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。
Roadside sensing method and device, electronic equipment, storage medium and roadside equipment
路侧感知方法、装置、电子设备、存储介质及路侧设备
2021-03-19
Patent
Electronic Resource
Chinese
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