CN116202530A - Object positioning and slope equation creation method and device and electronic equipment - Google Patents
Object positioning and slope equation creation method and device and electronic equipment Download PDFInfo
- Publication number
- CN116202530A CN116202530A CN202310250245.9A CN202310250245A CN116202530A CN 116202530 A CN116202530 A CN 116202530A CN 202310250245 A CN202310250245 A CN 202310250245A CN 116202530 A CN116202530 A CN 116202530A
- Authority
- CN
- China
- Prior art keywords
- slope
- target
- coordinate system
- target object
- determining
- 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
Images
Classifications
-
- 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
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Image Processing (AREA)
Abstract
The application provides a method and a device for creating a positioning and slope equation of an object and electronic equipment. The method comprises the steps of projecting a target object from an image acquisition device coordinate system to a target coordinate system to obtain projection coordinates of the target object; judging whether the target object is on a slope or not according to the projection coordinates; if the target object is on the slope, determining a target ray for connecting the image acquisition device and the target object based on the projection coordinates and the coordinates of the image acquisition device; determining the actual position of the projection of the target object to the target coordinate system through the target ray and a slope equation; the slope equation is created through track information of lane lines on the high-precision map. According to the method and the device, the target object is repositioned according to the slope equation created according to the track information of the lane lines on the high-precision map, so that the accuracy of positioning the target object can be improved.
Description
Technical Field
The application relates to the field of positioning, in particular to a method and a device for creating a positioning and slope equation of an object and electronic equipment.
Background
Currently, in vehicle-road coordination, a target object is usually positioned by detecting a vehicle in an image, and then projecting the target object onto the ground through calibration parameters of a camera to determine the actual coordinates of the target object. However, this way of determining the actual coordinates of the target object often deviates during projection, so that the positioning of the target object is not accurate.
Disclosure of Invention
In view of this, an object of the embodiments of the present application is to provide a method, a device, and an electronic device for positioning an object and creating a slope equation, which can improve accuracy of positioning a target object on a slope.
In a first aspect, an embodiment of the present application provides a method for positioning an object, including: projecting a target object from an image acquisition device coordinate system to a target coordinate system to obtain a projection coordinate of the target object, wherein the target coordinate system is a local coordinate system or a world coordinate system established by installation equipment in which the image acquisition device is positioned; judging whether the target object is on a slope or not according to the projection coordinates; if the target object is on the slope, determining the actual position of the projection of the target object to the target coordinate system through a target ray and a slope equation; the slope equation is created through track information of lane lines on a high-precision map, and the target rays are determined through the projection coordinates and the coordinates of the image acquisition device.
In the implementation process, after the coordinates of the target object are projected from the coordinate system of the image acquisition device to the target coordinate system, for the target object on the slope surface, as the slope surface has a certain angle, errors may exist in the obtained projection coordinates during direct projection. The target object is repositioned by the slope equation created according to the track information of the lane lines on the high-precision map, and the slope equation is created according to the track information pre-stored in the high-precision map, and the high-precision map has the characteristics of high precision, high granularity, instantaneity and the like, so that the slope equation can more accurately position and correct the actual position of the target object, and the accuracy of positioning the target object is improved.
In one embodiment, the determining the actual position of the projection of the target object to the target coordinate system by the target ray and the slope equation includes: establishing a joint equation according to a linear equation in which the target ray is positioned and the slope equation; and determining the actual position of the target object by solving the joint equation.
In the implementation process, the target ray is corrected through the slope equation to determine the intersection point of the corrected ray and the ground plane, and then the actual coordinate position of the target image in the target coordinate system is obtained. The actual coordinate position is corrected through the slope equation, the slope equation is created based on track information stored in the high-precision map in advance, and the high-precision map has the characteristics of high precision, high granularity, instantaneity and the like, so that the slope equation can more accurately position and correct the actual position of the target object, and the accuracy of positioning the target object is improved.
In one embodiment, the projecting the target object from the image capturing device coordinate system to the target coordinate system to obtain the projection coordinates of the target object includes: normalizing coordinates of the target object in a coordinate system where the image acquisition device is located; calculating the non-distortion point coordinates according to the normalized coordinates and the Newton iteration method; and determining the projection coordinates of the target object according to the preset parameters of the image acquisition device and the non-distortion point coordinates.
In the implementation process, before the projection coordinates of the target object are determined, the coordinates of the target object in the image acquisition device are normalized, and then the distortion is removed through a Newton iteration method, so that the non-distortion point coordinates are obtained. Because the image acquisition device possibly causes errors in the process of manufacturing, mounting and the like, distortion points are generated, the distortion points can be subjected to reverse de-distortion treatment through a Newton iteration method, the accuracy of coordinates of the target object in a coordinate system of the image acquisition device due to the errors of the image acquisition device is reduced, and the accuracy of projection coordinates of the target object in the ground coordinates is improved.
In a second aspect, embodiments of the present application further provide a method for creating a slope equation, including: determining a slope in the target ground according to track information of a lane line of the target road surface in a high-precision map; determining a slope equation based on the lane track points on the slope; the slope equation is used for calculating an actual position of the target object in a target coordinate system in any possible implementation manner of the first aspect, where the target coordinate system is a local coordinate system or a world coordinate system established by a mounting device where the image capturing device is located.
In the implementation process, the track information of the lane lines stored in the high-precision map is subjected to fitting and other processing, and a slope equation is established, and the accuracy and the authenticity of the slope equation are improved because the slope equation is established based on the real track information of the target road surface and the high-precision map has the characteristics of high precision, high granularity, instantaneity and the like. In addition, the slope equation can truly and accurately reflect the actual slope position, so that the actual position of the target object is calculated through the slope equation, and the accuracy of the calculated actual position of the target object can be improved.
In one embodiment, the track information includes track points, and the determining the slope in the target ground according to the track information of the target ground in the high-precision map includes: calculating the derivative of the track points in the high-precision map; and determining the track points with the derivative larger than a preset value as track points on the slope.
In the implementation process, by deriving the track points, the inflection points in the derivative in the track information can be determined as the intersection points, and then the track points on the slope can be determined according to the relation between the preset value at the intersection points and the derivative of the track points, so that the division of the ground plane and the slope is realized. The division of the ground plane and the slope is realized through the simple derivative calculation, the difficulty of dividing the slope is reduced, and the efficiency of dividing the slope is improved.
In one embodiment, the determining a slope equation based on the lane trajectory points on the slope includes: the method comprises the steps of obtaining a lane track point of a slope from a junction of a ground plane and the slope, wherein the junction is the last track point of which the derivative is smaller than the preset value; determining a slope inclination angle according to the lane track points of the slope; determining a slope normal vector according to the slope inclination angle and the plane normal vector of the ground plane; and determining a slope equation according to the slope normal vector and the intersection point.
In the implementation process, the slope equation is determined according to the slope normal vector, and the normal vector is used for calculating the vector equation with the equal distance between the face angle and the point face in the space, so that the relationship between the intersection point and the track point on the slope can be accurately reflected through the slope normal vector, a real and accurate slope equation can be established, and the accuracy of the slope equation is improved.
In one embodiment, the ramp equation is: -sin theta (x-x 0 ) +cos θ×z=0, where θ is slope inclination, x 0 The coordinate point is a coordinate point of a slope and a ground plane, which is positioned on a first coordinate axis of a target coordinate system, x is an actual position of a target object on the first coordinate axis of the target coordinate system, and z is an actual position of the target object on a third coordinate axis of the target coordinate system.
In one embodiment, if the target coordinate system is a local coordinate system established by the installation device where the image capturing device is located, the determining the slope in the target ground according to the track information in the high-precision map includes: projecting track information of a target pavement in a high-precision map from a world coordinate system to the local coordinate system; and determining the slope in the target ground according to the track information in the local coordinate system.
In the implementation process, the track information in the high-precision map is projected to the local coordinate system so as to establish the target road surface slope and the slope equation in the local coordinate system, and the local coordinate system has the advantages of intuitiveness and simplicity, so that the calculation difficulty of establishing the slope equation can be reduced.
In a third aspect, an embodiment of the present application further provides a positioning device for an object, including: the first projection module is used for projecting the target object from the coordinate system of the image acquisition device to the target coordinate system so as to obtain the projection coordinate of the target object, wherein the target coordinate system is a local coordinate system or a world coordinate system established by the installation equipment of the image acquisition device; the judging module is used for judging whether the target object is on the slope or not according to the projection coordinates; the first determining module is used for determining the actual position of the projection of the target object to the target coordinate system through a target ray and a slope equation if the target object is on a slope; the slope equation is created through track information of lane lines on a high-precision map, and the target rays are determined through the projection coordinates and the coordinates of the image acquisition device.
In a fourth aspect, embodiments of the present application further provide a slope equation creating apparatus, including: the second determining module is used for determining a slope in the target ground according to track information of a lane line of the target road surface in the high-precision map; the third determining module is used for determining a slope equation based on the lane track points on the slope; the slope equation is used for calculating the actual position of the target object in a target coordinate system, wherein the target coordinate system is a local coordinate system or a world coordinate system established by the installation equipment of the image acquisition device.
In a fifth aspect, embodiments of the present application further provide an electronic device, including: a processor, a memory storing machine-readable instructions executable by the processor, which when executed by the processor perform the steps of the method of the first aspect, or any of the possible implementations of the first aspect, the second aspect, or any of the possible implementations of the second aspect.
In a sixth aspect, the present embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect, or any of the possible implementations of the first aspect, the second aspect, or any of the possible implementations of the second aspect.
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of interaction between an image acquisition device and an electronic device according to an embodiment of the present application;
fig. 2 is a schematic block diagram of an electronic device according to an embodiment of the present application;
FIG. 3 is a flowchart of a method for positioning an object according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a ground coordinate system of an object according to an embodiment of the present disclosure;
FIG. 5 is a flow chart of a method of creating a slope equation provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of a functional module of a positioning device for an object according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of a functional module of a slope equation creating apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Due to the convenience and intelligence of autopilot, autopilot technology has been rapidly developed, which has become an important driving assistance technology. In automatic driving, it is necessary to acquire information such as vehicle position information and environmental information in real time, and to adjust the traveling speed and traveling direction of the vehicle based on the information such as the real-time vehicle position information and the environmental information. However, there is a certain error in the automatic adjustment of the vehicle in the automatic driving at present.
The inventor of the application finds that in automatic driving, if errors occur in the cooperation of the vehicles and the roads, the automatic adjustment of the vehicles can be influenced. In the vehicle-road coordination, the accuracy of the actual position of the vehicle is the basis for ensuring the automatic adjustment of the vehicle. However, current positioning methods are effective only for vehicles on level ground, and deviations often occur for vehicles on sloping surfaces.
In view of this, the present inventors propose a method for positioning an object by establishing a slope equation according to track information of a lane line in a high-precision map, and correcting projection coordinates of the object in a target coordinate system based on the slope equation to reposition the object. Because the high-precision map has the characteristics of high precision, high granularity, instantaneity and the like, the instantaneity and the accuracy of target object positioning can be improved.
For the convenience of understanding the present embodiment, a detailed description will be first given of an operating environment in which a positioning method and/or a slope equation creation method of an object disclosed in the embodiments of the present application are performed.
Fig. 1 is a schematic diagram illustrating interaction between an image capturing device and an electronic device according to an embodiment of the present application. The electronic device 100 herein is communicatively coupled to one or more image capture devices 200 via a network for data communication or interaction. The electronic device 100 may be a web server, database server, personal computer (personal computer, PC), tablet, smart phone, personal digital assistant (personal digital assistant, PDA), etc. The image acquisition device can be a device for acquiring a target object by a camera, a video camera, a sky eye and the like.
The image pickup device 200 is disposed at one side or both sides of the road of the target road surface, and the image pickup device 200 may be disposed above the target road surface. The setting mode of the image acquisition device 200 can be adjusted according to practical situations, and the application is not particularly limited.
The electronic device 100 is configured to acquire an image of a target object acquired by an image acquisition device, so as to calculate an actual position of the target object according to the image of the target object.
In some embodiments, the electronic device 100 stores a high-precision map, where track information of a lane line of the target road surface is included in the high-precision map.
An electronic device for performing the method disclosed in the embodiments of the present application is described in detail below. It will be appreciated that the positioning method of the object and the slope equation creation method of the present application may be performed by the same electronic device, or may be performed by different electronic devices.
As shown in fig. 2, a block schematic diagram of the electronic device is shown. The electronic device 100 may include a memory 111, a memory controller 112, a processor 113, a peripheral interface 114, and an input output unit 115. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 2 is merely illustrative and is not limiting of the configuration of the electronic device 100. For example, electronic device 100 may also include more or fewer components than shown in FIG. 2, or have a different configuration than shown in FIG. 2.
The above-mentioned memory 111, memory controller 112, processor 113, peripheral interface 114 and input/output unit 115 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 113 is used to execute executable modules stored in the memory.
The Memory 111 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 111 is configured to store a program, and the processor 113 executes the program after receiving an execution instruction, and a method executed by the electronic device 100 defined by the process disclosed in any embodiment of the present application may be applied to the processor 113 or implemented by the processor 113.
The processor 113 may be an integrated circuit chip having signal processing capabilities. The processor 113 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (digital signal processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field Programmable Gate Arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The peripheral interface 114 couples various input/output devices to the processor 113 and the memory 111. In some embodiments, the peripheral interface 114, the processor 113, and the memory controller 112 may be implemented in a single chip. In other examples, they may be implemented by separate chips.
The input-output unit 115 described above is used to provide input data to a user. The input/output unit 115 may be, but is not limited to, a mouse, a keyboard, and the like.
The electronic device 100 in the present embodiment may be used to perform each step in each method provided in the embodiments of the present application. The implementation of the object positioning method and/or the slope equation creation method is described in detail below by way of several embodiments.
Referring to fig. 3, a flowchart of a method for positioning an object according to an embodiment of the present application is shown. The specific flow shown in fig. 3 will be described in detail.
In step 201, the target object is projected from the image capturing device coordinate system to the target coordinate system, so as to obtain the projection coordinates of the target object.
The target coordinate system is a local coordinate system or a world coordinate system established by the installation equipment where the image acquisition device is located.
As shown in fig. 4, if the target coordinate system is a local coordinate system established by using the installation device where the image acquisition device is located, the origin of the target coordinate system is the intersection point of the installation device where the image acquisition device is located and the target road surface, the direction of the installation device along the target road surface is a first coordinate axis of the target coordinate system, the direction of the first coordinate axis is the front of the camera shooting of the image acquisition device, the direction of one side of the installation device perpendicular to the direction of the target road surface is a second coordinate axis of the ground coordinate system, the direction of the second coordinate axis is the right side of the camera of the image acquisition device, the height direction of the installation device is a third coordinate axis of the ground coordinate system, and the direction of the third coordinate axis is the direction of the installation device away from the target ground.
The establishment of the local coordinate system described above is merely exemplary, and the local coordinate system may also be translated, rotated, etc. on the basis of the coordinate system.
The target object here may be a target vehicle, a target robot, a target shuttle, or the like. The image acquisition device may be a camera, webcam or the like that may be used to acquire an image of the target object.
It will be appreciated that after the image acquisition device acquires an image of the target object, the coordinate position of the target object in the coordinate system of the image acquisition device may be determined.
Because the image acquisition device is fixed, the parameter information of the image acquisition device is also determined, and then the target object can be projected from the coordinate system of the image acquisition device to the target coordinate system according to the parameter information of the image acquisition device, so as to obtain the projection coordinate of the target image in the ground coordinate system.
The projection coordinates may be (x, y, 0), where x is a first coordinate axis coordinate point of the projection point and y is a second coordinate axis coordinate point of the projection point.
It will be appreciated that, as shown in fig. 4, after the target object is projected from the image capturing device coordinate system to the target coordinate system, a projection point is generated in the target coordinate system, and the coordinate value of the projection point in the target coordinate system is the projection coordinate of the target object.
In some embodiments, it is determined whether the target object is on the ground plane or the slope by determining from the projected coordinates a relationship to a coordinate threshold. The coordinate threshold value may be a preset coordinate value, or may be a coordinate value of a junction point of the slope and the ground plane.
For example, as shown in fig. 4, assuming that the camera of the image capturing apparatus captures a direction in front of the first coordinate axis, it may be determined that the target object is on the slope if the coordinate point of the projection coordinate on the first coordinate axis is greater than the coordinate point of the intersection point on the first coordinate axis. And if the coordinate point of the projection coordinate on the first coordinate axis is smaller than or equal to the coordinate point of the intersection point on the first coordinate axis, the target object is on the ground plane.
In other embodiments, the relationship between the angle between the line connecting the image acquisition device and the target object and the mounting device and the threshold value of the angle can also be used for determining whether the target object is on the ground plane or the slope. The included angle threshold value can be a preset included angle value, or can be an included angle between the connecting line of the slope and the ground plane junction point and the image acquisition device and the installation equipment.
If the target object is on the slope, the actual position of the projection of the target object to the target coordinate system is determined by the target ray and the slope equation 203.
The slope equation is created through track information of lane lines on the high-precision map. The target ray is determined by the projection coordinates and the coordinates of the image acquisition device, both of which are on the ray.
The track information here may include coordinates of each track point on the target road surface in the world coordinate system. The high-precision map stores track information of a target road surface.
In some embodiments, if the target coordinate system is a local coordinate system established by the installation device where the image acquisition device is located, after track information of the target pavement in the high-precision map is acquired, coordinates of each track point in the world coordinate system in the track information are converted into the target coordinate system, and a slope equation is created through the converted coordinates.
In other embodiments, if the target coordinate system is a world coordinate system, after track information of the target road surface in the high-precision map is obtained, a slope equation is directly created according to coordinates of each track point in the track information in the world coordinate system.
The target ray is a connecting line for connecting the image acquisition device and the projection point of the target object.
Illustratively, it is assumed that the coordinates of the image capturing device in the target coordinate system are (x c ，y c H), the coordinates of the target object in the target coordinate system are (x, y, z), and then the target ray is:
d＝(x-x c ，y-y c ，z-h)＝(A0，B0，C0)；
it will be appreciated that in determining that the target object is on a slope, it may be determined that there may be a deviation in the projected coordinates of the target object when it is projected from the image acquisition device coordinate system to the target coordinate system. At this time, it is necessary to further correct the actual position of the target object in the target coordinate system.
When the actual position of the target object in the target coordinate system is corrected, the intersection point of the target ray and the slope surface can be determined through the intersection point of the target ray and the slope equation, and the intersection point is the actual position of the projection of the target object to the target coordinate system.
In the implementation process, after the coordinates of the target object are projected from the coordinate system of the image acquisition device to the target coordinate system, for the target object on the slope surface, as the slope surface has a certain angle, errors may exist in the obtained projection coordinates during direct projection. The target object is repositioned by the slope equation created according to the track information of the lane lines on the high-precision map, and the slope equation is created according to the track information pre-stored in the high-precision map, and the high-precision map has the characteristics of high precision, high granularity, instantaneity and the like, so that the slope equation can more accurately position and correct the actual position of the target object, and the accuracy of positioning the target object is improved.
In one possible implementation, step 203 includes: establishing a joint equation according to a linear equation and a slope equation of the target ray; the actual position of the target object is determined by solving the joint equation.
The joint equation is:
wherein θ is slope inclination angle, x 0 A first coordinate axis coordinate point (x) which is the junction point of the slope surface and the ground plane c ，y c H) is the coordinates of the image acquisition device in the target coordinate system, (x, y, z) is the actual position of the projection of the target object to the target coordinate system, A 0 B is the distance between the projection coordinate of the target object and the intersection point on the first coordinate axis of the target coordinate system 0 C is the distance between the projection coordinate of the target object and the intersection point on the second coordinate axis of the target coordinate system 0 The distance between the projection coordinate of the target object and the intersection point on the third coordinate axis of the target coordinate system.
In the implementation process, the target ray is corrected through the slope equation to determine the intersection point of the corrected ray and the ground plane, and then the actual coordinate position of the target image in the target coordinate system is obtained. The actual coordinate position is corrected through the slope equation, the slope equation is created based on track information stored in the high-precision map in advance, and the high-precision map has the characteristics of high precision, high granularity, instantaneity and the like, so that the slope equation can more accurately position and correct the actual position of the target object, and the accuracy of positioning the target object is improved.
In one possible implementation, step 201 includes: normalizing coordinates of the target object in a coordinate system of the image acquisition device; calculating the non-distortion point coordinates according to the normalized coordinates and the Newton iteration method; and determining the projection coordinates of the target object according to the preset parameters and the non-distortion point coordinates of the image acquisition device.
The formula for the normalization process here may be:
wherein K is an internal reference matrix of the image acquisition device, (u, v) is a coordinate point of a target object in a coordinate system of the image acquisition device, and (x) d ，y d ) The coordinate value f after normalization processing of the coordinate point of the target object in the coordinate system of the image acquisition device x To describe the length of the focal length in the first coordinate axis direction using pixels, f y To describe the length of the focal length in the direction of the second coordinate axis using pixels, c x To describe the length of the focal length in the direction of the first coordinate axis using the offset, c y The length of the focal length in the direction of the second coordinate axis is described for using the offset.
It can be understood that in the process of manufacturing and installing the optical system of the image acquisition device, due to technical problems, installation errors of different degrees exist among various parts, so that an optical path entering the lens deviates from an ideal line, an imaging point deviates from an ideal position, optical distortion is generated, and a distortion point is formed.
The distortion point can be de-distorted by Newton's method, quasi-Newton's method, gradient descent method, conjugate gradient method, etc. to obtain non-distortion point.
The preset parameters of the image acquisition device can enable the external parameters of the image acquisition device to be parameters of the image acquisition device in a world coordinate system, such as the position, the rotation direction and the like of the image acquisition device.
In some embodiments, determining the projection coordinates of the target object according to the preset parameters and the non-distorted point coordinates of the image capturing device may include:
assume that the installation coordinate of the image acquisition device is P b (x b ，y b ，z b ) Normalization of coordinates in a coordinate system of an image acquisition deviceThe treated point is (x m ，y m 1), the point after the normalization processing of the coordinates in the coordinate system of the image acquisition device is transferred to the target coordinate system as follows:
(x w ，y w ，z w ) T ＝(x m ，y m ，1) T *R -1 +(x b ，y b ，z b ) T ；
wherein R is a transformation matrix from a target coordinate system to an image acquisition device coordinate system, (x) w ，y w ，z w ) The coordinates of the target object in the target coordinate system after normalization processing.
Further, according to the principle of similar triangles:
and then the projection coordinates of the target object can be determined as follows:
wherein, (x) t ，y t ) Is the projected coordinates of the target object.
In the implementation process, before the projection coordinates of the target object are determined, the coordinates of the target object in the image acquisition device are normalized, and then the distortion is removed through a Newton iteration method, so that the non-distortion point coordinates are obtained. Because the image acquisition device possibly causes errors in the process of manufacturing, mounting and the like, distortion points are generated, the distortion points can be subjected to reverse de-distortion treatment through a Newton iteration method, the accuracy of coordinates of the target object in a coordinate system of the image acquisition device due to the errors of the image acquisition device is reduced, and the accuracy of projection coordinates of the target object in the ground coordinates is improved.
In one possible implementation, the calculation formula for calculating the non-distorted point coordinates according to the normalized coordinates and the newton iteration method is as follows:
wherein, (x) d ，y d ) For the normalized coordinates, the distortion () is the distortion function of the image acquisition device, d x D, for the error of the normalized coordinate and the non-distorted point coordinate on the first coordinate axis of the target coordinate system y For the error of the normalized coordinates and the non-distorted point coordinates on the second coordinate axis of the target coordinate system, (x) m ，y m ) Is the non-distorted point coordinates.
In the implementation process, the non-distorted point coordinates are calculated by reverse de-distortion through the Newton iteration method, and the non-distorted point calculation efficiency can be improved while the non-distorted point calculation difficulty is reduced due to the advantages of simplicity, high iteration speed and the like of the Newton iteration method.
Referring to fig. 5, a flowchart of a method for creating a slope equation according to an embodiment of the present application is shown. The specific flow shown in fig. 5 will be described in detail.
It will be appreciated that before determining the slope in the target ground, it is necessary to determine the junction between the ground plane and the slope, so as to determine whether the track point is at the ground plane or the slope by determining the relationship between each track point in the track information and the junction, and further determine the slope in the target ground.
In some embodiments, by establishing a track equation of each track point in the track information, further conducting derivation processing on the track equation, determining an inflection point of a first order derivative of the track equation, wherein the inflection point is a junction of the ground plane and the slope.
Step 303, determining a slope equation based on the lane track points on the slope.
Wherein the ramp equation is used to calculate the actual position of the target object in the target coordinate system. The target coordinate system is a local coordinate system or a world coordinate system established by the installation equipment where the image acquisition device is located.
It will be appreciated that the slope equation may be derived by fitting each of the track points on the lane lines to a slope plane.
The ramp equation here is used to calculate the actual position of the target object. The slope equation is obtained through the processing of coordinate conversion, fitting and the like of track information of a lane line of a target road surface stored in advance on the ground, so that the slope equation can truly reflect the actual slope position, and the actual position of a target object calculated through the slope equation is more accurate.
In the implementation process, the track information of the lane lines stored in the high-precision map is subjected to fitting and other processing, and a slope equation is established, and the accuracy and the authenticity of the slope equation are improved because the slope equation is established based on the real track information of the target road surface and the high-precision map has the characteristics of high precision, high granularity, instantaneity and the like. In addition, the slope equation can truly and accurately reflect the actual slope position, so that the actual position of the target object is calculated through the slope equation, and the accuracy of the calculated actual position of the target object can be improved.
In one possible implementation, step 302 includes: calculating the derivative of the track points in the high-precision map; and determining the track points with the derivative larger than the preset value as track points on the slope.
Illustratively, calculating the derivative of the trajectory points in the high-definition map may be accomplished by:
the coordinates of the track points of the target pavement are assumed to be:
(x 1 ，y 1 ，z 1 )，(x 2 ，y 2 ，z 2 )，...(x n ，y n ，z n )；
the first derivative of the trace point is:
wherein k=1, 2,..n-1.
The preset value is a threshold value for determining the minimum angle of the slope. For example, if the minimum angle is a 30 degree tilt angle, i.e., the preset value th=tan 30/80 pi.
In some embodiments, after determining the derivative of the track points, whether each track point is a ground plane or a slope is determined respectively by comparing the track points with a preset value, and then the slope is formed by the determined slope track points.
In the implementation process, by deriving the track points, the inflection points in the derivative in the track information can be determined as the intersection points, and then the track points on the slope can be determined according to the relation between the preset value at the intersection points and the derivative of the track points, so that the division of the ground plane and the slope is realized. The division of the ground plane and the slope is realized through the simple derivative calculation, the difficulty of dividing the slope is reduced, and the efficiency of dividing the slope is improved.
In one possible implementation, step 303 includes: obtaining a lane track point of the slope from the intersection point of the ground plane and the slope; determining a slope inclination angle according to the lane track points of the slope; determining a slope normal vector according to the slope inclination angle and the plane normal vector of the ground plane; and determining a slope equation according to the normal vector of the slope and the intersection point.
The intersection point is the last track point with the derivative of the track point smaller than the preset value.
In some embodiments, determining the slope inclination angle from the lane trajectory point of the slope comprises:
calculating slope inclination angle according to track points on the slope surface:
traversing all slope track points, and determining the average value of the inclination angles as the slope inclination angle:
wherein θ is slope inclination angle, (x) i ，y i ，z i ) And n is the number of all the track points on the slope surface.
It will be appreciated that since the slope equation is an equation reflecting the true position of the slope and the normal vector is a vector equation for calculating the face angle, the equidistant point-to-face in space, it can be determined by the slope normal vector when determining the slope equation.
Because the slope inclination angle is theta, the included angle between the slope and the ground plane is theta, and the normal vector of the slope can be determined by the normal vector of the ground plane:
For a ground plane, the normal vector is (0, 1), then the slope normal vector is:
further, after determining the slope normal vector, a slope equation may be determined based on the slope normal vector and the intersection point where the slope passes.
In the implementation process, the slope equation is determined according to the slope normal vector, and the normal vector is used for calculating the vector equation with the equal distance between the face angle and the point face in the space, so that the relationship between the intersection point and the track point on the slope can be accurately reflected through the slope normal vector, a real and accurate slope equation can be established, and the accuracy of the slope equation is improved.
In one possible implementation, the ramp equation is:
-sinθ*(x-x 0 )+cosθ*z＝0；
wherein θ is slope inclination angle, x 0 Is to sit at the target for the junction of the slope and the ground planeThe coordinate point of the first coordinate axis of the target system, x is the actual position of the target object in the first coordinate axis of the target coordinate system, and z is the actual position of the target object in the third coordinate axis of the target coordinate system.
In one possible implementation, step 301 includes: projecting track information of a target pavement in a high-precision map from a world coordinate system to a local coordinate system; and determining the slope in the target ground according to the track information in the local coordinate system.
The origin of the local coordinate system is the intersection point of the installation equipment where the image acquisition device is located and the target road surface, the advancing direction of the installation equipment along the target road surface is a first coordinate axis of the ground coordinate system, the direction of the first coordinate axis is the shooting front of the camera of the image acquisition device, the direction of one side of the installation equipment vertical to the advancing direction of the target road surface is a second coordinate axis of the ground coordinate system, the direction of the second coordinate axis is the right side direction of the camera of the image acquisition device, the height direction of the installation equipment is a third coordinate axis of the ground coordinate system, and the direction of the third coordinate axis is the direction of the installation equipment far away from the target ground.
The establishment of the local coordinate system described above is merely exemplary, and the local coordinate system may also be translated, rotated, etc. on the basis of the coordinate system.
The high-precision map stores therein track information of the target road surface, which may be coordinates of each track point in the target road surface in the world high-precision map.
The target road surface is the road surface where the target object is located. The target road surface can comprise a ground plane, a slope surface and a comprehensive road section of the ground plane and the slope surface. The target pavement can be provided with one or more image acquisition devices for acquiring images of target objects in the target pavement.
In the implementation process, track information of the lane lines in the high-precision map is projected to the local coordinate system, so that the target road surface slope and the slope equation are established in the local coordinate system, and the local coordinate system has the advantages of intuitiveness and simplicity, so that the calculation difficulty of establishing the slope equation can be reduced. Based on the same application conception, the embodiment of the application also provides a positioning device of an object corresponding to the positioning method of the object, and since the principle of solving the problem by the device in the embodiment of the application is similar to that of the embodiment of the positioning method of the object, the implementation of the device in the embodiment of the application can be referred to the description in the embodiment of the method, and the repetition is omitted.
Fig. 6 is a schematic functional block diagram of a positioning device for an object according to an embodiment of the present application. The respective modules in the positioning device of the object in the present embodiment are used to perform the respective steps in the above-described method embodiments. The positioning device of the object comprises a first projection module 401, a judging module 402 and a first determining module 403; wherein, the liquid crystal display device comprises a liquid crystal display device,
the first projection module 401 is configured to project a target object from an image capturing device coordinate system to a target coordinate system, so as to obtain a projection coordinate of the target object, where the target coordinate system is a local coordinate system or a world coordinate system established by a mounting device where the image capturing device is located.
The judging module 402 is configured to judge whether the target object is on a slope according to the projection coordinates.
The first determining module 403 is configured to determine, if the target object is on the slope, an actual position of the target object projected onto the target coordinate system according to a target ray and a slope equation.
In a possible implementation manner, the first projection module 401 is further configured to: normalizing coordinates of the target object in a coordinate system where the image acquisition device is located; calculating the non-distortion point coordinates according to the normalized coordinates and the Newton iteration method; calculating a homography matrix from a plane where a coordinate system of the image acquisition device is located to a ground plane according to preset parameters of the image acquisition device; and determining the projection coordinates of the target object according to the undistorted point coordinates and the homography matrix.
Based on the same application concept, the embodiment of the application further provides a slope equation creating device corresponding to the slope equation creating method, and since the principle of solving the problem by the device in the embodiment of the application is similar to that of the embodiment of the slope equation creating method, the implementation of the device in the embodiment of the application can be referred to the description in the embodiment of the method, and the repetition is omitted.
Fig. 7 is a schematic functional block diagram of a slope equation creating apparatus according to an embodiment of the present application. The respective modules in the slope equation creation apparatus in the present embodiment are used to perform the respective steps in the above-described method embodiment. The slope equation creating means includes a second projection module 501, a second determination module 502, a third determination module 503; wherein, the liquid crystal display device comprises a liquid crystal display device,
the second determining module 502 is configured to determine a slope in the target ground according to track information of a lane line of the target road in the high-precision map.
A third determination module 503 determines a slope equation based on the lane trajectory points on the slope; the slope equation is used for calculating the actual position of the target object in a target coordinate system, wherein the target coordinate system is a local coordinate system or a world coordinate system established by the installation equipment of the image acquisition device.
In a possible implementation manner, the second determining module 502 is further configured to: calculating the derivative of the track points in the high-precision map; and determining the track points with the derivative larger than a preset value as track points on the slope.
In a possible implementation manner, the second determining module 502 is specifically configured to: the method comprises the steps of obtaining a lane track point of a slope from a junction of a ground plane and the slope, wherein the junction is the last track point of which the derivative is smaller than the preset value; determining a slope inclination angle according to the lane track points of the slope; determining a slope normal vector according to the slope inclination angle and the plane normal vector of the ground plane; and determining a slope equation according to the slope normal vector and the intersection point.
In a possible implementation manner, the second determining module 502 is specifically configured to: projecting track information of a lane line of a target pavement in a high-precision map from a world coordinate system to the local coordinate system; and determining the slope in the target ground according to the track information in the local coordinate system.
Furthermore, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the positioning and/or slope equation creation method of an object described in the above method embodiments.
The computer program product of the method for creating a positioning and/or slope equation of an object provided in the embodiments of the present application includes a computer readable storage medium storing program code, where the program code includes instructions for executing the steps of the method for creating a positioning and/or slope equation of an object described in the embodiments of the method, and the details of the method embodiments are not described herein.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes. It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. A method of positioning an object, comprising:
projecting a target object from an image acquisition device coordinate system to a target coordinate system to obtain a projection coordinate of the target object, wherein the target coordinate system is a local coordinate system or a world coordinate system established by installation equipment in which the image acquisition device is positioned;
Judging whether the target object is on a slope or not according to the projection coordinates;
if the target object is on the slope, determining the actual position of the projection of the target object to the target coordinate system through a target ray and a slope equation;
the slope equation is created through track information of lane lines on a high-precision map, and the target rays are determined through the projection coordinates and the coordinates of the image acquisition device.
2. The method of claim 1, wherein the determining the actual position of the projection of the target object to the target coordinate system by the target ray and the slope equation comprises:
establishing a joint equation according to a linear equation in which the target ray is positioned and the slope equation;
and determining the actual position of the target object by solving the joint equation.
3. The method of claim 1, wherein projecting the target object from the image acquisition device coordinate system to the target coordinate system to obtain projection coordinates of the target object, comprises:
normalizing coordinates of the target object in a coordinate system of the image acquisition device;
calculating the non-distortion point coordinates according to the normalized coordinates and the Newton iteration method;
And determining the projection coordinates of the target object according to the preset parameters of the image acquisition device and the non-distortion point coordinates.
4. A method of creating a slope equation, comprising:
determining a slope in the target ground according to track information of a lane line of the target road surface in a high-precision map;
determining a slope equation based on the lane track points on the slope;
the slope equation is used for calculating the actual position of the target object in the target coordinate system according to any one of claims 1-3, wherein the target coordinate system is a local coordinate system or a world coordinate system established by the installation equipment where the image acquisition device is located.
5. The method of claim 4, wherein the trajectory information includes trajectory points, and wherein the determining a slope in the target ground from the trajectory information of the lane line of the target ground in the high-precision map includes:
calculating the derivative of the track points in the high-precision map;
and determining the track points with the derivative larger than a preset value as track points on the slope.
6. The method of claim 7, wherein the determining a slope equation based on lane trajectory points on the slope comprises:
The method comprises the steps of obtaining a lane track point of a slope from a junction of a ground plane and the slope, wherein the junction is the last track point of which the derivative is smaller than the preset value;
determining a slope inclination angle according to the lane track points of the slope;
determining a slope normal vector according to the slope inclination angle and the plane normal vector of the ground plane;
and determining a slope equation according to the slope normal vector and the intersection point.
7. The method of any one of claims 4-6, wherein the ramp equation is:
-sinθ*(x-x 0 )+cosθ*z＝0；
wherein θ is slope inclination angle, x 0 The coordinate point is a first coordinate axis coordinate point of the intersection point of the slope surface and the ground plane, x is the actual position of the target object on the first coordinate axis of the target coordinate system, and z is the actual position of the target object on the third coordinate axis of the target coordinate system.
8. The method of claim 4, wherein if the target coordinate system is a local coordinate system established by a mounting device in which the image capturing device is located, determining the slope in the target ground according to the track information of the lane line in the high-precision map comprises:
projecting track information of a lane line of a target pavement in a high-precision map from a world coordinate system to the local coordinate system;
And determining the slope in the target ground according to the track information in the local coordinate system.
9. A positioning device for an object, comprising:
the first projection module is used for projecting the target object from the coordinate system of the image acquisition device to the target coordinate system so as to obtain the projection coordinate of the target object, wherein the target coordinate system is a local coordinate system or a world coordinate system established by the installation equipment of the image acquisition device;
the judging module is used for judging whether the target object is on the slope or not according to the projection coordinates;
the first determining module is used for determining the actual position of the projection of the target object to the target coordinate system through a target ray and a slope equation if the target object is on a slope; the slope equation is created through track information of lane lines on a high-precision map, and the target rays are determined through the projection coordinates and the coordinates of the image acquisition device.
10. A slope equation creation apparatus, comprising:
the second determining module is used for determining a slope in the target ground according to track information of a lane line of the target road surface in the high-precision map;
The third determining module is used for determining a slope equation based on the lane track points on the slope;
the slope equation is used for calculating the actual position of the target object in a target coordinate system, wherein the target coordinate system is a local coordinate system or a world coordinate system established by the installation equipment of the image acquisition device.
11. An electronic device, comprising: a processor, a memory storing machine-readable instructions executable by the processor, which when executed by the processor perform the steps of the method of any of claims 1 to 3 or claims 4 to 8 when the electronic device is run.
12. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any of claims 1 to 3 or claims 4 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310250245.9A CN116202530A (en) | 2023-03-14 | 2023-03-14 | Object positioning and slope equation creation method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310250245.9A CN116202530A (en) | 2023-03-14 | 2023-03-14 | Object positioning and slope equation creation method and device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116202530A true CN116202530A (en) | 2023-06-02 |
Family
ID=86515790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310250245.9A Pending CN116202530A (en) | 2023-03-14 | 2023-03-14 | Object positioning and slope equation creation method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116202530A (en) |
-
2023
- 2023-03-14 CN CN202310250245.9A patent/CN116202530A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108805934B (en) | External parameter calibration method and device for vehicle-mounted camera | |
| JP6522076B2 (en) | Method, apparatus, storage medium and program product for lateral vehicle positioning | |
| US9344695B2 (en) | Automatic projection image correction system, automatic projection image correction method, and non-transitory storage medium | |
| US10698308B2 (en) | Ranging method, automatic focusing method and device | |
| US10990836B2 (en) | Method and apparatus for recognizing object, device, vehicle and medium | |
| CN100442141C (en) | Image projection method and device | |
| CN109901140B (en) | Laser radar light path deviation detection method and device and terminal equipment | |
| LU502288B1 (en) | Method and system for detecting position relation between vehicle and lane line, and storage medium | |
| CN112927306B (en) | Calibration method and device of shooting device and terminal equipment | |
| US11880993B2 (en) | Image processing device, driving assistance system, image processing method, and program | |
| US11210773B2 (en) | Information processing apparatus, information processing method, and storage medium for defect inspection and detection | |
| US20170064186A1 (en) | Focus position detection device, focus position detection method, and computer program for focus position detection | |
| CN112446917A (en) | Attitude determination method and device | |
| CN112556994A (en) | Optical information detection method, device and equipment | |
| US11346663B2 (en) | Stereo camera | |
| CN116202530A (en) | Object positioning and slope equation creation method and device and electronic equipment | |
| US10215628B2 (en) | Image calibrating method and device of testing apparatus for thin film transistor substrate | |
| CN113421300B (en) | Method and device for determining actual position of object in fisheye camera image | |
| JP2023125506A (en) | Measuring device, moving device, measuring method, and computer program | |
| CN114739416A (en) | Automatic driving vehicle positioning method and device, electronic equipment and storage medium | |
| JP3452188B2 (en) | Tracking method of feature points in 2D video | |
| WO2020110711A1 (en) | Inspection system, inspection method, and program | |
| CN113593041B (en) | Encoding disk, point cloud data correction system, method, equipment and storage medium | |
| JPH10267621A (en) | Apparatus and method for measurement of height of object | |
| WO2023062994A1 (en) | Learning device, learning method, learning program, camera parameter calculating device, camera parameter calculating method, and camera parameter calculating program |
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 |