CN111241224A - Method, system, computer device and storage medium for target distance estimation - Google Patents

Method, system, computer device and storage medium for target distance estimation Download PDF

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CN111241224A
CN111241224A CN202010025806.1A CN202010025806A CN111241224A CN 111241224 A CN111241224 A CN 111241224A CN 202010025806 A CN202010025806 A CN 202010025806A CN 111241224 A CN111241224 A CN 111241224A
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target
coordinates
geographic
curve model
vehicle
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CN111241224B (en
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吴孟
刘嵩
刘熙
葛盼盼
陈亮
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Freetech Intelligent Systems Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Abstract

The invention discloses a method, a system, a computer device and a storage medium for target distance estimation, wherein, acquiring a plurality of reference points on a vehicle driving road, acquiring reference point geographical coordinates of the reference points according to vehicle geographical coordinates of the vehicle, according to the geographical coordinates of the reference point, longitudinal gradient information of the reference point is obtained, according to the geographical coordinates of the reference point and the longitudinal gradient information, a terrain height curve model is established, image coordinates of a target are obtained, obtaining a first geographic coordinate of the target according to the image coordinate, obtaining a second geographic coordinate of the target according to the terrain height curve model and the first geographic coordinate, solving the problem of compensating deviation through polynomial fitting, the method has the advantages that the problem of large error of the result measured by the target with obvious height difference with the vehicle is solved, the measurement error caused by the height difference of the terrain is reduced, and the accuracy of target distance estimation is improved.

Description

Method, system, computer device and storage medium for target distance estimation
Technical Field
The present application relates to the field of automated driving technology, and in particular, to a method, system, computer device, and storage medium for target distance estimation.
Background
With the development of science and technology, an automatic driving automobile appears, and the automatic driving automobile can automatically and safely operate a motor vehicle by a computer under the condition of no user operation by means of cooperative cooperation of artificial intelligence, visual calculation, a radar, a monitoring device and a global positioning system. With the rapid development of intelligent driving technology, Advanced Driving Assistance System (ADAS) becomes an indispensable part in an intelligent driving automobile, the ADAS senses the surrounding environment at any time in the driving process of the automobile through various sensors mounted on the automobile, collects environmental data, identifies, detects and tracks static or dynamic objects, and performs System operation and analysis by combining with navigator map data, thereby predicting the possible danger and effectively increasing the comfort and safety of automobile driving, wherein a camera becomes one of the most important sensors in a vehicle sensing System due to the characteristics of low cost, rich color information, high frame rate and the like. The camera calculates information of a three-dimensional physical world, such as the motion state of a front obstacle or the change of a lane line of a road, and the like by acquiring a two-dimensional image sequence, and the ADAS makes decisions and controls based on perception information, such as automatic emergency braking or lane line deviation early warning, and the like, so that an effective visual perception system is a prerequisite condition for an intelligent driving system to make accurate decisions.
In the related technology, based on a pinhole imaging model, a visual perception system collects target estimation values at different distances under the condition that a target object is static, calculates the deviation relation of pixel points at different positions through polynomial fitting, and performs distance measurement compensation, so that the method can solve the problem of height difference caused by uneven roads, the error is within +/-5 cm, and the distance error of the target is within +/-4 m. Since the method assumes that the target and the vehicle are at the same level, but in a real environment, the vehicle and the target are often not at the same level, for example, when going up or down, the method cannot solve the ranging error caused by the height difference of going up or down.
In the related art, the deviation is compensated through polynomial fitting, and an effective solution is not provided at present for the problem that the result error of target measurement with obvious height difference with a vehicle is large.
Disclosure of Invention
The invention provides a method, a system, a computer device and a storage medium for estimating a target distance, aiming at the problem that in the related art, the deviation is compensated through polynomial fitting, and the result measured by a target with obvious height difference with a vehicle is large in error.
According to an aspect of the present invention, there is provided a method of target distance estimation, the method comprising:
acquiring a plurality of reference points on a vehicle running road, acquiring reference point geographical coordinates of the reference points according to vehicle geographical coordinates of the vehicle, and acquiring longitudinal gradient information of the reference points according to the reference point geographical coordinates, wherein the reference points correspond to the longitudinal gradient information;
establishing a terrain height curve model according to the reference point geographical coordinates and the longitudinal gradient information;
acquiring the image coordinates of a target, acquiring first geographical coordinates of the target according to the image coordinates, and acquiring second geographical coordinates of the target according to the terrain height curve model and the first geographical coordinates.
In one embodiment, the building a terrain height curve model according to the reference point geographical coordinates and the longitudinal gradient information includes:
obtaining the curvature and the curvature change rate of the terrain height curve model by a least square method according to the reference point geographic coordinate and the longitudinal gradient information;
and establishing a terrain height curve model according to the curvature and the curvature change rate.
In one embodiment, the obtaining the first geographic coordinate of the target according to the image coordinate includes:
and converting the image coordinates into first geographical coordinates of the target according to camera parameters and a coordinate rotation matrix, wherein the camera is used for acquiring the image of the target, and the camera parameters comprise camera internal parameters and camera external parameters.
In one embodiment, the obtaining the second geographic coordinate of the target according to the terrain height curve model and the first geographic coordinate includes:
obtaining a temporary first component of the second geographic coordinate according to the terrain height curve model and the first geographic coordinate, and performing iterative operation on the temporary first component to obtain a first component;
and obtaining a second component of the second geographic coordinate according to the first component and the camera parameter, and obtaining a third component of the second geographic coordinate through the terrain height curve model according to the first component.
In one embodiment, before the obtaining of the distance between the target and the vehicle according to the second geographic coordinate, the method further includes:
and acquiring the reference height of the target, and acquiring a second geographic coordinate of the target according to the reference height and the first geographic coordinate.
According to another aspect of the present invention, there is provided a system for target distance estimation, the system comprising a positioning module, a map information module, and a monocular distance measuring module:
the map information module acquires a plurality of reference points on a vehicle running road, acquires the reference point geographical coordinates of the reference points according to the vehicle geographical coordinates of the vehicle provided by the positioning module, and acquires the longitudinal gradient information of the reference points according to the reference point geographical coordinates, wherein the reference points correspond to the longitudinal gradient information one by one;
the map information module establishes a terrain height curve model according to the reference point geographic coordinate and the longitudinal gradient information;
the monocular distance measuring module obtains image coordinates of a target, obtains first geographic coordinates of the target according to the image coordinates, and obtains second geographic coordinates of the target according to the terrain height curve model and the first geographic coordinates.
In one embodiment, the monocular distance measuring module is further configured to obtain the curvature and the curvature change rate of the terrain height curve model by a least square method according to the reference point geographic coordinate and the longitudinal gradient information; and establishing a terrain height curve model according to the curvature and the curvature change rate.
In one embodiment, the monocular distance measuring module is further configured to convert the image coordinates into first geographic coordinates of the target according to a camera parameter and a coordinate rotation matrix, wherein the camera is configured to acquire an image of the target, and the camera parameter includes an internal camera parameter and an external camera parameter.
According to another aspect of the present invention, there is provided a computer device comprising a memory storing a computer program and a processor implementing any of the methods described above when the processor executes the computer program.
According to another aspect of the invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the methods described above.
By the invention, a plurality of reference points are obtained on the running road of the vehicle, the geographic coordinates of the reference points are obtained according to the geographic coordinates of the vehicle, the longitudinal gradient information of the reference points is obtained according to the geographic coordinates of the reference points, wherein the reference point corresponds to the longitudinal gradient information, a terrain height curve model is established according to the geographical coordinates of the reference point and the longitudinal gradient information, the image coordinates of the target are obtained, obtaining a first geographic coordinate of the target according to the image coordinate, obtaining a second geographic coordinate of the target according to the terrain height curve model and the first geographic coordinate, solving the problem of compensating deviation through polynomial fitting, the method has the advantages that the problem of large error of the result measured by the target with obvious height difference with the vehicle is solved, the measurement error caused by the height difference of the terrain is reduced, and the accuracy of target distance estimation is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention to a proper form.
In the drawings:
FIG. 1 is a schematic diagram of an application environment of a method for target distance estimation according to an embodiment of the present invention;
FIG. 2 is a first flowchart of a method of target distance estimation according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of reference point selection according to an embodiment of the invention;
FIG. 4 is a flow chart diagram two of a method of target distance estimation according to an embodiment of the present invention;
FIG. 5 is a flow chart three of a method of target distance estimation according to an embodiment of the present invention;
FIG. 6 is a block diagram of a system for target distance estimation according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating comparison of target distance estimates according to an embodiment of the present invention;
fig. 8 is a schematic diagram of an internal structure of a computer apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that the terms "first", "second" and "third" related to the embodiments of the present invention only distinguish similar objects, and do not represent specific ordering for the objects, and the terms "first", "second" and "third" may be interchanged with specific order or sequence, where permitted. It is to be understood that the terms "first," "second," and "third" are used interchangeably where appropriate to enable embodiments of the present invention described herein to be practiced in sequences other than those illustrated or described herein. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The method for estimating the target distance provided by the present application can be applied to the application environment shown in fig. 1, and fig. 1 is a schematic view of the application environment of the method for estimating the target distance according to the embodiment of the present invention, as shown in fig. 1. The vehicle 102 is provided with the target distance estimation system 104, when the vehicle 102 ranges the target 106, the target distance estimation system 104 may obtain a specific geographic position where the vehicle 102 is located in real time, and obtain a position of the target 106 in a coordinate system of the vehicle 102 through calculation, the target distance estimation system 104 may obtain a longitudinal gradient of the position of the target 106 based on the position of the vehicle 102 and the position of the target 106, and based on longitudinal gradient information of the target 106, the target distance estimation system 104 may observe a terrain height of the position of the target 106, and finally obtain a distance between the target 106 and the vehicle 102. The target distance estimation System 104 may acquire the geographic position of the vehicle 102 through a Global Positioning System (GPS), and the target distance estimation System 104 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and may also be implemented by an independent server or a server cluster composed of a plurality of servers.
In one embodiment, a method for target distance estimation is provided, and fig. 2 is a flowchart one of a method for target distance estimation according to an embodiment of the present invention, as shown in fig. 2, the method includes the following steps:
step S202, a plurality of reference points are obtained on the vehicle running road, the reference point geographical coordinates of the reference points are obtained according to the vehicle geographical coordinates of the vehicle, and according to the reference point geographical coordinates,and acquiring longitudinal gradient information of the reference point, wherein the reference point corresponds to the longitudinal gradient information. FIG. 3 is a schematic diagram of reference point selection according to an embodiment of the present invention, as shown in FIG. 3, for a reference point x on a road on which a vehicle is traveling1，x2，...xnThe reference point satisfies xiNo more than 150, 1, 2,. n, reference point x1，x2，...xnThe corresponding longitudinal slopes are respectively s1，s2，...snThe corresponding corner cut ratio is phi1，φ2，...φnThe vehicle geographic coordinates may be obtained by a GPS System or a BeiDou Navigation satellite System (BDS), the reference point geographic coordinates may be obtained by a relative position of the reference point with respect to the vehicle and the geographic coordinates of the vehicle, the longitudinal gradient information of the reference point may be provided by a high-precision map of an Advanced Driving Assistance System (ADAS), and the relationship between the longitudinal gradient information and the target tangential angle is obtained by the following formula 1:
s-tan phi equation 1
Wherein s is longitudinal gradient information, and phi is a target tangent angle corresponding to s.
And step S204, establishing a terrain height curve model according to the geographical coordinates of the reference point and the longitudinal gradient information. The terrain height in this embodiment is the relative height of the target with respect to the vehicle, as shown in fig. 3 as a coordinate system OXZ, where O is the system ranging reference origin, X is the longitudinal direction of the vehicle or the parallel direction of the optical axis of the camera in the monocular ranging system, and Z is the vertical direction of the road surface on which the vehicle travels. The z expression of the terrain height curve set at x is given by the following equation 2:
Figure BDA0002362406520000061
wherein, c0Is the curvature of a curve, c1For the curvature change rate of the curve, φ is the angle between the tangents to the curve x, and for any point, the curvature can be given by the following equation 3:
c(x)＝c0+c1x formula 3
Where c is the curvature of any point.
The chamfer angle at any point can be obtained from the following equation 4:
Figure BDA0002362406520000062
wherein phi is the included angle of the tangent line at the curve x.
Step S206, obtaining the image coordinate of the target, obtaining the first geographic coordinate of the target according to the image coordinate, and obtaining the second geographic coordinate of the target according to the terrain height curve model and the first geographic coordinate. The image coordinate of the target is measured by a monocular distance measuring system, a target imaging relation is established in the embodiment, under the condition that distortion information of a camera is ignored and only known internal and external parameters of the camera are considered, the position (u, v) of a target reference point on a two-dimensional image plane can be obtained according to a depth learning method, the two-dimensional image coordinate can be converted into a three-dimensional world coordinate system position (x, y, z) according to a pinhole imaging principle, the three-dimensional world coordinate position is a first geographic coordinate in the embodiment, and the first geographic coordinate is a relative position coordinate of the target relative to a vehicle. And substituting the terrain height curve model into the first geographic coordinate, and calculating to obtain weighted x and y values which are the longitudinal distance and the transverse distance required to be obtained.
Through the steps S202 to S206, the specific geographic position of the vehicle is obtained in real time, the position of the target under the vehicle coordinate system is obtained through calculation, the longitudinal gradient of the position of the target can be obtained based on the position of the vehicle and the position of the target, the terrain height of the position of the target can be observed based on the longitudinal gradient information of the target, and the distance between the target and the vehicle is finally obtained.
In an embodiment, fig. 4 is a flowchart of a method for estimating a target distance according to an embodiment of the present invention, and as shown in fig. 4, the method may further include the following steps:
and S402, obtaining the curvature and the curvature change rate of the terrain height curve model by a least square method according to the reference point geographic coordinate and the longitudinal gradient information.
In the process of establishing a terrain height curve model, according to longitudinal gradient information, a tangent angle matrix Y is obtained by the following formula 5:
Figure BDA0002362406520000071
from the reference point geographical coordinates, the distance matrix a is obtained by the following equation 6:
Figure BDA0002362406520000072
the curvature matrix X is obtained from the following equation 7:
Figure BDA0002362406520000073
the relationship between the tangent matrix Y, the distance matrix a, and the curvature matrix X is obtained from the following equation 8:
y ═ AX formula 8
The curvature matrix X is calculated by the least square method according to the following equation 9:
X＝(ATA)-1ATy equation 9
And obtaining the curvature and the curvature change rate of the terrain height curve model after obtaining the curvature matrix.
And S404, establishing a terrain height curve model according to the curvature and the curvature change rate. After the curvature matrix is obtained, the height value z of any point x in front of the vehicle coordinate system can be obtained by substituting the curvature matrix into the expression of the terrain height curve model.
Through the steps S402 and S404, the curvature and the curvature change rate in the terrain height curve model are obtained through the least square method, so that the establishment of the terrain height curve model is completed, the calculation process is simplified, and the calculation efficiency of the target distance is improved.
In one embodiment, the method of target distance estimation may further comprise the steps of: and converting the image coordinates into first geographical coordinates of the target according to camera parameters and a coordinate rotation matrix, wherein the camera is used for acquiring the image of the target, the camera parameters comprise camera internal parameters and camera external parameters, the camera internal parameters comprise a focal length of the camera and an image plane central point offset, and the camera external parameters comprise a mounting position of the camera under a self-vehicle coordinate system of the vehicle. In this embodiment, the conversion of the two-dimensional image coordinates (u, v) to the three-dimensional world coordinate system position (x, y, z) is obtained by the following equation 10:
Figure BDA0002362406520000081
wherein f isx、fy、ux、uyThe reference of the camera is respectively the focal length in the x direction, the focal length in the y direction, the bias in the x direction of the central point of the image plane and the bias in the y direction of the camera. Wherein CPx、CPy、CPzThe mounting position of the camera on a reference point of a coordinate system of the self-vehicle is shown, and R is a rotation matrix from the world coordinate system to the coordinate system of the camera, and the rotation matrix is measured by a conventional external reference calibration method or a dynamic calibration method.
By calculating and simplifying equation 10, equation 11 for calculating the first geographic coordinate is obtained:
Figure BDA0002362406520000091
wherein x, y, z are coordinate components of the first geographic coordinate.
In this embodiment, a two-dimensional coordinate of the target in the monocular distance measuring system is converted into a three-dimensional coordinate through formula 10 and formula 11 to obtain a first geographic coordinate, and a second geographic coordinate is obtained by combining longitudinal gradient information on the basis, so that the estimation result of the target distance is more accurate.
In one embodiment, fig. 5 is a flowchart three of a method for target distance estimation according to an embodiment of the present invention, as shown in fig. 5, the method further includes:
step S502, obtaining a temporary first component of the second geographic coordinate according to the terrain height curve model and the first geographic coordinate, and performing iterative operation on the temporary first component to obtain a first component.
Substituting the terrain height curve model into formula 11 to obtain a calculation formula 12 of coordinate x:
Figure BDA0002362406520000092
equation 12 is a one-dimensional cubic polynomial equation for x, the initial value of x being given by equation 13:
Figure BDA0002362406520000093
and according to the initial value given by the formula 13, carrying out iterative solution on x to obtain the optimal solution of x, and recording the optimal solution as the first component of the second geographic coordinate.
Step S504, according to the first component and the camera parameter, a second component of the second geographic coordinate is obtained, and according to the first component, a third component of the second geographic coordinate is obtained through the terrain height curve model. The calculation formula for the second component y is shown in equation 14:
Figure BDA0002362406520000094
and substituting the curvature, the curvature change rate and the first component x into the terrain height curve model to obtain a third component z of the second geographic coordinate.
Through the steps S502 to S504, the calculation result of the single visual distance measuring system is combined with the terrain height curve model obtained through the longitudinal gradient information, the distance measuring error caused by the terrain height difference can be effectively solved, the calculation method provided by the embodiment is small in calculation amount and simple and convenient to operate, the calculation efficiency of target distance estimation is improved, the estimation of the target distance can be processed in real time, and the safety of automatic driving is improved.
In one embodiment, the method of target distance estimation further comprises: and acquiring a reference height of the target, and acquiring a second geographic coordinate of the target according to the reference height and the first geographic coordinate, wherein the reference height is the relative height of the target relative to the vehicle, and under the condition that the reference height is known, the reference height is directly acquired to calculate the second geographic coordinate, so that the calculation efficiency and the accuracy of target distance estimation can be further improved.
It should be understood that, although the steps in the flowcharts of fig. 2 to 5 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-5 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.
Corresponding to the method for estimating the target distance, in this embodiment, a device for estimating the target distance is further provided, and the device is used to implement the foregoing embodiment and the preferred embodiment, and the description of the device that has been already made is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware or a combination of software and hardware are also possible and contemplated.
In an embodiment, there is provided an apparatus for target distance estimation, and fig. 6 is a block diagram of a system for target distance estimation according to an embodiment of the present invention, as shown in fig. 6, including: a positioning module 62, a map information module 64, and a monocular ranging module 66, wherein:
the map information module 64 obtains a plurality of reference points on the traveling road of the vehicle, obtains the geographic coordinates of the reference points according to the geographic coordinates of the vehicle provided by the positioning module 62, and obtains the longitudinal gradient information of the reference points according to the geographic coordinates of the reference points, wherein the reference points correspond to the longitudinal gradient information one by one; the map information module 64 establishes a terrain height curve model according to the reference point geographical coordinates and the longitudinal gradient information; the monocular distance measuring module 66 obtains the image coordinate of the target, obtains the first geographic coordinate of the target according to the image coordinate, and obtains the second geographic coordinate of the target according to the terrain height curve model and the first geographic coordinate.
The method in the embodiment is used for distance estimation of a target, fig. 7 is a schematic comparison diagram of target distance estimation results according to the embodiment of the present invention, and as shown in fig. 7, in an iterative calculation process, compared with a method that does not consider a height difference, a distance estimation value obtained by the system in the embodiment has a faster speed approaching a true value and takes a shorter time.
Through the system for estimating the target distance, the positioning module 62 can output the geographic position of the vehicle in real time, the map information module 64 can be a lightweight ADAS map information system and can output longitudinal gradient information according to the position of the vehicle, and the monocular distance measuring module 66 can output the position information of the target in real time according to the shot video. The system in the embodiment calculates the longitudinal gradient information of the target to obtain the relative height of the target relative to the vehicle, so that the problems that deviation is compensated through polynomial fitting in the related technology, and the error of a result measured by the target with obvious height difference with the vehicle is large are solved, the measurement error caused by the height difference of the terrain is reduced, and the accuracy of target distance estimation is improved.
In one embodiment, the monocular distance measuring module 66 is further configured to obtain the curvature and the curvature change rate of the terrain height curve model by a least square method according to the reference point geographical coordinates and the longitudinal gradient information; and establishing a terrain height curve model according to the curvature and the curvature change rate. In this embodiment, the monocular distance measuring module 66 obtains the curvature and the curvature change rate in the terrain height curve model by the least square method, so as to complete the establishment of the terrain height curve model.
In one embodiment, the monocular distance measuring module is further configured to convert the image coordinates into first geographic coordinates of the target according to camera parameters and a coordinate rotation matrix, wherein the camera is configured to acquire an image of the target, and the camera parameters include camera internal parameters and camera external parameters. In this embodiment, the monocular distance measuring module 66 converts the two-dimensional coordinates of the target in the monocular distance measuring system into three-dimensional coordinates to obtain first geographic coordinates, and on the basis, combines with the longitudinal gradient information to obtain second geographic coordinates, so that the estimation result of the target distance is more accurate.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of target distance estimation. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
In an embodiment, fig. 8 is a schematic diagram of an internal structure of a computer device according to an embodiment of the present invention, and as shown in fig. 8, a computer device is provided, where the computer device may be a server, and the internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of target distance estimation.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the steps of the method for target distance estimation provided by the above embodiments.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of target distance estimation provided by the respective embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A method of target distance estimation, the method comprising:
acquiring a plurality of reference points on a vehicle running road, acquiring reference point geographical coordinates of the reference points according to vehicle geographical coordinates of the vehicle, and acquiring longitudinal gradient information of the reference points according to the reference point geographical coordinates, wherein the reference points correspond to the longitudinal gradient information;
establishing a terrain height curve model according to the reference point geographical coordinates and the longitudinal gradient information;
acquiring the image coordinates of a target, acquiring first geographical coordinates of the target according to the image coordinates, and acquiring second geographical coordinates of the target according to the terrain height curve model and the first geographical coordinates.
2. The method of target distance estimation according to claim 1, wherein said establishing a geo-elevation curve model based on the reference point geographic coordinates and the longitudinal slope information comprises:
obtaining the curvature and the curvature change rate of the terrain height curve model by a least square method according to the reference point geographic coordinate and the longitudinal gradient information;
and establishing a terrain height curve model according to the curvature and the curvature change rate.
3. The method of object distance estimation according to claim 1, wherein said deriving a first geographic coordinate of the object from the image coordinates comprises:
and converting the image coordinates into first geographical coordinates of the target according to camera parameters and a coordinate rotation matrix, wherein the camera is used for acquiring the image of the target, and the camera parameters comprise camera internal parameters and camera external parameters.
4. The method of target distance estimation according to claim 3, wherein after said deriving second geographic coordinates of said target from said geodetic altitude curve model and said first geographic coordinates, said method further comprises:
obtaining a temporary first component of the second geographic coordinate according to the terrain height curve model and the first geographic coordinate, and performing iterative operation on the temporary first component to obtain a first component;
and obtaining a second component of the second geographic coordinate according to the first component and the camera parameter, and obtaining a third component of the second geographic coordinate through the terrain height curve model according to the first component.
5. The method of object distance estimation according to claim 1, wherein before said deriving the distance between the object and the vehicle from the second geographic coordinates, the method further comprises:
and acquiring the reference height of the target, and acquiring a second geographic coordinate of the target according to the reference height and the first geographic coordinate.
6. A system for target distance estimation, comprising a positioning module, a map information module, and a monocular distance measuring module:
the map information module acquires a plurality of reference points on a vehicle running road, acquires the reference point geographical coordinates of the reference points according to the vehicle geographical coordinates of the vehicle provided by the positioning module, and acquires the longitudinal gradient information of the reference points according to the reference point geographical coordinates, wherein the reference points correspond to the longitudinal gradient information one by one;
the map information module establishes a terrain height curve model according to the reference point geographic coordinate and the longitudinal gradient information;
the monocular distance measuring module obtains image coordinates of a target, obtains first geographic coordinates of the target according to the image coordinates, and obtains second geographic coordinates of the target according to the terrain height curve model and the first geographic coordinates.
7. The system for target distance estimation according to claim 6, wherein the monocular distance measuring module is further configured to obtain the curvature and the curvature change rate of the terrain height curve model by a least square method according to the reference point geographical coordinates and the longitudinal gradient information; and establishing a terrain height curve model according to the curvature and the curvature change rate.
8. The system of claim 6, wherein the monocular distance measuring module is further configured to convert the image coordinates into first geographic coordinates of the target according to a camera parameter and a coordinate rotation matrix, wherein the camera is configured to acquire the image of the target, and wherein the camera parameter comprises an internal camera parameter and an external camera parameter.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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