Ground plane fitting method, vehicle-mounted device and storage medium

A vehicle-mounted device comprising:

• a storage device;
• at least one processor;
• and
• the storage device storing one or more programs, which when executed by the at least one processor, cause the at least one processor to:
• acquire a plurality of point clouds of a scene front of a vehicle along a traveling direction and a target image;
• determine a set of ground point clouds corresponding to the target image according to the plurality of point clouds and the target image;
• obtain a plurality of ground normal vectors by correcting a plurality of camera normal vectors of a camera that acquires the target image;
• and
• obtain a fitted ground plane of a ground of the scene along the traveling direction of the vehicle by fitting the set of ground point clouds and the plurality of ground normal vectors.

A non-transitory storage medium having instructions stored thereon, when the instructions are executed by a processor of a vehicle-mounted device, the processor is caused to perform a ground plane fitting method, wherein the method comprises:

• acquiring a plurality of point clouds of a scene front of a vehicle along a traveling direction and a target image;
• determining a set of ground point clouds corresponding to the target image according to the plurality of point clouds and the target image;
• obtaining a plurality of ground normal vectors by correcting a plurality of camera normal vectors of a camera that acquires the target image;
• and
• obtaining a fitted ground plane of a ground of the scene along the traveling direction of the vehicle by fitting the set of ground point clouds and the plurality of ground normal vectors.