US 11,715,238 B2
Image projection method, apparatus, device and storage medium
Sunan Deng, Beijing (CN); and Yinghui Li, Beijing (CN)
Assigned to Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd., Beijing (CN)
Filed by Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd., Beijing (CN)
Filed on Jun. 21, 2021, as Appl. No. 17/352,858.
Claims priority of application No. 202011554180.X (CN), filed on Dec. 24, 2020.
Prior Publication US 2021/0312665 A1, Oct. 7, 2021
Int. Cl. G06T 7/80 (2017.01); G02B 27/01 (2006.01); G06F 3/06 (2006.01); G06V 20/20 (2022.01); H04N 23/90 (2023.01)
CPC G06T 7/85 (2017.01) [G02B 27/01 (2013.01); G06F 3/0677 (2013.01); G06V 20/20 (2022.01); H04N 23/90 (2023.01); G02B 2027/0138 (2013.01); G02B 2027/0196 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An image projection method, comprising:
acquiring a first camera coordinate of an area to be calibrated in a camera coordinate system of an Augmented Reality (AR) camera on a vehicle, wherein the area to be calibrated is located within a photographing range of the AR camera;
acquiring a relative conversion relationship between a first extrinsic parameter matrix of the AR camera and a second extrinsic parameter matrix of a head-up display on the vehicle, wherein the first extrinsic parameter matrix is used to realize a coordinate conversion between a world coordinate system and the camera coordinate system of the AR camera, and the second extrinsic parameter matrix is used to realize a coordinate conversion between the world coordinate system and a coordinate system of the head-up display;
determining, according to the first camera coordinate and the relative conversion relationship, a second camera coordinate of a projection symbol corresponding to the area to be calibrated in the coordinate system of the head-up display; and
controlling, according to the second camera coordinate, the head-up display to project an image comprising the projection symbol;
wherein the acquiring a relative conversion relationship between a first extrinsic parameter matrix of the AR camera and a second extrinsic parameter matrix of a head-up display on the vehicle, comprises:
acquiring a first relative conversion relationship between the first extrinsic parameter matrix and a third extrinsic parameter matrix of a first camera, wherein the first camera is set at a preset position on a driving position of the vehicle, wherein the third extrinsic parameter matrix is used to realize a coordinate conversion between the world coordinate system and a camera coordinate system of the first camera;
acquiring a second relative conversion relationship between the second extrinsic parameter matrix and the third extrinsic parameter matrix; and
acquiring, according to the first relative conversion relationship and the second relative conversion relationship, the relative conversion relationship.