CN110858405A - 车载摄像头的姿态估计方法、装置和系统及电子设备 - Google Patents

车载摄像头的姿态估计方法、装置和系统及电子设备 Download PDF

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Publication number
CN110858405A
CN110858405A CN201810973920.XA CN201810973920A CN110858405A CN 110858405 A CN110858405 A CN 110858405A CN 201810973920 A CN201810973920 A CN 201810973920A CN 110858405 A CN110858405 A CN 110858405A
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CN
China
Prior art keywords
vehicle
information
camera
horizon
mounted camera
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Pending
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CN201810973920.XA
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English (en)
Chinese (zh)
Inventor
戴兴
王哲
石建萍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Sensetime Technology Development Co Ltd
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Beijing Sensetime Technology Development Co Ltd
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Priority to CN201810973920.XA priority Critical patent/CN110858405A/zh
Priority to PCT/CN2019/093911 priority patent/WO2020038118A1/zh
Priority to JP2020510614A priority patent/JP6995188B2/ja
Priority to SG11202000641UA priority patent/SG11202000641UA/en
Priority to US16/748,785 priority patent/US11205284B2/en
Publication of CN110858405A publication Critical patent/CN110858405A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/42—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
    • B60R2300/402—Image calibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Studio Devices (AREA)
CN201810973920.XA 2018-08-24 2018-08-24 车载摄像头的姿态估计方法、装置和系统及电子设备 Pending CN110858405A (zh)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN201810973920.XA CN110858405A (zh) 2018-08-24 2018-08-24 车载摄像头的姿态估计方法、装置和系统及电子设备
PCT/CN2019/093911 WO2020038118A1 (zh) 2018-08-24 2019-06-28 车载摄像头的姿态估计方法、装置和系统及电子设备
JP2020510614A JP6995188B2 (ja) 2018-08-24 2019-06-28 車載カメラの姿勢推定方法、装置およびシステムならびに電子機器
SG11202000641UA SG11202000641UA (en) 2018-08-24 2019-06-28 Vehicle-mounted camera pose estimation method, apparatus, and system, and electronic device
US16/748,785 US11205284B2 (en) 2018-08-24 2020-01-21 Vehicle-mounted camera pose estimation method, apparatus, and system, and electronic device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810973920.XA CN110858405A (zh) 2018-08-24 2018-08-24 车载摄像头的姿态估计方法、装置和系统及电子设备

Publications (1)

Publication Number Publication Date
CN110858405A true CN110858405A (zh) 2020-03-03

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CN201810973920.XA Pending CN110858405A (zh) 2018-08-24 2018-08-24 车载摄像头的姿态估计方法、装置和系统及电子设备

Country Status (5)

Country Link
US (1) US11205284B2 (enExample)
JP (1) JP6995188B2 (enExample)
CN (1) CN110858405A (enExample)
SG (1) SG11202000641UA (enExample)
WO (1) WO2020038118A1 (enExample)

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CN112907678A (zh) * 2021-01-25 2021-06-04 深圳佑驾创新科技有限公司 车载相机外参姿态动态估计方法、装置、计算机设备
CN113490967A (zh) * 2020-09-22 2021-10-08 深圳市锐明技术股份有限公司 一种相机的标定方法、标定装置及电子设备
WO2022062377A1 (zh) * 2020-09-22 2022-03-31 深圳市锐明技术股份有限公司 一种相机的标定方法、标定装置及电子设备
CN115564793A (zh) * 2021-06-30 2023-01-03 惠州市德赛西威智能交通技术研究院有限公司 一种车载前向摄像头的位姿实时计算方法
CN117252880A (zh) * 2023-11-17 2023-12-19 宝德华南(深圳)热能系统有限公司 一种新能源汽车的adas综合评测系统

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US10816354B2 (en) 2017-08-22 2020-10-27 Tusimple, Inc. Verification module system and method for motion-based lane detection with multiple sensors
US12270661B2 (en) 2018-02-14 2025-04-08 Tusimple, Inc. Lane marking localization and fusion
US11009356B2 (en) 2018-02-14 2021-05-18 Tusimple, Inc. Lane marking localization and fusion
US11009365B2 (en) 2018-02-14 2021-05-18 Tusimple, Inc. Lane marking localization
EP3893150A1 (en) * 2020-04-09 2021-10-13 Tusimple, Inc. Camera pose estimation techniques
US20230306633A1 (en) * 2020-08-18 2023-09-28 Foresight Automotive Ltd. System and method for pose estimation of sensors using motion and angular shift
CN112597965B (zh) * 2021-01-05 2024-10-18 株洲中车时代电气股份有限公司 一种驾驶行为识别方法、装置和计算机可读存储介质
JP7776100B2 (ja) 2021-04-16 2025-11-26 株式会社コムテック 再生制御システム及びコンピュータプログラム
CN113744330B (zh) * 2021-08-16 2025-04-29 苏州挚途科技有限公司 车载摄像头的俯仰角确定方法、装置及电子设备
US11875580B2 (en) * 2021-10-04 2024-01-16 Motive Technologies, Inc. Camera initialization for lane detection and distance estimation using single-view geometry
CN114494439B (zh) * 2022-01-25 2023-08-15 襄阳达安汽车检测中心有限公司 Hil仿真测试中摄像头位姿校准方法、装置、设备及介质
KR20240103749A (ko) * 2022-12-27 2024-07-04 현대자동차주식회사 차량 및 그 제어방법
US12405116B2 (en) * 2023-03-03 2025-09-02 Telenav, Inc. Navigation system with automatic optical calibration mechanism and method of operation thereof
KR20250110561A (ko) * 2024-01-12 2025-07-21 현대자동차주식회사 멀티 카메라 자세 추정 방법 및 그 장치

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CN113490967A (zh) * 2020-09-22 2021-10-08 深圳市锐明技术股份有限公司 一种相机的标定方法、标定装置及电子设备
WO2022062377A1 (zh) * 2020-09-22 2022-03-31 深圳市锐明技术股份有限公司 一种相机的标定方法、标定装置及电子设备
CN112907678A (zh) * 2021-01-25 2021-06-04 深圳佑驾创新科技有限公司 车载相机外参姿态动态估计方法、装置、计算机设备
CN112907678B (zh) * 2021-01-25 2022-05-13 深圳佑驾创新科技有限公司 车载相机外参姿态动态估计方法、装置、计算机设备
CN115564793A (zh) * 2021-06-30 2023-01-03 惠州市德赛西威智能交通技术研究院有限公司 一种车载前向摄像头的位姿实时计算方法
CN115564793B (zh) * 2021-06-30 2024-12-27 惠州市德赛西威智能交通技术研究院有限公司 一种车载前向摄像头的位姿实时计算方法
CN117252880A (zh) * 2023-11-17 2023-12-19 宝德华南(深圳)热能系统有限公司 一种新能源汽车的adas综合评测系统
CN117252880B (zh) * 2023-11-17 2024-01-16 宝德华南(深圳)热能系统有限公司 一种新能源汽车的adas综合评测系统

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Publication number Publication date
JP2020533667A (ja) 2020-11-19
WO2020038118A1 (zh) 2020-02-27
US11205284B2 (en) 2021-12-21
SG11202000641UA (en) 2020-03-30
US20200160561A1 (en) 2020-05-21
JP6995188B2 (ja) 2022-01-14

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Application publication date: 20200303