The invention relates to a panoramic vision-based relative pose resolving method for wireless charging alignment and relates to the technical field of electric vehicle wireless charging alignment. Themethod comprises steps of obtaining a parking space visual image, and dividing an ROI image region according to the obtained parking space visual image; preprocessing the image area according to thedivided ROI image area, and filtering noise; segmenting and reserving a parking space area according to the preprocessed interested image area, and performing mark line detection on the parking spacearea; according to the detected parking space area marking lines, transformation processing being carried out, a parking area being positioned, and corner point information being obtained, and solvingthe relative pose of the vehicle according to the angular point information, and determining the relative pose of the vehicle. The method provided by the invention is based on panoramic vision, operability of a driver to a driving system can be improved, the driving risk caused by a blind area of the driver is avoided, and the potential safety hazard is reduced.

    本发明是一种基于全景视觉的无线充电对位的相对位姿解算方法。本发明涉及电动汽车无线充电对位技术领域,获取车位视觉图像,根据得到的车位视觉图像划分出ROI图像区域;根据划分出的ROI图像区域,对图像区域进行预处理,滤除噪声;根据预处理后的感兴趣图像区域,分割保留停车位区域,对停车位区域进行标记线检测;根据检测得到的停车位区域标记线,进行变换处理,定位停车区域,获得角点信息;根据角点信息,对车辆相对位姿进行求解,确定车辆的相对位姿。本发明提出的方法基于全景视觉,可以提高司机对行车系统的可操作性,避免由于司机盲区带来的行车风险,降低了安全隐患。


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    Titel :

    Panoramic vision-based wireless charging alignment relative pose calculation method


    Weitere Titelangaben:

    一种基于全景视觉的无线充电对位的相对位姿解算方法


    Beteiligte:
    LI YONGQIANG (Autor:in) / YANG XIAOYU (Autor:in) / SONG KAI (Autor:in) / ZHU CHUNBO (Autor:in) / ZHAO YONGPING (Autor:in) / NIU KETONG (Autor:in)

    Erscheinungsdatum :

    2020-11-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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