Method for acquiring three-dimensional perception information based on external parameters of roadside camera, and roadside device

An electronic device, comprising:

• at least one processor;
• and
• a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the at least one processor to:
• acquire a first matching point pair between an image captured by a first camera and an image captured by a second camera, and generate a first rotation matrix according to the first matching point pair, wherein the first rotation matrix represents a rotation matrix of the first camera in a second camera coordinate system;
• acquire a second rotation matrix, wherein the second rotation matrix represents a rotation matrix of the second camera in a world coordinate system, and generate a third rotation matrix according to the first rotation matrix and the second rotation matrix, wherein the third rotation matrix represents a rotation matrix of the first camera in the world coordinate system;
• and
• generate three-dimensional perception information of the image captured by the first camera according to the third rotation matrix;
• wherein the instructions are executed by the at least one processor to cause the at least one processor to:
• generate a fourth rotation matrix according to the first matching point pair, wherein the fourth rotation matrix represents a rotation matrix of the second camera in an equivalent camera coordinate system;
• and acquire a fifth rotation matrix, wherein the fifth rotation matrix represents a rotation matrix of the first camera in the equivalent camera coordinate system, and generate the first rotation matrix according to the fourth rotation matrix and the fifth rotation matrix.

A non-transitory computer readable storage medium having computer instructions stored thereon, wherein the computer instructions are configured to cause a computer to:

• acquire a first matching point pair between an image captured by a first camera and an image captured by a second camera, and generate a first rotation matrix according to the first matching point pair, wherein the first rotation matrix represents a rotation matrix of the first camera in a second camera coordinate system;
• acquire a second rotation matrix, wherein the second rotation matrix represents a rotation matrix of the second camera in a world coordinate system, and generate a third rotation matrix according to the first rotation matrix and the second rotation matrix, wherein the third rotation matrix represents a rotation matrix of the first camera in the world coordinate system;
• and
• generate three-dimensional perception information of the image captured by the first camera according to the third rotation matrix;
• wherein the computer instructions are configured to cause a computer to:
• generate a fourth rotation matrix according to the first matching point pair, wherein the fourth rotation matrix represents a rotation matrix of the second camera in an equivalent camera coordinate system;
• and acquire a fifth rotation matrix, wherein the fifth rotation matrix represents a rotation matrix of the first camera in the equivalent camera coordinate system, and generate the first rotation matrix according to the fourth rotation matrix and the fifth rotation matrix.