The invention discloses a roadside target sensing method and device, electronic equipment and a storage medium. The method is executed by roadside equipment, and comprises the following steps: acquiring a current frame image acquired by a camera of a roadside sensor and IMU data corresponding to the current frame image; determining a jitter compensation amount of an initial sensing area of the camera according to the IMU data, wherein the initial sensing area is a central area of an imaging plane of the camera; performing jitter compensation on the initial sensing area according to the jitter compensation amount to obtain a compensated new sensing area; pixel position compensation is carried out on a detection target located in the new sensing area in the current frame image, and pixel compensation coordinates of the detection target in the imaging plane are obtained; and acquiring world coordinates of the detection target according to calibration parameters of the camera and the pixel compensation coordinates.

    本申请公开了一种路侧目标感知方法、装置、电子设备和存储介质。所述方法由路侧设备执行,所述方法包括:获取路侧传感器的摄像头采集的当前帧图像和与当前帧图像对应的IMU数据;根据所述IMU数据确定所述摄像头初始感知区域的抖动补偿量,所述初始感知区域为摄像头成像平面的中心区域;根据所述抖动补偿量对所述初始感知区域进行抖动补偿,获取补偿后的新感知区域;对当前帧图像中位于所述新感知区域内的检测目标进行像素位置补偿,获取所述检测目标在所述成像平面中的像素补偿坐标;根据所述摄像头的标定参数和所述像素补偿坐标获取所述检测目标的世界坐标。


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    Title :

    Roadside target sensing method and device, electronic equipment and storage medium


    Additional title:

    一种路侧目标感知方法、装置、电子设备和存储介质


    Contributors:
    WANG YANG (author) / ZHU LEI (author) / ZHANG YAN (author)

    Publication date :

    2024-08-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS