SG11202000641UA - Vehicle-mounted camera pose estimation method, apparatus, and system, and electronic device - Google Patents

Vehicle-mounted camera pose estimation method, apparatus, and system, and electronic device

Info

Publication number
SG11202000641UA
SG11202000641UA SG11202000641UA SG11202000641UA SG11202000641UA SG 11202000641U A SG11202000641U A SG 11202000641UA SG 11202000641U A SG11202000641U A SG 11202000641UA SG 11202000641U A SG11202000641U A SG 11202000641UA SG 11202000641U A SG11202000641U A SG 11202000641UA
Authority
SG
Singapore
Prior art keywords
vehicle
electronic device
estimation method
mounted camera
pose estimation
Prior art date
Application number
SG11202000641UA
Other languages
English (en)
Inventor
Xing Dai
Zhe Wang
Jianping Shi
Original Assignee
Beijing Sensetime Technology Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Sensetime Technology Development Co Ltd filed Critical Beijing Sensetime Technology Development Co Ltd
Publication of SG11202000641UA publication Critical patent/SG11202000641UA/en

Links

Classifications

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Studio Devices (AREA)
SG11202000641UA 2018-08-24 2019-06-28 Vehicle-mounted camera pose estimation method, apparatus, and system, and electronic device SG11202000641UA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810973920.XA CN110858405A (zh) 2018-08-24 2018-08-24 车载摄像头的姿态估计方法、装置和系统及电子设备
PCT/CN2019/093911 WO2020038118A1 (zh) 2018-08-24 2019-06-28 车载摄像头的姿态估计方法、装置和系统及电子设备

Publications (1)

Publication Number Publication Date
SG11202000641UA true SG11202000641UA (en) 2020-03-30

Family

ID=69592397

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202000641UA SG11202000641UA (en) 2018-08-24 2019-06-28 Vehicle-mounted camera pose estimation method, apparatus, and system, and electronic device

Country Status (5)

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

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US10816354B2 (en) 2017-08-22 2020-10-27 Tusimple, Inc. Verification module system and method for motion-based lane detection with multiple sensors
US12270661B2 (en) 2018-02-14 2025-04-08 Tusimple, Inc. Lane marking localization and fusion
US11009365B2 (en) 2018-02-14 2021-05-18 Tusimple, Inc. Lane marking localization
US11009356B2 (en) 2018-02-14 2021-05-18 Tusimple, Inc. Lane marking localization and fusion
EP3893150A1 (en) * 2020-04-09 2021-10-13 Tusimple, Inc. Camera pose estimation techniques
US12579684B2 (en) * 2020-08-18 2026-03-17 Foresight Automotive Ltd. System and method for pose estimation of sensors using motion and angular shift
CN113490967A (zh) * 2020-09-22 2021-10-08 深圳市锐明技术股份有限公司 一种相机的标定方法、标定装置及电子设备
CN112384952A (zh) * 2020-09-22 2021-02-19 深圳市锐明技术股份有限公司 一种相机的标定方法、标定装置及电子设备
CN112597965B (zh) * 2021-01-05 2024-10-18 株洲中车时代电气股份有限公司 一种驾驶行为识别方法、装置和计算机可读存储介质
CN112907678B (zh) * 2021-01-25 2022-05-13 深圳佑驾创新科技有限公司 车载相机外参姿态动态估计方法、装置、计算机设备
JP7776100B2 (ja) 2021-04-16 2025-11-26 株式会社コムテック 再生制御システム及びコンピュータプログラム
CN115564793B (zh) * 2021-06-30 2024-12-27 惠州市德赛西威智能交通技术研究院有限公司 一种车载前向摄像头的位姿实时计算方法
CN113744330B (zh) * 2021-08-16 2025-04-29 苏州挚途科技有限公司 车载摄像头的俯仰角确定方法、装置及电子设备
US11875580B2 (en) * 2021-10-04 2024-01-16 Motive Technologies, Inc. Camera initialization for lane detection and distance estimation using single-view geometry
CN114494439B (zh) * 2022-01-25 2023-08-15 襄阳达安汽车检测中心有限公司 Hil仿真测试中摄像头位姿校准方法、装置、设备及介质
KR20240103749A (ko) * 2022-12-27 2024-07-04 현대자동차주식회사 차량 및 그 제어방법
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CN116708989A (zh) * 2023-05-12 2023-09-05 北京鉴智科技有限公司 一种车载摄像头的控制方法、装置、车辆和存储介质
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CN121414856A (zh) * 2025-12-24 2026-01-27 浙江吉利控股集团有限公司 车载相机外参标定方法、电子设备及程序产品

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CN108898638A (zh) * 2018-06-27 2018-11-27 江苏大学 一种车载摄像头在线自动标定方法

Also Published As

Publication number Publication date
US20200160561A1 (en) 2020-05-21
US11205284B2 (en) 2021-12-21
JP6995188B2 (ja) 2022-01-14
WO2020038118A1 (zh) 2020-02-27
JP2020533667A (ja) 2020-11-19
CN110858405A (zh) 2020-03-03

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