WO2022116572A1 - 一种目标定位方法及装置 - Google Patents
一种目标定位方法及装置 Download PDFInfo
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- G—PHYSICS
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- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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Definitions
- the present invention relates to the technical field of positioning, and in particular, to a target positioning method and device.
- the positioning is generally based on the visual information collected by the image acquisition device set by the target object.
- the process of positioning based on visual information it is generally: using the position information of the elements such as street light poles and traffic signs in the visual information, and the initial pose information determined by the target object through the odometer, from the preset to include this type of traffic
- the scene map of the map location information of the elements, in which the map elements that match the street light poles and traffic signs in the visual information are determined, and then, the location information of the street light poles and the traffic signs and the map positions of the matched map elements in the scene image are used. information to determine the more accurate pose information of the autonomous vehicle or robot.
- the above-mentioned traffic elements such as light poles and traffic signs are generally sparse in actual traffic scenes, which to a certain extent affects the accuracy and robustness of the positioning results of the target objects in the above positioning process.
- the present invention provides a target positioning method and device, so as to improve the accuracy and robustness of the positioning result.
- the specific technical solutions are as follows:
- an embodiment of the present invention provides a target positioning method, and the method includes:
- the image position information of the spare ground traffic marker in the road image is determined, wherein the road image is an image collected by an image acquisition device set on the target to be located;
- the first conversion relationship between the device coordinate system of the image acquisition device and the ground coordinate system corresponding to the target to be located, and the image position information of the standby ground traffic marker determining the top-view projection position information of the standby ground traffic marker in the ground coordinate system, wherein the ground coordinate system is a three-dimensional rectangular coordinate system in which the planes where the horizontal axis and the vertical axis are located are parallel to the ground;
- the preset ground traffic landmark map includes: ground traffic landmarks on each map and their map pose information.
- determining the to-be-located location based on the initial pose information, the preset ground traffic landmark map, the internal reference information of the image acquisition device, the first conversion relationship, and the overhead projection position information.
- the steps of the target pose information of the target include:
- a local map corresponding to the initial pose information is determined from a preset map of ground traffic signs
- the map ground traffic landmarks in the local map and their map pose information, the internal reference information of the image acquisition device, the first conversion relationship, and the top-view projection position information determine the Describe the target pose information of the target image to be positioned.
- the initial pose information is the pose information in the world coordinate system
- the map pose information of each map ground traffic marker is the pose information in the world coordinate system
- the step of determining the target pose information of the target image to be positioned includes:
- the second transformation relationship between the device coordinate system and the coordinate system where the target to be located is located, the device projection model of the image acquisition device, and the ground traffic of each map in the local map
- the map pose information of the landmark to determine the mapping position information of each map ground traffic landmark in the road image
- each map ground traffic marker is in the ground coordinate system
- the target pose information of the to-be-located target is determined by using the top-view mapping position information of each ground traffic marker on the map and the top-view projected position information of the standby ground traffic marker.
- the use of the internal reference information of the image acquisition device, the first conversion relationship between the device coordinate system of the image acquisition device and the ground coordinate system corresponding to the target to be located, and the backup ground traffic sign includes:
- the step of obtaining the initial pose information of the target to be positioned includes:
- the initial pose information of the target to be positioned is determined.
- the alternate ground traffic markers include: at least one of lane lines, parking spaces, stop lines, zebra crossings, and traffic indicating arrows.
- an embodiment of the present invention provides a target positioning device, and the device includes:
- the first determination module is configured to determine, based on a preset object detection model and a road image, the image location information of the spare ground traffic markers in the road image, wherein the road image is an image set by the target to be located The image acquired by the acquisition device;
- the second determination module is configured to use the internal reference information of the image acquisition device, the first conversion relationship between the device coordinate system of the image acquisition device and the ground coordinate system corresponding to the target to be located, and the backup ground The image position information of the traffic sign, to determine the overhead projection position information of the standby ground traffic sign in the ground coordinate system, wherein the ground coordinate system is a three-dimensional right angle where the plane where the horizontal axis and the vertical axis are located is parallel to the ground Coordinate System;
- an obtaining module configured to obtain initial pose information of the target to be positioned
- the third determining module is configured to determine the location based on the initial pose information, the preset ground traffic landmark map, the device projection model of the image acquisition device, the first conversion relationship, and the top-view projection position information.
- the third determining module includes:
- a first determining unit configured to determine, based on the initial pose information, a local map corresponding to the initial pose information from a preset map of ground traffic signs;
- the second determining unit is configured to use the initial pose information, the map ground traffic landmarks in the local map and their map pose information, the internal reference information of the image acquisition device, the first conversion relationship, and all The top-view projection position information is used to determine the target pose information of the to-be-located target image.
- the initial pose information is the pose information in the world coordinate system
- the map pose information of each map ground traffic marker is the pose information in the world coordinate system
- the second determining unit is specifically configured to use the initial pose information, the second conversion relationship between the device coordinate system and the coordinate system where the target to be located is located, and the device projection model of the image acquisition device. and the map pose information of each map ground traffic marker in the local map, to determine the mapping position information of each map ground traffic marker in the road image;
- each map ground traffic marker is in the ground coordinate system
- the target pose information of the to-be-located target is determined by using the top-view mapping position information of each ground traffic marker on the map and the top-view projected position information of the standby ground traffic marker.
- the second determining module is specifically configured to use the internal reference information of the image acquisition device and the image position information of the standby ground traffic marker to determine that the standby ground traffic marker is in the image acquisition state.
- Device location information in the device coordinate system of the device;
- the obtaining module is specifically configured to obtain sensor data collected by other sensors set on the target to be positioned;
- the initial pose information of the target to be positioned is determined.
- the alternate ground traffic markers include: at least one of lane lines, parking spaces, stop lines, zebra crossings, and traffic indicating arrows.
- a method and device for locating a target determines the image position information of the spare ground traffic markers in the road image based on a preset object detection model and a road image, wherein the road image is: The image acquired by the image acquisition device set on the target to be located; the internal reference information of the image acquisition device, the first conversion relationship between the device coordinate system of the image acquisition device and the ground coordinate system corresponding to the target to be located, and the alternate ground traffic signs
- the image position information of the object is used to determine the overhead projection position information of the standby ground traffic sign in the ground coordinate system, wherein the ground coordinate system is a three-dimensional rectangular coordinate system in which the plane where the horizontal axis and the vertical axis are located is parallel to the ground;
- Initial pose information determine the target pose information of the target to be located based on the initial pose information, the preset ground traffic landmark map, the device projection model of the image acquisition device, the first conversion relationship, and the top-view projection position information, wherein the preset It
- denser ground traffic markers can be used as the basis for the positioning of the target to be located, the accuracy and robustness of the positioning results can be improved to a certain extent, and the ground coordinates of the spare ground traffic markers can be determined.
- the overhead projection position information under the system and then use the overhead projection position information and the map ground traffic markers and their map pose information in the preset ground traffic marker map to determine the target pose information of the target to be located.
- the target pose information of the target to be positioned is the improvement of the accuracy and robustness of the positioning result.
- More dense ground traffic markers can be used as the basis for the positioning of the target to be located, which can improve the accuracy and robustness of the positioning result to a certain extent, and use the overhead projection position information in the ground coordinate system to determine the target.
- the pose information can eliminate the problem of near-large and far-small ground traffic signs caused by the imaging mechanism of the image acquisition device, and can eliminate the influence of height information on the matching of ground traffic signs and subsequent pose calculation.
- the target pose information of the determined target to be positioned that is, the accuracy and robustness of the positioning result can be improved.
- the top-view mapping position information and the top-view projection position information of the standby ground traffic markers are used for residual optimization to determine the target pose information of the target to be located, so as to eliminate the influence of height information on the matching of ground traffic markers and the calculation of pose information. Improve the accuracy and robustness of the determined target pose information, that is, the positioning result.
- FIG. 1 is a schematic flowchart of a target positioning method provided by an embodiment of the present invention.
- FIG. 2 is a schematic structural diagram of a target positioning apparatus provided by an embodiment of the present invention.
- the present invention provides a target positioning method and device, so as to improve the accuracy and robustness of the positioning result.
- the embodiments of the present invention will be described in detail below.
- FIG. 1 is a schematic flowchart of a target positioning method according to an embodiment of the present invention. The method may include the following steps:
- S101 Based on a preset object detection model and a road image, determine image position information of a backup ground traffic marker in the road image.
- the road image is: the image acquired by the image acquisition device set on the target to be located.
- the pending target may be an autonomous vehicle or a robot.
- the to-be-located target is provided with at least one image acquisition device, which can collect images for the environment where the to-be-located target is located.
- the target to be positioned is also provided with various other sensors for assisting the positioning of the target to be positioned.
- the other sensors may include, but are not limited to, wheel speed sensors, IMU (Inertial measurement unit, inertial measurement unit), GPS (Global Positioning System, global positioning system), and GNSS (Global Navigation Satellite System, global satellite navigation system), etc.
- the target positioning method provided by the embodiment of the present invention can be applied to any electronic device with computing capability, and the electronic device can be a terminal or a server.
- the functional software for realizing the target positioning method may exist in the form of a separate client software, or may exist in the form of a plug-in of the currently related client software, which is all possible.
- the target to be positioned is an autonomous vehicle
- the electronic device may be a vehicle-mounted device, and is set on the target to be positioned.
- the electronic device can be connected with the vehicle-mounted device in the target to be located to obtain the road image collected by the image acquisition device transmitted by the vehicle-mounted device in the target to be located, and the set of the target to be located.
- the sensor data collected by other sensors or the initial pose information of the target to be located determined by the in-vehicle device based on the sensor data collected by other sensors.
- the multiple image acquisition devices can shoot the environment where the target to be located is located in all directions, and obtain multiple road images of the surrounding environment of the target to be located.
- the road image includes road information of the environment where the target to be located is located.
- the electronic device can execute the target positioning method provided by the embodiment of the present invention for each road image, so as to obtain a positioning result with high precision.
- the electronic device After the electronic device obtains the road image, it detects the road image based on the preset object detection model, determines the ground traffic markers in the road image as backup ground traffic markers, and determines the images of the backup ground traffic markers in the road image. location information.
- the preset object detection model is a neural network model pre-trained based on sample images marked with ground traffic markers, and the training process can refer to the training process of the neural network model in the related art, which will not be repeated here.
- the ground traffic markers include backup traffic markers and subsequent map traffic markers.
- the alternate ground traffic signs include at least one of lane lines, parking spaces, stop lines, zebra crossings, and traffic indicating arrows.
- S102 Using the internal reference information of the image acquisition device, the first conversion relationship between the device coordinate system of the image acquisition device and the ground coordinate system corresponding to the target to be located, and the image position information of the standby ground traffic marker, determine the standby ground traffic marker The top-view projected position information in the ground coordinate system.
- the ground coordinate system is a three-dimensional rectangular coordinate system in which the planes where the horizontal axis and the vertical axis are located are parallel to the ground.
- the local or connected storage device of the electronic device pre-stores the internal reference information of the image acquisition device set by the target to be located and the position conversion relationship between the device coordinate system of the image acquisition device and the ground coordinate system corresponding to the target to be located. A conversion relationship.
- the internal reference information of the image acquisition device may include: the focal length fx in the horizontal axis direction under the image coordinate system of the image acquisition device, and the focal length fy in the vertical axis direction under the image coordinate system of the image acquisition device. Generally, the two are equal. ; The position information of the image principal point in the imaging plane of the image acquisition device, and the coordinate axis inclination parameter s of the image coordinate system.
- the electronic device can determine the device location information of the standby ground traffic marker in the device coordinate system of the image acquisition device based on the internal reference information of the image acquisition device and the image location information of the standby ground traffic marker;
- a conversion relationship and equipment position information of the backup ground traffic marker determine the position information of the backup ground traffic marker in the ground coordinate system as the overhead projection position information.
- the ground coordinate system is a three-dimensional rectangular coordinate system, the horizontal axis and the vertical axis are parallel to the ground, and the vertical axis is perpendicular to the ground.
- the overhead projection position information of the backup ground traffic marker in the ground coordinate system may not include the coordinate value of the vertical axis, that is, there is no height information, to a certain extent, the height information can be eliminated to match the subsequent backup ground traffic markers.
- the positioning accuracy is improved.
- the initial pose information includes: initial position information and attitude information of the target to be positioned in a preset three-dimensional rectangular coordinate system.
- the preset three-dimensional rectangular coordinate system is a world coordinate system.
- the electronic device can directly obtain initial pose information of the target to be positioned, wherein the initial pose information is obtained by any combination of sensor data and/or road images collected by other sensors of the target to be positioned.
- Determined pose information can be: the combination of road image and sensor data collected by IMU to determine initial pose information, the combination of road image and sensor data collected by GNSS to determine initial pose information, the combination of road image and sensor data collected by wheel speed sensors to determine The initial pose information, and the sensor data collected by the wheel speed sensor, the sensor data collected by the IMU, and the sensor data collected by the GNSS are combined to determine the initial pose information, and so on.
- S104 Determine the target pose information of the target to be positioned based on the initial pose information, the preset ground traffic landmark map, the device projection model of the image acquisition device, the first conversion relationship, and the overhead projection position information.
- the preset ground traffic marker map includes: ground traffic markers on each map and their map pose information.
- the ground traffic markers on each map exist in the preset ground traffic marker map in the form of a three-dimensional point cloud.
- the ground traffic signs on the map include but are not limited to: lane lines, parking spaces, stop lines, zebra crossings, and traffic arrows, etc.
- the electronic device locally or connected to the storage device pre-stores a preset ground traffic marker map, and after obtaining the initial pose information of the target to be located, in an implementation manner, the electronic device can directly based on the initial pose information, from the preset
- the ground traffic landmark map determines the local area near the location of the target to be located as a local map.
- the local map includes map ground traffic markers.
- the target pose information of the target image to be positioned is determined by using the initial pose information, the map ground traffic landmarks in the local map and their map pose information, the internal reference information of the image acquisition device, the first conversion relationship, and the overhead projection position information. .
- it may be: matching the map ground traffic markers and the backup ground traffic markers in the local map, and using the map pose information of the matched map ground traffic markers and the overhead projection position information of the backup ground traffic markers, initial The pose information, the internal reference information of the image acquisition device, and the first conversion relationship determine the target pose information of the target image to be positioned.
- the initial pose information is the pose information under the world coordinate system
- the map pose information of each map ground traffic marker is the pose information under the world coordinate system
- the target position of the target image to be positioned is determined by using the initial pose information, the map ground traffic landmarks in the local map and their map pose information, the internal reference information of the image acquisition device, the first conversion relationship, and the overhead projection position information.
- the steps of posture information may include the following steps 011-013:
- 011 Using the initial pose information, the second conversion relationship between the device coordinate system and the coordinate system where the target to be located, the device projection model of the image acquisition device, and the map pose information of each map ground traffic marker in the local map, The mapped location information of each map ground traffic marker in the road image is determined.
- 012 Based on the mapping position information of each map ground traffic marker in the road image, the internal reference information of the image acquisition device, and the first conversion relationship, determine the overhead mapping position information of each map ground traffic marker in the ground coordinate system.
- 013 Determine the target pose information of the target to be located by using the top-view mapping position information of each ground traffic marker on the map and the top-view projected position information of the standby ground traffic marker.
- the electronic device can use the initial pose information, the second conversion relationship between the device coordinate system and the coordinate system where the target to be located is located, the device projection model of the image acquisition device, and the ground traffic markers on each map in the local map
- the map pose information of each map in the local map is converted from the coordinate system of the target to be located in the lower limit conversion of the world coordinate system, and then converted to the device coordinate system of the image acquisition device, and then converted to the location where the road image is located.
- the mapping position information of each map ground traffic marker in the road image is determined.
- each map ground traffic marker is converted from the image coordinate system to the image acquisition device.
- the equipment coordinate system and then convert to the ground coordinate system, determine the top-view mapping position information of each map ground traffic marker in the ground coordinate system, so as to eliminate the height information of the map ground traffic marker.
- an objective function is constructed by using the top-view mapping position information of each map ground traffic marker and the top-view projection position information of the alternate ground traffic markers that match each other; based on the function value of the objective function, the initial pose information is adjusted until the target When the function value of the function reaches the preset convergence condition, the adjusted initial pose information in this case is determined, that is, the target pose information of the target to be positioned.
- the preset convergence condition may be: the sum of the position residuals between the matched ground traffic markers on the map and the alternate ground traffic markers is not higher than a preset residual threshold.
- the ground coordinate system coincides with the coordinate system where the target to be located is located. In another case, the ground coordinate system after translation coincides with the coordinate system where the target to be located is located.
- the following formula (1) can be used to determine the mapping location information of the ground traffic markers on the map in the road image:
- T wb represents the position conversion relationship between the coordinate system where the target to be located and the world coordinate system, that is, the initial pose information
- T bc represents the equipment The position conversion relationship between the coordinate system and the coordinate system where the target to be positioned is located, that is, the second conversion relationship
- ⁇ ( ) represents to determine the mapping position information of the map ground traffic marker in the road image, that is, using the initial pose information, the second conversion relationship and the image acquisition device
- the equipment projection model of maps the ground traffic markers from the world coordinate system to the image coordinate system where the road image is located
- ⁇ ( ) represents the top-view mapping position information of the ground traffic markers on the map under the ground coordinate system, that is, using The internal reference information of the image acquisition device and the first conversion relationship project the ground traffic markers from the image coordinate system to the ground coordinate system; where, the value range of i is [
- I( ) represents the energy value function of each traffic marker, wherein, the closer the point in the traffic marker is to the center of the traffic marker, the greater the energy value of the point determined by the energy value function.
- the energy value function may be a Gaussian blur function.
- the traffic landmarks include alternate traffic landmarks and map ground traffic landmarks in the local image.
- f(T wb ) represents an objective function, and when the function value of f(T wb ) reaches a preset convergence condition, the adjusted initial pose information at this time is determined as the target pose information.
- denser ground traffic markers can be used as the basis for the positioning of the target to be located, the accuracy and robustness of the positioning results can be improved to a certain extent, and the overhead projection in the ground coordinate system can be used.
- the position information determines the target pose information, to a certain extent, it can eliminate the problem of near large and far small among ground traffic signs caused by the imaging mechanism of the image acquisition device, and can eliminate the matching of height information to ground traffic signs and the subsequent pose
- the influence of calculation can achieve the target pose information of the determined target to be positioned, that is, the accuracy and robustness of the positioning result to a certain extent.
- the S102 may include the following steps 021-022:
- 023 Determine the overhead projection position information of the standby ground traffic marker in the ground coordinate system by using the device location information of the standby ground traffic marker and the first conversion relationship between the device coordinate system and the ground coordinate system corresponding to the target to be located.
- the electronic device can convert each standby ground traffic marker from the image coordinate system of the road image to the device coordinates of the image acquisition device based on the internal reference information of the image acquisition device and the image position information of the standby ground traffic marker. Under the system, that is, to determine the equipment location information of the standby ground traffic marker under the equipment coordinate system. Further, based on the equipment location information of the standby ground traffic marker and the first conversion relationship between the equipment coordinate system and the ground coordinate system corresponding to the target to be located, the standby ground traffic marker is converted from the equipment coordinate system to the ground coordinate system, Determine the overhead projection position information of the alternate ground traffic sign in the ground coordinate system.
- the height information of the standby ground traffic markers at the undetermined locations is the vertical axis coordinate in the device coordinate system.
- the determined top-down projection position information of the standby ground traffic marker in the ground coordinate system does not include the height information of the standby ground traffic marker, that is, the vertical axis coordinate system under the ground coordinate system. To a certain extent, it can be The influence of height information on the matching between traffic landmarks and the determination of target pose information is eliminated. And it can solve the problem of near large and far small in ground traffic signs caused by the imaging mechanism of the image acquisition device, and ensure the accurate determination of the target pose information.
- the S103 may include the following steps 031-032:
- the electronic device can directly obtain sensor data collected by other sensors set on the target to be positioned.
- the sensor data collected by the other sensors and the data corresponding to the road image are collected in the same collection period as the road image. The data.
- any combination of sensor data collected by other sensors or a combination with road images is used to determine the initial pose information of the target to be located.
- the process of determining the initial pose information may refer to the process of determining the initial pose information of the target in the related art, which will not be repeated here.
- Other sensors may include, but are not limited to, wheel speed sensors, IMU, GPS, and GNSS, among others.
- an embodiment of the present invention provides a target positioning apparatus.
- the apparatus may include:
- the first determination module 210 is configured to determine, based on a preset object detection model and a road image, the image position information of the spare ground traffic markers in the road image, wherein the road image is: The image acquired by the image acquisition device;
- the second determination module 220 is configured to use the internal reference information of the image acquisition device, the first conversion relationship between the device coordinate system of the image acquisition device and the ground coordinate system corresponding to the target to be located, and the backup The image position information of the ground traffic marker, to determine the top-view projection position information of the standby ground traffic marker in the ground coordinate system, wherein the ground coordinate system is a three-dimensional plane where the horizontal axis and the vertical axis are parallel to the ground. Cartesian coordinate system;
- Obtaining module 230 configured to obtain initial pose information of the target to be positioned
- the third determination module 240 is configured to determine based on the initial pose information, the preset ground traffic landmark map, the device projection model of the image acquisition device, the first conversion relationship, and the top-view projection position information
- denser ground traffic markers can be used as the basis for the positioning of the target to be located, the accuracy and robustness of the positioning results can be improved to a certain extent, and the overhead projection in the ground coordinate system can be used.
- the position information determines the target pose information, to a certain extent, it can eliminate the problem of near large and far small among ground traffic signs caused by the imaging mechanism of the image acquisition device, and can eliminate the matching of height information to ground traffic signs and the subsequent pose
- the influence of calculation can achieve the target pose information of the determined target to be positioned, that is, the accuracy and robustness of the positioning result to a certain extent.
- the third determining module 240 includes:
- a first determining unit (not shown in the figure), configured to determine, based on the initial pose information, a local map corresponding to the initial pose information from a preset map of ground traffic signs;
- the second determination unit (not shown in the figure) is configured to use the initial pose information, the map ground traffic landmarks in the local map and their map pose information, the internal reference information of the image acquisition device, all the The first conversion relationship and the top-view projection position information are used to determine the target pose information of the to-be-located target image.
- the initial pose information is the pose information in the world coordinate system
- the map pose information of each map ground traffic marker is the pose information in the world coordinate system information
- the second determining unit is specifically configured to use the initial pose information, the second conversion relationship between the device coordinate system and the coordinate system where the target to be located is located, and the device projection model of the image acquisition device. and the map pose information of each map ground traffic marker in the local map, to determine the mapping position information of each map ground traffic marker in the road image;
- each map ground traffic marker is in the ground coordinate system
- the target pose information of the to-be-located target is determined by using the top-view mapping position information of each ground traffic marker on the map and the top-view projected position information of the standby ground traffic marker.
- the second determining module 220 is specifically configured to use the internal reference information of the image acquisition device and the image position information of the standby ground traffic markers to determine the standby ground traffic Device location information of the marker in the device coordinate system of the image acquisition device;
- the obtaining module 230 is specifically configured to obtain sensor data collected by other sensors set on the target to be located;
- the initial pose information of the target to be positioned is determined.
- the alternate ground traffic signs include at least one of lane lines, parking spaces, stop lines, zebra crossings, and traffic indicating arrows.
- the modules in the apparatus in the embodiment may be distributed in the apparatus in the embodiment according to the description of the embodiment, and may also be located in one or more apparatuses different from this embodiment with corresponding changes.
- the modules in the foregoing embodiments may be combined into one module, or may be further split into multiple sub-modules.
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Abstract
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- 一种目标定位方法,其特征在于,所述方法包括:基于预设对象检测模型及道路图像,确定所述道路图像中的备用地面交通标志物的图像位置信息,其中,所述道路图像为:待定位目标所设置的图像采集设备采集所得的图像;利用所述图像采集设备的内参信息、所述图像采集设备的设备坐标系与所述待定位目标所对应地面坐标系之间的第一转换关系以及所述备用地面交通标志物的图像位置信息,确定所述备用地面交通标志物在所述地面坐标系下的俯视投影位置信息,其中,所述地面坐标系为横轴与纵轴所在平面与地面平行的三维直角坐标系;获得所述待定位目标的初始位姿信息;基于所述初始位姿信息、预设地面交通标志物地图、所述图像采集设备的设备投影模型、所述第一转换关系以及所述俯视投影位置信息,确定所述待定位目标的目标位姿信息,其中,所述预设地面交通标志物地图包括:各地图地面交通标志物及其地图位姿信息。
- 如权利要求1所述的方法,其特征在于,所述基于所述初始位姿信息、预设地面交通标志物地图、所述图像采集设备的内参信息、所述第一转换关系以及所述俯视投影位置信息,确定所述待定位目标的目标位姿信息的步骤,包括:基于所述初始位姿信息,从预设地面交通标志物地图中确定出所述初始位姿信息对应的局部地图;利用所述初始位姿信息、所述局部地图中地图地面交通标志物及其地图位姿信息、所述图像采集设备的内参信息、所述第一转换关系以及所述俯视投影位置信息,确定所述待定位目标图像的目标位姿信息。
- 如权利要求2所述的方法,其特征在于,所述初始位姿信息为在世界坐标系下的位姿信息,所述各地图地面交通标志物的地图位姿信息为所述世界坐标系下的位姿信息;所述利用所述初始位姿信息、所述局部地图中地图地面交通标志物及其地图位姿信息、所述图像采集设备的内参信息、所述第一转换关系以及所述俯视投影位置信息,确定所述待定位目标图像的目标位姿信息的步骤,包括:利用所述初始位姿信息、所述设备坐标系与所述待定位目标所在坐标系之间的第二转换关系、所述图像采集设备的设备投影模型以及所述局部地图中每一地图地面交通标志物的地图位姿信息,确定每一地图地面交通标志物在所述道路图像中的映射位置信息;基于每一地图地面交通标志物在所述道路图像中的映射位置信息、所述图像采集设备的内参信息以及所述第一转换关系,确定每一地图地面交通标志物在所述地面坐标系下的俯视映射位置信息;利用每一地图地面交通标志物的俯视映射位置信息以及所述备用地面交通标志物的俯视投影位置信息,确定所述待定位目标的目标位姿信息。
- 如权利要求1所述的方法,其特征在于,所述利用所述图像采集设备的内参信息、所述图像采集设备的设备坐标系与所述待定位目标所对应地面坐标系之间的第一转换关系以及所述备用地面交通标志物的图像位置信息,确定所述备用地面交通标志物在所述地面坐标系下的俯视投影位置信息的步骤,包括:利用所述图像采集设备的内参信息以及所述备用地面交通标志物的图像位置信息,确定所述备用地面交通标志物在所述图像采集设备的设备坐标系下的设备位置信息;利用所述备用地面交通标志物的设备位置信息以及所述设备坐标系与所述待定位目标所对应地面坐标系之间的第一转换关系,确定所述备用地面交通标志物在所述地面坐标系下的俯视投影位置信息。
- 如权利要求1所述的方法,其特征在于,所述获得所述待定位目标的初始位姿信息的步骤,包括:获得所述待定位目标所设置的各其他传感器所采集的传感器数据;基于各所述其他传感器所采集的传感器数据,确定所述待定位目标的初始位姿信息。
- 如权利要求1-5任一项所述的方法,其特征在于,所述备用地面交通标志物包括:车道线、停车位、停止线、斑马线以及交通指示箭头中的至少一个。
- 一种目标定位装置,其特征在于,所述装置包括:第一确定模块,被配置为基于预设对象检测模型及道路图像,确定所述道路图像中的备用地面交通标志物的图像位置信息,其中,所述道路图像为:待定位目标所设置的图像采集设备采集所得的图像;第二确定模块,被配置为利用所述图像采集设备的内参信息、所述图像采集设备的设备坐标系与所述待定位目标所对应地面坐标系之间的第一转换关系以及所述备用地面交通标志物的图像位置信息,确定所述备用地面交通标志物在所述地面坐标系下的俯视投影位置信息,其中,所述地面坐标系为横轴与纵轴所在平面与地面平行的三维直角坐标系;获得模块,被配置为获得所述待定位目标的初始位姿信息;第三确定模块,被配置为基于所述初始位姿信息、预设地面交通标志物地图、所述 图像采集设备的设备投影模型、所述第一转换关系以及所述俯视投影位置信息,确定所述待定位目标的目标位姿信息,其中,所述预设地面交通标志物地图包括:各地图地面交通标志物及其地图位姿信息。
- 如权利要求7所述的装置,其特征在于,所述第三确定模块,包括:第一确定单元,被配置为基于所述初始位姿信息,从预设地面交通标志物地图中确定出所述初始位姿信息对应的局部地图;第二确定单元,被配置为利用所述初始位姿信息、所述局部地图中地图地面交通标志物及其地图位姿信息、所述图像采集设备的内参信息、所述第一转换关系以及所述俯视投影位置信息,确定所述待定位目标图像的目标位姿信息。
- 如权利要求7所述的装置,其特征在于,所述初始位姿信息为在世界坐标系下的位姿信息,所述各地图地面交通标志物的地图位姿信息为所述世界坐标系下的位姿信息;所述第二确定单元,被具体配置为利用所述初始位姿信息、所述设备坐标系与所述待定位目标所在坐标系之间的第二转换关系、所述图像采集设备的设备投影模型以及所述局部地图中每一地图地面交通标志物的地图位姿信息,确定每一地图地面交通标志物在所述道路图像中的映射位置信息;基于每一地图地面交通标志物在所述道路图像中的映射位置信息、所述图像采集设备的内参信息以及所述第一转换关系,确定每一地图地面交通标志物在所述地面坐标系下的俯视映射位置信息;利用每一地图地面交通标志物的俯视映射位置信息以及所述备用地面交通标志物的俯视投影位置信息,确定所述待定位目标的目标位姿信息。
- 如权利要求7-9任一项所述的装置,其特征在于,所述第二确定模块,被具体配置为利用所述图像采集设备的内参信息以及所述备用地面交通标志物的图像位置信息,确定所述备用地面交通标志物在所述图像采集设备的设备坐标系下的设备位置信息;利用所述备用地面交通标志物的设备位置信息以及所述设备坐标系与所述待定位目标所对应地面坐标系之间的第一转换关系,确定所述备用地面交通标志物在所述地面坐标系下的俯视投影位置信息。
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