The invention relates to a vehicle-mounted camera attitude angle adjusting method and device, a vehicle and a storage medium, and relates to the technical field of computers. The method comprises the following steps: determining a lane line sampling point in a superimposed graph of continuous multi-frame images of a vehicle-mounted camera; the superimposed graph comprises a plurality of lane lines; the lane line sampling points are used for representing pixel positions of lane lines in the superimposed graph; determining a cubic fitting curve of the plurality of lane lines based on the lane line sampling points in the superimposed graph; the cubic fitting curve is used for representing the position and shape of the lane line in the vehicle coordinate system; the cubic fitting curve comprises constants and coefficients; the constants and coefficients of the cubic fitting curve are used for representing the offset and gradient of the attitude angle of the vehicle-mounted camera; and adjusting the attitude angle of the vehicle-mounted camera based on the constants and coefficients of the cubic fitting curve of the plurality of lane lines. Therefore, when the vehicle is in the moving state, the attitude angle of the vehicle-mounted camera can be adjusted, and the precision and accuracy of the attitude angle of the vehicle-mounted camera are improved.

    本申请涉及一种车载相机姿态角调整方法、装置、车辆及存储介质,涉及计算机技术领域。该方法包括:确定车载相机的连续多帧图像的叠加图中的车道线采样点;叠加图中包括多条车道线;车道线采样点用于表征叠加图中车道线的像素位置;基于叠加图中的车道线采样点,确定多条车道线的三次拟合曲线;三次拟合曲线用于表征车道线在车坐标系中的位置和形状;三次拟合曲线包括常数和系数;三次拟合曲线的常数和系数用于表征车载相机的姿态角的偏移量和倾斜度;基于多条车道线的三次拟合曲线的常数和系数,调整车载相机的姿态角。由此,可以在车辆处于运动状态下,调整车载相机的姿态角,并且提高了车载相机姿态角的精度和准确度。


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    Title :

    Vehicle-mounted camera attitude angle adjustment method and device, vehicle and storage medium


    Additional title:

    一种车载相机姿态角调整方法、装置、车辆及存储介质


    Contributors:
    ZHANG DEZE (author) / LIU FUYU (author)

    Publication date :

    2024-10-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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