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1. WO2022204953 - METHOD AND APPARATUS FOR DETERMINING PITCH ANGLE, AND TERMINAL DEVICE

Publication Number WO/2022/204953
Publication Date 06.10.2022
International Application No. PCT/CN2021/084023
International Filing Date 30.03.2021
IPC
G01B 11/26 2006.1
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
26for measuring angles or tapers; for testing the alignment of axes
G01B 11/00 2006.1
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
G01M 11/02 2006.1
GPHYSICS
01MEASURING; TESTING
MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
11Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
02Testing optical properties
CPC
G01B 11/002
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
002for measuring two or more coordinates
G01B 11/26
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
26for measuring angles or tapers; for testing the alignment of axes
G01M 11/0221
GPHYSICS
01MEASURING; TESTING
MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
11Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
02Testing optical properties
0221by determining the optical axis or position of lenses
G01M 11/0264
GPHYSICS
01MEASURING; TESTING
MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
11Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
02Testing optical properties
0242by measuring geometrical properties or aberrations
0257by analyzing the image formed by the object to be tested
0264by using targets or reference patterns
Applicants
  • 深圳市锐明技术股份有限公司 STREAMAX TECHNOLOGY CO., LTD. [CN]/[CN]
Inventors
  • 刘军 LIU, Jun
  • 张潜 ZHANG, Qian
  • 黄凯明 HUANG, Kaiming
Agents
  • 深圳中一联合知识产权代理有限公司 SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD.
Priority Data
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) METHOD AND APPARATUS FOR DETERMINING PITCH ANGLE, AND TERMINAL DEVICE
(FR) PROCÉDÉ ET APPAREIL POUR DÉTERMINER UN ANGLE D'INCLINAISON ET DISPOSITIF TERMINAL
(ZH) 确定俯仰角的方法、装置及终端设备
Abstract
(EN) The present application provides a method for determining a pitch angle, comprising: determining a first distance between at least one environment feature point and a designated feature point on a designated vehicle, wherein a line connecting the environment feature point and the designated feature point is parallel to the travel direction of the designated vehicle; obtaining a target image, wherein the target image is an image captured by a camera on the designated vehicle, and the target image comprises the at least one environment feature point; obtaining position information of the environment feature point in the target image; and determining the pitch angle of the camera according to the position information and the first distance. By means of the method, a pitch angle in a vehicle-mounted vision system of a vehicle can be determined efficiently and accurately.
(FR) La présente invention concerne un procédé de détermination d'un angle d'inclinaison, le procédé comprenant les étapes consistant à : déterminer une première distance entre au moins un point caractéristique d'environnement et un point caractéristique désigné sur un véhicule désigné, une ligne reliant le point caractéristique d'environnement et le point caractéristique désigné étant parallèle à la direction de déplacement du véhicule désigné ; obtenir une image cible, l'image cible étant une image capturée par une caméra sur le véhicule désigné et l'image cible comprenant le ou les points caractéristiques d'environnement ; obtenir des informations de position du point caractéristique d'environnement sur l'image cible ; et déterminer l'angle d'inclinaison de la caméra en fonction des informations de position et de la première distance. Grâce au procédé, un angle d'inclinaison dans un système de vision monté sur véhicule d'un véhicule peut être déterminé de manière efficace et précise.
(ZH) 本申请提供的一种确定俯仰角的方法,包括:确定至少一个环境特征点与指定车辆上的指定特征点之间的第一距离,其中,所述环境特征点与所述指定特征点之间的连线与所述指定车辆的前进方向平行;获取目标图像,所述目标图像为通过所述指定车辆上的摄像头拍摄得到的图像,所述目标图像中包括所述至少一个环境特征点;获取所述环境特征点在所述目标图像中的位置信息;根据所述位置信息和所述第一距离,确定所述摄像头的俯仰角。通过上述方法,可以高效准确地确定车辆的车载视觉系统中的俯仰角。
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