisition device;
and the plane coordinate determination module 32 is configured to determine a plane coordinate of the target reference point according to a preset coordinate conversion relationship and a position coordinate of the target reference point in the image, where the preset coordinate conversion relationship is used to represent a conversion relationship between the plane coordinate and the position coordinate of the image acquisition device under the viewing angle.
The third embodiment of the invention provides a positioning device based on vehicle-road cooperation, which is characterized in that an image containing an object to be positioned is obtained, and the position coordinate of a target reference point of the object to be positioned in the image is determined, wherein the image is acquired by image acquisition equipment under the visual angle of the image acquisition equipment; and determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image, wherein the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate of the image acquisition equipment under the view angle. The device converts the position coordinates of the target reference point under the visual angle of the image acquisition equipment into the plane coordinates by utilizing the preset coordinate conversion relation, thereby effectively solving the problem of poor positioning accuracy of the target reference point caused by different visual angles.
On the basis of the foregoing embodiment, the position coordinate determination module 31 is specifically configured to:
determining a contour of the object to be positioned and a lower edge of the contour;
and taking the central point of the lower edge as a target reference point of the object to be positioned, and taking the coordinate of the central point as the position coordinate of the target reference point.
On the basis of the above embodiment, the apparatus may further include:
and the information sending module is used for sending the plane coordinate of the target reference point to a corresponding terminal after determining the plane coordinate of the target reference point according to the perspective transformation matrix and the position coordinate of the target reference point in the image, so that the terminal can adjust the driving strategy in the vehicle-road cooperation according to the plane coordinate of the target reference point.
On the basis of the above embodiment, the object to be located includes a user.
On the basis of the above embodiment, the apparatus may further include:
the image acquisition module is used for acquiring an image which is acquired by the image acquisition equipment under the visual angle of the image acquisition equipment and contains at least one sampling point before acquiring the image containing the object to be positioned;
a sampling coordinate determination module for determining a sampling position coordinate of the at least one sampling point in the image and a plane position coordinate in a plane;
and the coordinate conversion relation determining module is used for determining the preset coordinate conversion relation according to the sampling position coordinates and the plane position coordinates of the at least one sampling point.
The positioning device based on vehicle-road cooperation provided by the third embodiment of the invention can be used for executing the positioning method based on vehicle-road cooperation provided by the third embodiment of the invention, and has corresponding functions and beneficial effects.
Example four
Fig. 7 is a structural diagram of an electronic device according to a fourth embodiment of the present invention, where the electronic device may include one or more processors 41, a memory 42, an input device 43, and an output device 44, where the number of the processors 41 in the electronic device may be one or more, and in fig. 7, taking one processor 41 as an example, the processors 41, the memory 42, the input device 43, and the output device 44 in the electronic device may be connected by a bus or in another manner, and in fig. 7, the connection by the bus is taken as an example.
The memory 42 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the positioning method based on vehicle-road coordination in the embodiment of the present invention. The processor 41 executes various functional applications and data processing of the electronic device by executing software programs, instructions and modules stored in the memory 42, that is, implements the positioning method based on vehicle-road cooperation of the above embodiment.
The memory 42 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 42 may further include memory located remotely from processor 41, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the electronic apparatus. The output device 44 may include a display device such as a display screen, and an audio device such as a speaker and a buzzer.
The electronic device provided by the embodiment of the present invention and the positioning method based on vehicle-road coordination provided by the above embodiment belong to the same inventive concept, and the technical details that are not described in detail in the embodiment can be referred to the above embodiment, and the embodiment has the same beneficial effects as the positioning method based on vehicle-road coordination.
EXAMPLE five
Fig. 8 is a structural diagram of a positioning system based on vehicle-road coordination according to a fifth embodiment of the present invention, and referring to fig. 8, the system includes: the system comprises an image acquisition device 51, an image processing device 52, a roadside communication device 53 and a terminal 54, wherein the image processing device 52 is respectively in communication connection with the image acquisition device 51, the roadside communication device 53 and the terminal 54, and the roadside communication device 53 is also in communication connection with the terminal 54. The image capturing device 51 in the present embodiment may be a device having an image capturing function, such as a camera or a video camera.
Specifically, the image capturing device 51 is configured to capture an image including an object to be positioned under an angle of view of the image capturing device, and send the image to the image processing device 52, where the object to be positioned may be a person or an object, and this embodiment takes a person as an example. The image processing device 52 is configured to determine the position coordinates of the target reference point of the object to be positioned in the image, determine the plane coordinates of the target reference point according to the preset coordinate transformation relationship and the position coordinates of the target reference point in the image, and send the plane coordinates to the terminal 54 through the roadside communication device 53. The roadside communication device 53 is used for realizing data interaction between the image processing device 52 and the terminal 54. The terminal 54 is used for adjusting the driving strategy in the vehicle-road cooperation according to the received plane coordinates of the target reference point, so as to ensure the driving safety.
The positioning system based on vehicle-road coordination provided by the embodiment of the invention and the positioning method based on vehicle-road coordination provided by the embodiment belong to the same inventive concept, and the technical details which are not described in detail in the embodiment can be referred to the embodiment.
EXAMPLE six
An embodiment of the present invention provides a storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform a positioning method based on vehicle-road coordination, and the method includes:
acquiring an image containing an object to be positioned, and determining the position coordinates of a target reference point of the object to be positioned in the image, wherein the image is acquired by image acquisition equipment under the visual angle of the image acquisition equipment;
and determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image, wherein the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate of the image acquisition equipment under the view angle.
Storage media for embodiments of the present invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A positioning method based on vehicle-road cooperation is characterized by comprising the following steps:
acquiring an image containing an object to be positioned, and determining the position coordinates of a target reference point of the object to be positioned in the image, wherein the image is acquired by image acquisition equipment under the visual angle of the image acquisition equipment;
and determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image, wherein the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate of the image acquisition equipment under the view angle.
2. The method of claim 1, wherein said determining location coordinates of a target reference point of said object to be positioned in said image comprises:
determining a contour of the object to be positioned and a lower edge of the contour;
and taking the central point of the lower edge as a target reference point of the object to be positioned, and taking the coordinate of the central point as the position coordinate of the target reference point.
3. The method of claim 1, further comprising, after determining the planar coordinates of the target reference point from a perspective transformation matrix and the location coordinates of the target reference point in the image:
and sending the plane coordinate of the target reference point to a corresponding terminal so that the terminal adjusts the driving strategy in the vehicle-road cooperation according to the plane coordinate of the target reference point.
4. The method of any of claims 1-3, wherein the object to be located comprises a user.
5. The method according to any one of claims 1-3, further comprising, prior to acquiring the image containing the object to be located:
acquiring an image which is acquired by the image acquisition equipment under the visual angle of the image acquisition equipment and contains at least one sampling point;
determining sampling position coordinates of the at least one sampling point in the image and plane position coordinates in a plane;
and determining the preset coordinate conversion relation according to the sampling position coordinates and the plane position coordinates of the at least one sampling point.
6. A positioning device based on vehicle-road cooperation is characterized by comprising:
the device comprises a position coordinate determination module, a position coordinate determination module and a positioning module, wherein the position coordinate determination module is used for acquiring an image containing an object to be positioned and determining the position coordinate of a target reference point of the object to be positioned in the image, and the image is acquired by image acquisition equipment under the view angle of the image acquisition equipment;
and the plane coordinate determination module is used for determining the plane coordinate of the target reference point according to a preset coordinate conversion relation and the position coordinate of the target reference point in the image, wherein the preset coordinate conversion relation is used for expressing the conversion relation between the plane coordinate and the position coordinate of the image acquisition equipment under the view angle.
7. The apparatus of claim 6, wherein the location coordinate determination module is specifically configured to:
determining a contour of the object to be positioned and a lower edge of the contour;
and taking the central point of the lower edge as a target reference point of the object to be positioned, and taking the coordinate of the central point as the position coordinate of the target reference point.
8. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs when executed by the one or more processors implement the method for vehicle-road coordination-based positioning of any of claims 1-5.
9. A vehicle-road coordination-based positioning system, comprising: the system comprises image acquisition equipment, image processing equipment, roadside communication equipment and a terminal;
the image processing equipment is respectively in communication connection with the image acquisition equipment, the roadside communication equipment and the terminal, and the roadside communication equipment is also in communication connection with the terminal;
the image acquisition equipment is used for acquiring an image containing an object to be positioned under the visual angle of the image acquisition equipment and sending the image to the image processing equipment;
the image processing device is used for determining the position coordinates of the target reference point of the object to be positioned in the image, determining the plane coordinates of the target reference point according to a preset coordinate conversion relation and the position coordinates of the target reference point in the image, and sending the plane coordinates of the target reference point to the terminal through the roadside communication device;
and the terminal is used for adjusting the driving strategy in the vehicle-road cooperation according to the received plane coordinate of the target reference point.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the vehicle-road cooperation-based positioning method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011196121.XA CN112446898A (en) | 2020-10-30 | 2020-10-30 | Positioning method, device, equipment, system and storage medium based on vehicle-road cooperation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011196121.XA CN112446898A (en) | 2020-10-30 | 2020-10-30 | Positioning method, device, equipment, system and storage medium based on vehicle-road cooperation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112446898A true CN112446898A (en) | 2021-03-05 |
Family
ID=74735531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011196121.XA Pending CN112446898A (en) | 2020-10-30 | 2020-10-30 | Positioning method, device, equipment, system and storage medium based on vehicle-road cooperation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112446898A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113077500A (en) * | 2021-03-12 | 2021-07-06 | 上海杰图天下网络科技有限公司 | Panoramic viewpoint positioning and attitude determining method, system, equipment and medium based on plane graph |
| WO2023035296A1 (en) * | 2021-09-07 | 2023-03-16 | Hong Kong Applied Science and Technology Research Institute Company Limited | A camera calibration method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110174093A (en) * | 2019-05-05 | 2019-08-27 | 腾讯科技（深圳）有限公司 | Localization method, device, equipment and computer readable storage medium |
| CN110705433A (en) * | 2019-09-26 | 2020-01-17 | 杭州鲁尔物联科技有限公司 | Bridge deformation monitoring method, device and equipment based on visual perception |
| CN111046762A (en) * | 2019-11-29 | 2020-04-21 | 腾讯科技（深圳）有限公司 | Object positioning method, device electronic equipment and storage medium |
-
2020
- 2020-10-30 CN CN202011196121.XA patent/CN112446898A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110174093A (en) * | 2019-05-05 | 2019-08-27 | 腾讯科技（深圳）有限公司 | Localization method, device, equipment and computer readable storage medium |
| CN110705433A (en) * | 2019-09-26 | 2020-01-17 | 杭州鲁尔物联科技有限公司 | Bridge deformation monitoring method, device and equipment based on visual perception |
| CN111046762A (en) * | 2019-11-29 | 2020-04-21 | 腾讯科技（深圳）有限公司 | Object positioning method, device electronic equipment and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113077500A (en) * | 2021-03-12 | 2021-07-06 | 上海杰图天下网络科技有限公司 | Panoramic viewpoint positioning and attitude determining method, system, equipment and medium based on plane graph |
| WO2023035296A1 (en) * | 2021-09-07 | 2023-03-16 | Hong Kong Applied Science and Technology Research Institute Company Limited | A camera calibration method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110174093B (en) | Positioning method, device, equipment and computer readable storage medium | |
| CN110019570B (en) | Map construction method and device and terminal equipment | |
| CN109387186B (en) | Surveying and mapping information acquisition method and device, electronic equipment and storage medium | |
| CN111436208B (en) | Planning method and device for mapping sampling points, control terminal and storage medium | |
| CN112258519B (en) | Automatic extraction method and device for way-giving line of road in high-precision map making | |
| CN104457734A (en) | Parking lot navigation system | |
| KR101691312B1 (en) | Method for showing parking lot and system | |
| CN114153220B (en) | Remote control method for automatic driving based on artificial intelligence Internet of things platform | |
| CN112446898A (en) | Positioning method, device, equipment, system and storage medium based on vehicle-road cooperation | |
| CN113870613B (en) | Parking space determination method and device, electronic equipment and storage medium | |
| CN110858414A (en) | Image processing method and device, readable storage medium and augmented reality system | |
| CN113910224B (en) | Robot following method and device and electronic equipment | |
| CN112116655A (en) | Method and device for determining position information of image of target object | |
| CN110457407B (en) | Method and apparatus for processing point cloud data | |
| CN115115611B (en) | Vehicle damage identification method and device, electronic equipment and storage medium | |
| CN109949414A (en) | The construction method and device of indoor map | |
| CN111527375B (en) | Planning method and device for surveying and mapping sampling point, control terminal and storage medium | |
| CN111382695A (en) | Method and apparatus for detecting boundary points of object | |
| CN109034214B (en) | Method and apparatus for generating a mark | |
| CN114554391A (en) | Parking lot vehicle searching method, device, equipment and storage medium | |
| CN109345567A (en) | Movement locus of object recognition methods, device, equipment and storage medium | |
| CN111814769A (en) | Information acquisition method and device, terminal equipment and storage medium | |
| CN113378605A (en) | Multi-source information fusion method and device, electronic equipment and storage medium | |
| CN116311155A (en) | Obstacle information generation method, obstacle information generation device, electronic device, and computer-readable medium | |
| CN111383337B (en) | Method and device for identifying objects |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |