US 12,259,462 B2
Ranging method, ranging device and ranging system
Yushi Zhu, Hangzhou (CN); and Jie Sun, Hangzhou (CN)
Assigned to HANGZHOU HIKVISION DIGITAL TECHNOLOGY CO., LTD., Zhejiang (CN)
Appl. No. 17/251,599
Filed by HANGZHOU HIKVISION DIGITAL TECHNOLOGY CO., LTD., Hangzhou (CN)
PCT Filed Jun. 14, 2019, PCT No. PCT/CN2019/091334
§ 371(c)(1), (2) Date Dec. 11, 2020,
PCT Pub. No. WO2019/238127, PCT Pub. Date Dec. 19, 2019.
Claims priority of application No. 201810623786.0 (CN), filed on Jun. 15, 2018.
Prior Publication US 2021/0270957 A1, Sep. 2, 2021
Int. Cl. G01S 13/86 (2006.01); G01S 13/08 (2006.01); G01S 13/931 (2020.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01)
CPC G01S 13/867 (2013.01) [G01S 13/08 (2013.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G01S 13/931 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10044 (2013.01); G06T 2207/30261 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method, comprising:
acquiring a video image and a radar signal set that are collected respectively by a camera and a radar at a same time;
determining position information corresponding to each target object in the video image;
determining one or more target objects that have matched radar signals in the video image;
determining a ranging algorithm based on position information corresponding to the one or more target objects that have matched radar signals and the radar signals matching the one or more target objects; and
calculating a distance between a target object having a mismatched radar signal in the video image and a designated vehicle according to position information corresponding to the target object having the mismatched radar signal in the video image and through the ranging algorithm,
wherein determining the one or more target objects that have matched radar signals in the video image comprises:
in response to determining that a video area of each target object of the one or more target objects in the video image overlaps with a projection area of a radar target in the video image, determining that the target object matches a radar signal corresponding to the radar target,
wherein the ranging algorithm comprises a monocular ranging model with a formula:

OG Complex Work Unit Math
where Dv denotes distance information, fy denotes a scaling factor of the camera in a v-axis direction of an image coordinate system, cy denotes a coordinate value of a principal point of the camera in a v-axis direction of the image coordinate system, θrcc denotes a reference pitch angle of the radar relative to the camera in a camera coordinate system, yrcc denotes a displacement relative to the camera in a Y-axis direction of the camera coordinate system, zrcc denotes a displacement relative to the camera in a Z-axis direction of the camera coordinate system, yprc denotes a displacement of a road relative to the radar in the Y-axis direction of the camera coordinate system, θpp denotes a pitch angle of the road, and p denotes corresponding position information of the target object in the video image.