The invention relates to a ground height estimation method and device, equipment and a storage medium. The ground height estimation method comprises the steps that the abscissa and the ordinate of a real lane line in map information are used for representing observation points on a preset lane line, and the preset lane line is located under the real lane line; establishing a ray pointing to and perpendicular to the real lane line based on the observation point; the ground height at the observation point is calculated according to the camera lane line and the rays, and the camera lane line is the mapping of the real lane line on the image. By adopting the ground height estimation method provided by the invention, the problem of low accuracy of ground height estimation in the prior art can be improved.
本申请涉及一种地面高度估计方法、装置、设备及存储介质。其中,地面高度估计方法包括:利用地图信息中真实车道线的横坐标和纵坐标表示预设车道线上的观测点,其中,预设车道线位于真实车道线的正下方;基于观测点建立指向且垂直于真实车道线的射线;根据相机车道线和射线计算观测点处的地面高度,其中,相机车道线为真实车道线在图像上的映射。通过采用本申请所提供的地面高度估计方法能够改善现有技术中地面高度估计的准确度低的问题。
Ground height estimation method, device and equipment and storage medium
一种地面高度估计方法、装置、设备及存储介质
2023-08-18
Patent
Elektronische Ressource
Chinesisch
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