The invention discloses a method and device for transparent A-column image block mapping. The method comprises the steps of obtaining a depth map and a color map of a scene outside a vehicle; performing view angle conversion after down-sampling the depth map; partitioning the A-column screen, and calculating the pixel coordinates of the vertex of each image block on the A-column screen; dividing the down-sampled depth map into image blocks of the same specification, and calculating the depth value of each vertex on the A-column screen; according to the depth value and the pixel coordinate of each vertex on the A-column screen, the driver viewpoint coordinate and the physical parameters of the A-column screen, calculating each vertex coordinate under the driver viewpoint coordinate system, and converting the vertex coordinates to each vertex coordinate under the vehicle exterior camera coordinate system; projecting the coordinates of the vertexes under the coordinate system of the camera outside the vehicle to the color map to obtain the pixel coordinates of the vertexes on the color map under the coordinate system of the camera outside the vehicle; and performing affine transformation on each image block on the color image according to the pixel coordinate of each vertex on the color image and the pixel coordinate of each vertex on the A-column screen.
本发明公开了用于透明A柱图像块映射的方法及装置。该方法包括获取车外场景的深度图与彩色图;对深度图降采样后进行视角转换;对A柱屏幕进行分块,并计算各图像块顶点在A柱屏幕上的像素坐标;将降采样的深度图分成同样规格的图像块,并计算各顶点在A柱屏幕上的深度值;根据各顶点在A柱屏幕上的深度值和像素坐标、驾驶员视点坐标以及A柱屏幕的物理参数计算驾驶员视角坐标系下的各顶点坐标,并转换至车外摄像头坐标系下的各顶点坐标;将车外摄像头坐标系下的各顶点坐标投影至彩色图上,得到车外摄像头坐标系下各顶点在彩色图上的像素坐标;根据各顶点在彩色图上的像素坐标以及各顶点在A柱屏幕上的像素坐标,对彩色图上的各图像块做仿射变换。
Method and device for transparent A-column image block mapping
用于透明A柱图像块映射的方法及装置
2021-08-27
Patent
Elektronische Ressource
Chinesisch
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