The invention relates to the technical field of parking management, and discloses a parking space information acquisition method and device, equipment and a storage medium, and the method comprises the steps: obtaining a road image and road point cloud data corresponding to a road; and determining calibration parameters between the camera and the laser radar based on a coordinate system transformation mode corresponding to the road image, the road point cloud data, the camera coordinate and the laser radar coordinate. According to the point cloud data corresponding to each berth angular point calibration ball, determining the center three-dimensional coordinates of each berth angular point calibration ball; and determining the three-dimensional coordinate information of the berth corner point according to the three-dimensional coordinate of the center of each berth corner point calibration ball and the laser radar coordinate. And according to a first rotation matrix and a first calibration vector included in the calibration parameters, performing coordinate transformation on the three-dimensional coordinate information of the berth corner point to obtain image coordinate information of the berth corner point. And carrying out berth calibration based on the berth corner point three-dimensional coordinate information and the berth corner point image coordinate information. The accuracy of berth information acquisition is improved, and accurate berth calibration is realized.
本发明涉及停车管理技术领域,公开了一种泊位信息的获取方法、装置、设备和存储介质,获取道路对应的道路图像和道路点云数据;基于道路图像和道路点云数据、相机坐标和激光雷达坐标对应的坐标系变换方式,确定出相机与激光雷达之间的标定参数。根据各泊位角点标定球对应的点云数据,确定出各泊位角点标定球的球心三维坐标;依据各泊位角点标定球的球心三维坐标以及激光雷达坐标,确定出泊位角点三维坐标信息。按照标定参数包括的第一旋转矩阵和第一标定向量,对泊位角点三维坐标信息进行坐标变换,得到泊位角点图像坐标信息。基于泊位角点三维坐标信息和泊位角点图像坐标信息,进行泊位标定。提升了泊位信息获取的准确性,实现了泊位的准确标定。
Acquisition method and device of berth information, equipment and storage medium
一种泊位信息的获取方法、装置、设备和存储介质
2024-03-05
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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