The invention discloses a vehicle body surrounding ground feature point cloud generation method and device, and the method comprises the steps: obtaining the image information of a plurality of vehicle periphery images around a vehicle; correcting distorted images in the plurality of vehicle periphery images based on the image information to obtain a plurality of corrected vehicle periphery images; and performing inverse projection transformation on the plurality of corrected vehicle periphery images to obtain a plurality of ground feature point clouds around the vehicle, and splicing the plurality of ground feature point clouds to generate a parking lot ground feature point cloud around the vehicle body. Therefore, the technical problems that in the related technology, laser radar equipment is high in manufacturing cost and difficult to apply to low-cost vehicles, arrangement of wall face identification codes is tedious, and the labor cost is high are solved.
本申请公开了一种车身周围地面特征点云的生成方法及装置,其中,方法包括:获取车辆周围的多个车周图像的图像信息;基于图像信息矫正多个车周图像中的畸变图像,得到矫正后的多个车周图像;对矫正后的多个车周图像进行逆投影变换,得到车辆周围的多个地面特征点云,并拼接多个地面特征点云,生成车身周围的停车场地面特征点云。由此,解决了相关技术中,采用激光雷达设备的造价高昂,难以应用于低成本车辆,而墙面标识码的布置较为繁琐,且人工成本较高等技术问题。
Method and device for generating feature point cloud of ground around vehicle body
车身周围地面特征点云的生成方法及装置
14.04.2023
Patent
Elektronische Ressource
Chinesisch
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