Back to results
US 12,217,448 B2Granted
Camera pose information detection method and apparatus, and corresponding intelligent driving device
AssigneeCiDi Inc.
InventorsRongdong Hu, Mingxi Tang, Linjiang Xie, Qing Peng
Life of this patent
Estimating the term…
Abstract
A camera pose information detection method, includes collecting a plurality of images by means of a multi-lens camera, and determining a road surface region image based on the plurality of images; and projecting points in the road surface region image onto a camera coordinate system, so as to obtain camera pose information.
Claims15
A camera pose information detection method, the method being implemented by a processor to execute a computer program stored on a memory, and comprising:
- collecting a plurality of images by means of a multi-lens camera, and determining a road surface region image based on the plurality of images;
- and
- projecting points in the road surface region image onto a coordinate plane of a camera coordinate system, so as to obtain at least a pitch angle and/or a roll angle in camera pose information;
- the determining a road surface region image based on the plurality of images comprises:
- selecting one of the plurality of images as an original image, and generating a depth map of the original image in combination with other images in the plurality of images;
- traversing the original image by using a search box, and obtaining a plurality of subimages corresponding to various search boxes;
- and
- calculating road surface confidences of the subimages, and selecting the subimage with the maximum road surface confidence as the road surface region image.
5 more elements
A camera pose detection apparatus, comprising:
- a processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the computer program causes the processor to:
- obtain a plurality of images;
- determine a road surface region image based on the plurality of images;
- and
- determine at least a pitch angle and/or a roll angle in camera pose information based on projections of points in the road surface region image onto a coordinate plane of a camera coordinate system;
- wherein when the computer program is executed by the processor, the computer program further causes the processor to select one of the plurality of images as an original image, and generate a depth map of the original image in combination with other images in the plurality of images;
- wherein the processor is further caused to:
- traverse the original image by using a search box, and obtain a plurality of subimages corresponding to various search boxes;
- and
- calculate road surface confidences of the subimages, and select the subimage with the maximum road surface confidence as the road surface region image.
7 more elements
Dependencies are inferred from the claim text.