The invention discloses a roadside sensing method and device, electronic equipment and a storage medium, and relates to the field of vehicle-road cooperation in intelligent transportation. The specific implementation scheme comprises the following steps of acquiring a wide-angle image shot by a wide-angle camera; carrying out distortion removal processing on the wide-angle image to obtain the image right below the wide-angle camera; and projecting and transforming the wide-angle image to at least one visual angle through a spherical projection model to obtain at least one planar projection image, wherein each planar projection image corresponds to one visual angle, and the planar projection image is used for covering a sensing blind area of a forward-looking camera and/or a backward-looking camera. According to the invention, blind-area-free full-area coverage perception can be realized.

    本申请公开了一种路侧感知方法、装置、电子设备及存储介质,涉及智能交通中的车路协同领域。具体实现方案为:获取广角相机摄取的广角图像;对该广角图像进行去畸变处理,得到广角相机正下方的图像;通过球面投影模型将广角图像投影变换到至少一个视角,得到至少一个平面投影图像,每个平面投影图像对应一个视角,平面投影图像用于覆盖前视相机和/或后视相机的感知盲区。本申请能够实现无盲区的全区域覆盖感知。


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    Title :

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


    Additional title:

    路侧感知方法、装置、电子设备、存储介质及路侧设备


    Contributors:
    YUAN LIBIN (author)

    Publication date :

    2021-03-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen