CN109522870A - A kind of vehicle positioning method and device - Google Patents
A kind of vehicle positioning method and device Download PDFInfo
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- CN109522870A CN109522870A CN201811463011.8A CN201811463011A CN109522870A CN 109522870 A CN109522870 A CN 109522870A CN 201811463011 A CN201811463011 A CN 201811463011A CN 109522870 A CN109522870 A CN 109522870A
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- G—PHYSICS
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Abstract
This application provides a kind of vehicle positioning method and devices, wherein this method comprises: carrying out Feature point recognition to the real time picture of video camera shooting, obtains the first real-time characteristic point set；According to the travel routes information of vehicle, position is carried out to each characteristic point in the first real-time characteristic point set and is estimated, determine each characteristic point in the first real-time characteristic point set estimates location information；According to preset reference picture collection, the corresponding reference position information that each characteristic point is concentrated in preset reference picture in the first real-time characteristic point set is determined；Location information, the reference position information, preset position function and preset alternate position spike threshold value are estimated according to described, determines vehicle position information.The embodiment of the present application can obtain the location information of automatic driving vehicle in real time, improve the efficiency positioned to automatic driving vehicle.
Description
Technical field
This application involves road traffic ponding field of measuring technique, in particular to a kind of vehicle positioning method and
Device.
Background technique
Autonomous driving vehicle (Self-piloting automobile) is also known as pilotless automobile, computer drives a car,
Or wheeled mobile robot, it is that one kind by computer system realizes unpiloted intelligent automobile.
Currently, obtaining automatic driving vehicle using using global positioning system or Beidou satellite navigation system in the prior art
Position, but due to global positioning system or the self shortcoming of Beidou satellite navigation system, such as: automatic driving vehicle is by object
Temporary dam, then be not available global positioning system or Beidou satellite navigation system is positioned.
Therefore, the location information of the automatic driving vehicle obtained by global positioning system or Beidou satellite navigation system is imitated
Rate is low.
Summary of the invention
In view of this, the embodiment of the present application is designed to provide a kind of vehicle positioning method and device.It can be real-time
The location information of automatic driving vehicle is obtained, the efficiency positioned to automatic driving vehicle is improved.
In a first aspect, the embodiment of the present application provides a kind of vehicle positioning method, comprising:
Feature point recognition is carried out to the real time picture of video camera shooting, obtains the first real-time characteristic point set；
According to the travel routes information of vehicle, position is carried out to each characteristic point in the first real-time characteristic point set
It estimates, determine each characteristic point in the first real-time characteristic point set estimates location information；
According to preset reference picture collection, determine that each characteristic point is in preset ginseng in the first real-time characteristic point set
Examine the corresponding reference position information in image set；
Location information, the reference position information, preset position function and preset alternate position spike are estimated according to described
Threshold value obtains vehicle position information.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, wherein institute
Reference position information is stated to obtain by following manner:
It takes pictures to each street according to preset frequency, obtains the reference picture collection in each street, and to each
The picture match location information in street；
Identify that the reference picture concentrates the characteristic point of each picture；
View-based access control model algorithm for reconstructing and the location information determine the reference position in the characteristic point of each picture
Information, and the reference position information and the characteristic point of each picture are saved.
With reference to first aspect, the embodiment of the present application provides second of possible embodiment of first aspect, wherein also
Include:
Obtain the real-time position information of video camera and the inner parameter of the video camera；
According to the real-time position information and the inner parameter, the position function is generated；
Wherein, the position function is using the reference position coordinate as dependent variable, is certainly with the reference position information
Variable, using the real-time position information and the inner parameter as the function of constant term.
With reference to first aspect, the embodiment of the present application provides the third possible embodiment of first aspect, wherein institute
Stating and estimating location information includes estimating position coordinates；
It is described that location information, the reference position information and preset position function are estimated according to, obtain vehicle
Location information includes:
According to the reference position information and the preset position function, determine each in the first real-time characteristic point set
The corresponding reference position coordinate of a characteristic point；
Calculate the quadratic sum of the reference position coordinate of each characteristic point and the difference for estimating position coordinates of each characteristic point
It is poor to obtain position coordinates for quadratic sum；
According to the position coordinates difference and the alternate position spike threshold value, vehicle position information is determined.
Second aspect, the embodiment of the present application also provide a kind of vehicle locating device, comprising:
Identification module, the real time picture for shooting to video camera carry out Feature point recognition, obtain the first real time characteristic points
Set；
Determining module, for the travel routes information according to vehicle, to each in the first real-time characteristic point set
Characteristic point carries out position and estimates, and determine each characteristic point in the first real-time characteristic point set estimates location information；
Module is obtained, for obtaining each spy in the first real-time characteristic point set according to preset reference picture collection
The corresponding reference position information that sign point is concentrated in preset reference picture；
Position determination module, for estimating location information, the reference position information, preset position function according to
And preset alternate position spike threshold value, determine vehicle position information.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, wherein institute
It states and obtains module specifically for obtaining the reference position information by following manner
It takes pictures to each street according to preset frequency, obtains the reference picture collection in each street, and to each
The picture match location information in street；
Identify that the reference picture concentrates the characteristic point of each picture；
View-based access control model algorithm for reconstructing and the location information determine the reference position in the characteristic point of each picture
Information, and the reference position information and the characteristic point of each picture are saved.
In conjunction with second aspect, the embodiment of the present application provides second of possible embodiment of second aspect, wherein institute
Stating device further includes generation module；
The generation module is used to obtain the real-time position information of video camera and the inner parameter of the video camera, and root
According to the real-time position information and the inner parameter, the position function is generated；
Wherein, the position function is using the reference position coordinate as dependent variable, is certainly with the reference position information
Variable, using the real-time position information and the inner parameter as the function of constant term.
In conjunction with second aspect, the embodiment of the present application provides the third possible embodiment of second aspect, wherein institute
Stating and estimating location information includes estimating position coordinates；
The position determination module is specifically used for estimating location information, the reference position according to using following step
Information and preset position function, determine vehicle position information:
According to the reference position information and the preset position function, determine each in the first real-time characteristic point set
The corresponding reference position coordinate of a characteristic point；
Calculate the quadratic sum of the reference position coordinate of each characteristic point and the difference for estimating position coordinates of each characteristic point
It is poor to obtain position coordinates for quadratic sum；
According to the position coordinates difference and the alternate position spike threshold value, vehicle position information is determined.
The third aspect, the embodiment of the present application also provide a kind of electronic equipment, comprising: processor, memory and bus, it is described
Memory is stored with the executable machine readable instructions of the processor, when electronic equipment operation, the processor with it is described
By bus communication between memory, the machine readable instructions executed when being executed by the processor it is above-mentioned in a first aspect, or
Step in first aspect in any possible embodiment.
Fourth aspect, the embodiment of the present application also provide a kind of computer readable storage medium, the computer-readable storage medium
Computer program is stored in matter, which executes above-mentioned in a first aspect, or in first aspect when being run by processor
Step in any possible embodiment.
Vehicle positioning method and device provided by the embodiments of the present application, the picture obtained in real time using video camera, and it is right
Picture carries out Feature point recognition and obtains fisrt feature point set, and determines fisrt feature point set according to preset reference picture set
In each characteristic point reference position information, and the location of vehicle is estimated, obtains estimating location information, according to
Estimate location information, reference position information, position function and alternate position spike threshold value determine vehicle position information, with existing skill
The location information low precision of the automatic driving vehicle obtained by global positioning system or Beidou satellite navigation system in art, effect
Rate is low to be compared, and can obtain the location information of automatic driving vehicle in real time, improves the effect positioned to automatic driving vehicle
Rate.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow chart of vehicle positioning method provided by the embodiment of the present application；
Fig. 2 shows in vehicle positioning method provided by the embodiment of the present application, reference position information specific method is obtained
Flow chart；
Fig. 3 is shown in vehicle positioning method provided by the embodiment of the present application, according to the location information, described estimated
Reference position information and preset position function determine the flow chart of the location information specific method of vehicle；
Fig. 4 shows a kind of structural schematic diagram of vehicle locating device provided by the embodiment of the present application；
Fig. 5 shows the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
Currently, the location information essence of the automatic driving vehicle obtained by global positioning system or Beidou satellite navigation system
Poor, low efficiency is spent, based on this, a kind of vehicle positioning method and device provided by the present application obtain automatic driving vehicle in real time
Location information, improve the efficiency that is positioned to automatic driving vehicle.
For convenient for understanding the present embodiment, first to a kind of vehicle positioning method disclosed in the embodiment of the present application into
Row is discussed in detail,
It is shown in Figure 1, a kind of vehicle positioning method provided by the embodiments of the present application, comprising:
S101: Feature point recognition is carried out to the real time picture of video camera shooting, obtains the first real-time characteristic point set.
When specific implementation, the video camera of picture collection is installed, wherein video camera can be in automatic driving vehicle
3D video camera, and the frequency of taking pictures of video camera is higher, real time picture refers to automatic driving vehicle in driving procedure, to ring around
The picture of border acquisition.After video camera gets real time picture, Feature point recognition is carried out to real time picture, obtains the of real time picture
One real-time characteristic point set.
S102: according to the travel routes information of vehicle, each feature in the first real-time characteristic point set is clicked through
Line position, which is set, to be estimated, and determine each characteristic point in the first real-time characteristic point set estimates location information.
When specific implementation, automatic driving vehicle can be set before driving according to the starting point and destination of passenger
Determine travel route, and the information of travel route is stored in automatic driving vehicle, automatic driving vehicle is believed according to travel route
Breath can estimate the location of automatic driving vehicle, and then estimate to obtain the picture that video camera is shot obtains first
Each characteristic point is corresponding in real-time characteristic point set estimates location information.
Such as: the corresponding first real-time characteristic point set of picture of video camera shooting includes mark building, guideboard pair
The characteristic point answered, then can estimate out according to travel routes information and indicate building, guideboard claps the position of corresponding characteristic point
It sets.
S103: according to preset reference picture collection, determine that each characteristic point is pre- in the first real-time characteristic point set
If reference picture concentrate corresponding reference position information.
When specific implementation, reference picture collection is the information for carrying out Image Acquisition acquisition to each street in advance,
During carrying out Image Acquisition to each street, each picture all carries precise position information, according to reference picture collection
In each picture location information, can determine that each characteristic point is in preset reference picture collection in the first real-time characteristic point set
In corresponding reference position information.
Specifically, shown in Figure 2, the embodiment of the present application also provides the specific method for obtaining reference position information, packets
It includes:
S201: it takes pictures to each street according to preset frequency, obtains the reference picture collection in each street, and to every
The picture match location information in one street.
S202: identify that the reference picture concentrates the characteristic point of each picture.
S203: view-based access control model algorithm for reconstructing and the location information determine the ginseng in the characteristic point of each picture
Location information is examined, and the reference position information and the characteristic point of each picture are saved.
Specific implementation when, video camera is internally provided with the frequency of automatic camera, obtain each street with reference to figure
Image set, not the picture match location information in each street.The picture that reference picture is concentrated includes multiple characteristic points, is needed first
These characteristic points are identified, and according to the location information of the corresponding picture of each characteristic point, using optical rehabilitation algorithm,
Determine the reference position information of each characteristic point in each picture, and by the characteristic point pair of reference position information and each picture
It should save, obtain reference picture collection.
S104: location information, the reference position information, preset position function and preset position are estimated according to described
Poor threshold value is set, vehicle position information is obtained.
When specific implementation, position function refers to using reference position coordinate as dependent variable, is with reference position information
Independent variable, using real-time position information and inner parameter as the function of constant term.
By obtaining the real-time position information of video camera and the inner parameter of video camera, and believed according to real time position
Breath and inner parameter, obtain position function.
Specifically, shown in Figure 3, the embodiment of the present application also provides a kind of to estimate location information, described according to
Reference position information and preset position function determine the location information specific method of vehicle, comprising:
S301: according to the reference position information and the preset position function, the first real-time characteristic point set is determined
The corresponding reference position coordinate of each characteristic point in conjunction.
S302: the quadratic sum and each characteristic point for calculating the reference position coordinate of each characteristic point estimate position coordinates
The quadratic sum of difference, it is poor to obtain position coordinates.
S303: according to the position coordinates difference and the alternate position spike threshold value, vehicle position information is determined.
When specific implementation, reference position information includes the position coordinates of each characteristic point in each picture, will
This position coordinates is input in position function, can obtain the corresponding reference of each characteristic point in the first real-time characteristic point set
Position coordinates calculate the quadratic sum of the reference position coordinate of characteristic point in the first real-time characteristic set；It estimates in location information and wraps
It includes and estimates position coordinates, calculate the quadratic sum for estimating position coordinates of characteristic point in the first real-time characteristic set, and calculate first
Characteristic point is estimated in the quadratic sum of the reference position coordinate of characteristic point and the first real-time characteristic set in real-time characteristic set
The quadratic sum of the difference of position coordinates, it is poor to obtain position coordinates, according to position coordinates difference and preset alternate position spike threshold value, determines vehicle
Location information.
Vehicle positioning method provided by the embodiments of the present application, the picture obtained in real time using video camera, and picture is carried out
Feature point recognition obtains fisrt feature point set, and is determined according to preset reference picture set each in fisrt feature point set
The reference position information of characteristic point, and estimating to the location of vehicle, obtains estimating location information, according to estimating position
Information, reference position information, position function and alternate position spike threshold value determine the location information of vehicle, and it is in the prior art
The location information low precision of the automatic driving vehicle obtained by global positioning system or Beidou satellite navigation system, low efficiency phase
Than that can obtain the location information of automatic driving vehicle in real time, improve the efficiency positioned to automatic driving vehicle.
Based on the same inventive concept, vehicle location dress corresponding with vehicle positioning method is additionally provided in the embodiment of the present application
It sets, since the principle that the device in the embodiment of the present application solves the problems, such as is similar to the above-mentioned vehicle positioning method of the embodiment of the present application,
Therefore the implementation of device may refer to the implementation of method, and overlaps will not be repeated.
The another embodiment of the application also provides a kind of vehicle locating device, and shown in Figure 4, the embodiment of the present application is provided
Vehicle locating device include:
Identification module 41, the real time picture for shooting to video camera carry out Feature point recognition, obtain the first real-time characteristic
Point set；
Determining module 42, for the travel routes information according to vehicle, to each in the first real-time characteristic point set
A characteristic point carries out position and estimates, and determine each characteristic point in the first real-time characteristic point set estimates location information；
Module 43 is obtained, for obtaining each in the first real-time characteristic point set according to preset reference picture collection
The corresponding reference position information that characteristic point is concentrated in preset reference picture；
Position determination module 44, for estimating location information, the reference position information, preset position letter according to
Several and preset alternate position spike threshold value, determines vehicle position information.
Optionally, in vehicle locating device provided by the embodiments of the present application, the acquisition module 43 is specifically used under passing through
The mode of stating obtains the reference position information
It takes pictures to each street according to preset frequency, obtains the reference picture collection in each street, and to each
The picture match location information in street；
Identify that the reference picture concentrates the characteristic point of each picture；
View-based access control model algorithm for reconstructing and the location information determine the reference position in the characteristic point of each picture
Information, and the reference position information and the characteristic point of each picture are saved.
Optionally, in vehicle locating device provided by the embodiments of the present application, described device further includes generation module 45；
The generation module is used to obtain the real-time position information of video camera and the inner parameter of the video camera, and root
According to the real-time position information and the inner parameter, the position function is generated；
Wherein, the position function is using the vehicle position information as dependent variable, with the reference
Location information is independent variable, using the real-time position information and the inner parameter as the function of constant term.
Optionally, in vehicle locating device provided by the embodiments of the present application, the location information of estimating includes estimating position
Coordinate；
The position determination module 42 is specifically used for estimating location information, the reference bit according to using following step
Confidence breath and preset position function, determine vehicle position information:
According to the reference position information and the preset position function, determine each in the first real-time characteristic point set
The corresponding reference position coordinate of a characteristic point；
Calculate the quadratic sum of the reference position coordinate of each characteristic point and the difference for estimating position coordinates of each characteristic point
It is poor to obtain position coordinates for quadratic sum；
According to the position coordinates difference and the alternate position spike threshold value, vehicle position information is determined.
Corresponding to the vehicle positioning method in Fig. 1, the embodiment of the present application also provides a kind of electronic equipment, as shown in figure 5,
The equipment includes memory 31, processor 32, bus 33 and is stored on the memory 31 and can transport on the processor 32
Capable computer program, wherein above-mentioned processor 32 realizes the step of above-mentioned vehicle positioning method when executing above-mentioned computer program
Suddenly.
Specifically, above-mentioned memory 31 and processor 32 can be general memory and processor, not do here specific
It limits, when the computer program of 32 run memory 31 of processor storage, above-mentioned vehicle positioning method is able to carry out, to solve
Location information low precision certainly is obtained using using global positioning system or Beidou satellite navigation system in the prior art, low efficiency
Problem, and then reach the location information that can obtain automatic driving vehicle in real time, what raising positioned automatic driving vehicle
The effect of efficiency.
Corresponding to the vehicle positioning method in Fig. 1, the embodiment of the present application also provides a kind of computer readable storage medium,
It is stored with computer program on the computer readable storage medium, which executes above-mentioned vehicle when being run by processor
The step of localization method.
Specifically, which can be general storage medium, such as mobile disk, hard disk, on the storage medium
Computer program when being run, above-mentioned vehicle positioning method is able to carry out, to solve in the prior art using using the whole world
The problem of positioning system or Beidou satellite navigation system acquisition location information low precision, low efficiency, and then reach and can obtain in real time
The location information of automatic driving vehicle is taken, the effect of the efficiency positioned to automatic driving vehicle is improved.
The computer program product of vehicle positioning method provided by the embodiment of the present application, including storing program code
Computer readable storage medium, the instruction that said program code includes can be used for executing previous methods side as described in the examples
Method, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.In the application
In provided several embodiments, it should be understood that disclosed systems, devices and methods, it can be real by another way
It is existing.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic function
It can divide, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can collect
At another system is arrived, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling
Conjunction or direct-coupling or communication connection can be the indirect coupling or communication connection by some communication interfaces, device or unit,
It can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of vehicle positioning method characterized by comprising
Feature point recognition is carried out to the real time picture of video camera shooting, obtains the first real-time characteristic point set；
According to the travel routes information of vehicle, it is pre- that position is carried out to each characteristic point in the first real-time characteristic point set
Estimate, determine each characteristic point in the first real-time characteristic point set estimates location information；
According to preset reference picture collection, determine in the first real-time characteristic point set each characteristic point preset with reference to figure
Corresponding reference position information in image set；
Location information, the reference position information, preset position function and preset alternate position spike threshold value are estimated according to described,
Determine vehicle position information.
2. the method according to claim 1, wherein the reference position information is obtained by following manner:
It takes pictures to each street according to preset frequency, obtains the reference picture collection in each street, and to each street
Picture match location information；
Identify that the reference picture concentrates the characteristic point of each picture；
View-based access control model algorithm for reconstructing and the location information determine the reference bit confidence in the characteristic point of each picture
Breath, and the reference position information and the characteristic point of each picture are saved.
3. the method according to claim 1, wherein the method also includes:
Obtain the real-time position information of video camera and the inner parameter of the video camera；
According to the real-time position information and the inner parameter, the position function is generated；
Wherein, the position function is using reference position coordinate as dependent variable, using the reference position information as independent variable, with institute
It states real-time position information and the inner parameter is the function of constant term.
4. the method according to claim 1, wherein the location information of estimating includes estimating position coordinates；
It is described that location information, the reference position information and preset position function are estimated according to, determine vehicle location
Information includes:
According to the reference position information and the preset position function, each spy in the first real-time characteristic point set is determined
The corresponding reference position coordinate of sign point；
Calculate square of the quadratic sum of the reference position coordinate of each characteristic point and the difference for estimating position coordinates of each characteristic point
With it is poor to obtain position coordinates；
According to the position coordinates difference and the alternate position spike threshold value, vehicle position information is determined.
5. a kind of vehicle locating device characterized by comprising
Identification module, the real time picture for shooting to video camera carry out Feature point recognition, obtain the first real-time characteristic point set；
Determining module, for the travel routes information according to vehicle, to each feature in the first real-time characteristic point set
Click-through line position, which is set, to be estimated, and determine each characteristic point in the first real-time characteristic point set estimates location information；
Data obtaining module, for obtaining each spy in the first real-time characteristic point set according to preset reference picture collection
The corresponding reference position information that sign point is concentrated in preset reference picture；
Position determination module, for estimated according to location information, the reference position information, preset position function and
Preset alternate position spike threshold value, determines vehicle position information.
6. device according to claim 5, which is characterized in that the acquisition module is specifically used for obtaining by following manner
The reference position information
It takes pictures to each street according to preset frequency, obtains the reference picture collection in each street, and to each street
Picture match location information；
Identify that the reference picture concentrates the characteristic point of each picture；
View-based access control model algorithm for reconstructing and the location information determine the reference bit confidence in the characteristic point of each picture
Breath, and the reference position information and the characteristic point of each picture are saved.
7. device according to claim 5, which is characterized in that described device further includes generation module；
The generation module is used to obtain the real-time position information of video camera and the inner parameter of the video camera, and according to institute
Real-time position information and the inner parameter are stated, the position function is generated；
Wherein, the position function be using the reference position coordinate as dependent variable, using the reference position information as independent variable,
Using the real-time position information and the inner parameter as the function of constant term.
8. device according to claim 5, which is characterized in that the location information of estimating includes estimating position coordinates；
The position determination module is specifically used for estimating location information, the reference position information according to using following step
And preset position function, determine vehicle position information:
According to the reference position information and the preset position function, each spy in the first real-time characteristic point set is determined
The corresponding reference position coordinate of sign point；
Calculate square of the quadratic sum of the reference position coordinate of each characteristic point and the difference for estimating position coordinates of each characteristic point
With it is poor to obtain position coordinates；
According to the position coordinates difference and the alternate position spike threshold value, vehicle position information is determined.
9. a kind of electronic equipment characterized by comprising processor, memory and bus, the memory are stored with the place
The executable machine readable instructions of device are managed, when electronic equipment operation, pass through bus between the processor and the memory
Communication executes the vehicle as described in Claims 1-4 any one and determines when the machine readable instructions are executed by the processor
The step of position method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer journey on the computer readable storage medium
Sequence executes the step of the vehicle positioning method as described in Claims 1-4 any one when the computer program is run by processor
Suddenly.
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| Publication number | Priority date | Publication date | Assignee | Title |
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