US 12,217,448 B2
Camera pose information detection method and apparatus, and corresponding intelligent driving device
Rongdong Hu, Hunan (CN); Mingxi Tang, Hunan (CN); Linjiang Xie, Hunan (CN); and Qing Peng, Hunan (CN)
Assigned to CiDi Inc., Hunan (CN)
Appl. No. 17/610,514
Filed by CiDi Inc., Hunan (CN)
PCT Filed May 12, 2020, PCT No. PCT/CN2020/089765
§ 371(c)(1), (2) Date Nov. 11, 2021,
PCT Pub. No. WO2020/228694, PCT Pub. Date Nov. 19, 2020.
Claims priority of application No. 201910394067.0 (CN), filed on May 13, 2019.
Prior Publication US 2022/0215573 A1, Jul. 7, 2022
Int. Cl. G06T 7/70 (2017.01); G06T 7/50 (2017.01); G06V 20/56 (2022.01)
CPC G06T 7/70 (2017.01) [G06T 7/50 (2017.01); G06V 20/588 (2022.01); G06T 2207/30252 (2013.01)] 15 Claims
OG exemplary drawing
 
1. 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.