The invention discloses a virtual map generation method based on a traffic scene, and the method comprises the following steps: S1, estimating the scene size of a whole intersection, and building a global map under the intersection; s2, estimating the size of a single camera scene; establishing a single camera map according to the field of view under the single camera; s3, determining overlapping areas of the camera in different directions, and selecting symbolic pixel points in the overlapping areas; s4, calibrating a scene of each camera, establishing a transformation relation matrix between pixel points and actual positions, and obtaining a virtual map under a single camera; s5, obtaining the deflection angle of each camera in the global map according to the common symbolic pixel points; and S6, mapping the target calculated under the single camera to a global map of the whole intersection to obtain a global virtual map of the whole intersection. The global virtual map of the whole intersection is obtained according to camera and scene information estimation so as to obtain basic data of holographic intersection target display.
本发明公开了一种基于交通场景的虚拟地图生成方法,包括以下步骤:S1,对整个路口的场景大小进行估计,建立路口下的全局地图;S2,对单个相机场景大小进行估计;根据单个相机下的视野范围,建立单个相机地图;S3,确定不同方向下相机的重叠区域,并在重叠区域选取有标志性的像素点;S4,标定每个相机的场景,建立像素点与实际位置的变换关系矩阵,得到单个相机下的虚拟地图;S5,根据共同的有标志性的像素点,得到每个相机在全局地图中的偏转角度;S6,将在单个相机下计算的目标映射到整个路口的全局地图下,得到整个路口的全局虚拟地图。本发明根据相机和场景信息估计,得到整个路口的全局虚拟地图,用以获得全息路口目标展示的基础数据。
Virtual map generation method based on traffic scene
一种基于交通场景的虚拟地图生成方法
2023-06-16
Patent
Electronic Resource
Chinese
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