	US 12,450,921 B2
	Method and apparatus for calibrating roll angle of on-board camera, device, and storage medium
Haichuan Wang, Shenzhen (CN)
Assigned to TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed by TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed on Sep. 27, 2023, as Appl. No. 18/475,422.
Application 18/475,422 is a continuation of application No. PCT/CN2023/075618, filed on Feb. 13, 2023.
Claims priority of application No. 202210311948.3 (CN), filed on Mar. 28, 2022.
Prior Publication US 2024/0096113 A1, Mar. 21, 2024
Int. Cl. G06V 20/56 (2022.01); G06T 7/13 (2017.01); G06T 7/80 (2017.01)

CPC G06V 20/588 (2022.01) [G06T 7/13 (2017.01); G06T 7/80 (2017.01)]

20 Claims

1. A method for calibrating a roll angle of an on-board camera, the method being performed by a computer device, and the method comprising:

obtaining an image frame sequence collected by the on-board camera while a vehicle is in motion, the image frame sequence comprising n image frames of a road captured by the on-board camera at n timestamps, n being an integer greater than 1;

selecting a plurality of image groups from the image frame sequence, each of the image groups comprising a plurality of consecutive image frames in the image frame sequence;

for each of a plurality of candidate roll angles:

for each image group, determining a lane line image at the respective candidate roll angle, wherein lane line detection points are extracted from the consecutive image frames in the respective image group, and the lane line image comprises at least one lane line determined by fitting the lane line detection points; and

obtaining a lane line image set comprising lane line images respectively corresponding to the image groups;

and

determining the roll angle of the on-board camera based on a first quantity of lane line images in at least one of lane line image sets respectively corresponding to the plurality of candidate roll angles and at least one condition.