CN112640417A - 匹配关系确定方法、重投影误差计算方法及相关装置 - Google Patents
匹配关系确定方法、重投影误差计算方法及相关装置 Download PDFInfo
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Abstract
一种匹配关系确定方法、重投影误差计算方法及相关装置，涉及人工智能领域，具体涉及自动驾驶领域，该匹配关系确定方法包括：获取N组特征点对(301)，每组特征点对包括两个相匹配的特征点，其中一个特征点为从第一图像提取的特征点，另一个特征点为从第二图像提取的特征点；利用动态障碍物的运动状态信息对所述N组特征点对中目标特征点的像素坐标进行调整(302)，所述目标特征点属于所述第一图像和/或所述第二图像中所述动态障碍物对应的特征点；根据所述N组特征点对中各特征点对应的调整后的像素坐标，确定所述第一图像和所述第二图像之间的目标匹配关系(303)；在存在动态障碍物的自动驾驶场景能准确地确定两帧图像之间的匹配关系。
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PCT国内申请，说明书已公开。
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- PCT国内申请，权利要求书已公开。
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Cited By (5)
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| CN113239072A (zh) * | 2021-04-27 | 2021-08-10 | 华为技术有限公司 | 一种终端设备定位方法及其相关设备 |
| CN113345046A (zh) * | 2021-06-15 | 2021-09-03 | 萱闱(北京)生物科技有限公司 | 操作设备的移动轨迹记录方法、装置、介质和计算设备 |
| CN114419580A (zh) * | 2021-12-27 | 2022-04-29 | 北京百度网讯科技有限公司 | 障碍物关联方法、装置、电子设备及存储介质 |
| WO2023280147A1 (en) * | 2021-07-05 | 2023-01-12 | Beijing Bytedance Network Technology Co., Ltd. | Method, apparatus, and medium for point cloud coding |
| CN116736227A (zh) * | 2023-08-15 | 2023-09-12 | 无锡聚诚智能科技有限公司 | 一种麦克风阵列和摄像头联合标定声源位置的方法 |
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| CN113139031B (zh) * | 2021-05-18 | 2023-11-03 | 智道网联科技(北京)有限公司 | 用于自动驾驶的交通标识的生成方法及相关装置 |
| CN113484843B (zh) * | 2021-06-02 | 2024-09-06 | 福瑞泰克智能系统有限公司 | 一种激光雷达与组合导航间外参数的确定方法及装置 |
| CN113609914B (zh) * | 2021-07-09 | 2024-05-10 | 北京经纬恒润科技股份有限公司 | 一种障碍物识别方法、装置和车辆控制系统 |
| CN113687337B (zh) * | 2021-08-02 | 2024-05-31 | 广州小鹏自动驾驶科技有限公司 | 车位识别性能测试方法、装置、测试车辆及存储介质 |
| CN113687336A (zh) * | 2021-09-09 | 2021-11-23 | 北京斯年智驾科技有限公司 | 一种雷达标定方法、装置、电子设备和介质 |
| CN113792674B (zh) * | 2021-09-17 | 2024-03-26 | 支付宝(杭州)信息技术有限公司 | 空座率的确定方法、装置和电子设备 |
| CN113869422B (zh) * | 2021-09-29 | 2022-07-12 | 北京易航远智科技有限公司 | 多相机目标匹配方法、系统、电子设备及可读存储介质 |
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| CN114549750A (zh) * | 2022-02-16 | 2022-05-27 | 清华大学 | 多模态场景信息采集与重建方法及系统 |
| CN114581501A (zh) * | 2022-03-03 | 2022-06-03 | 北京百度网讯科技有限公司 | 点云数据处理方法、装置、电子设备以及存储介质 |
| CN115015955B (zh) * | 2022-05-23 | 2024-10-11 | 鄂尔多斯市卡尔动力科技有限公司 | 运动信息的确定方法、装置、设备、存储介质和程序产品 |
| CN116664643B (zh) * | 2023-06-28 | 2024-08-13 | 哈尔滨市科佳通用机电股份有限公司 | 基于SuperPoint算法的铁路列车图像配准方法及设备 |
| CN116625385B (zh) * | 2023-07-25 | 2024-01-26 | 高德软件有限公司 | 路网匹配方法、高精地图构建方法、装置及设备 |
| CN117994759A (zh) * | 2024-01-31 | 2024-05-07 | 小米汽车科技有限公司 | 障碍物的位置检测方法及装置 |
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2019
- 2019-08-09 WO PCT/CN2019/100093 patent/WO2021026705A1/zh active Application Filing
- 2019-08-09 CN CN201980051525.9A patent/CN112640417B/zh active Active
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113239072A (zh) * | 2021-04-27 | 2021-08-10 | 华为技术有限公司 | 一种终端设备定位方法及其相关设备 |
| CN113345046A (zh) * | 2021-06-15 | 2021-09-03 | 萱闱(北京)生物科技有限公司 | 操作设备的移动轨迹记录方法、装置、介质和计算设备 |
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| CN114419580A (zh) * | 2021-12-27 | 2022-04-29 | 北京百度网讯科技有限公司 | 障碍物关联方法、装置、电子设备及存储介质 |
| CN116736227A (zh) * | 2023-08-15 | 2023-09-12 | 无锡聚诚智能科技有限公司 | 一种麦克风阵列和摄像头联合标定声源位置的方法 |
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