The invention relates to an information acquisition method and device, computer equipment and a storage medium. The method comprises the following steps: obtaining a segmentation result of a target environment image collected by a camera of a target vehicle and a detected three-dimensional lane line point cloud of a target lane line on a target road on which the target vehicle runs; determining whether a target pitch angle related to a target environment image exists or not according to the current pose of the camera, the segmentation result and the detected three-dimensional lane line point cloud; and when it is determined that the target pitch angle exists, converting the position of the cone barrel in the target environment image under the image coordinate system of the target environment image into the corrected position of the cone barrel under the vehicle body coordinate system by using the target corrected pose.
本发明涉及信息获取方法、装置、计算机设备及存储介质。该方法包括:获取目标车辆的相机采集的目标环境图像的分割结果、目标车辆行驶在的目标道路上的目标车道线的检测到的三维车道线点云;根据所述相机的当前的位姿、所述分割结果、所述检测到的三维车道线点云,确定是否存在与目标环境图像相关的目标俯仰角;当确定存在所述目标俯仰角时,利用所述目标修正位姿,将目标环境图像中锥桶的在目标环境图像的图像坐标系下的位置变换为所述锥桶在所述车体坐标系下的修正位置。
Information acquisition method and device, computer equipment and storage medium
信息获取方法、装置、计算机设备及存储介质
13.05.2025
Patent
Elektronische Ressource
Chinesisch
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