Title:
METHOD AND SYSTEM FOR CORRECTING EXTRINSIC PARAMETERS OF CAMERA FOR ROAD SURFACE DETECTION, AND MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/077731
Kind Code:
A1
Abstract:
A method and system for correcting extrinsic parameters of a camera for road surface detection, and a medium. The method comprises: taking a starting point of a road surface as an origin, taking a horizontal component of a vehicle traveling mileage as a transverse coordinate, taking an elevation of a longitudinal section of the road surface as a longitudinal coordinate, and drawing a broken line; obtaining first coordinates of a starting point and second coordinates of an end point of a straight line segment where a vehicle point is located in a broken line graph, and third coordinates of an end point of a straight line segment where an intersection point of a camera optical axis corresponding to a camera point and the broken line of the broken line graph is located; calculating the coordinates of the vehicle point; calculating the coordinates of the camera point; establishing a first linear equation corresponding to the camera optical axis in the broken line graph, and a second linear equation corresponding to the straight line segment where the intersection point of the camera optical axis corresponding to the camera point and the broken line of the broken line graph is located (S106); solving the slope of the first linear equation and the slope and intercept of the second linear equation; and calculating a corrected pitch angle of the camera and a corrected mounting height of the camera. The method does not need to depend on a road surface reference object, and has better applicability.
Inventors:
LI MIAO (CN)
XU QUANLIANG (CN)
DU GENG (CN)
YANG YAPENG (CN)
ZHANG KAIXING (CN)
WU YUFAN (CN)
ZHANG QINGFENG (CN)
XU QUANLIANG (CN)
DU GENG (CN)
YANG YAPENG (CN)
ZHANG KAIXING (CN)
WU YUFAN (CN)
ZHANG QINGFENG (CN)
Application Number:
PCT/CN2022/134381
Publication Date:
April 18, 2024
Filing Date:
November 25, 2022
Export Citation:
Assignee:
ROADMAINT CO LTD (CN)
International Classes:
G06T7/80; E01C23/01
Attorney, Agent or Firm:
BEIJING RUN ZEHENG INTELLECTUAL PROPERTY LAW FIRM (CN)
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