CN109949439A - Driving outdoor scene information labeling method, apparatus, electronic equipment and medium - Google Patents
Driving outdoor scene information labeling method, apparatus, electronic equipment and medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of driving outdoor scene information labeling method, apparatus, electronic equipment and media, wherein, this method comprises: using the car networking communication technology, the environmental information of target vehicle current location is obtained, wherein, environmental information includes the spatial positional information of at least one target object；Obtain the driving multi-view image in driving conditions；According to environmental information, the position of at least one target object is labeled on driving multi-view image.The embodiment of the present invention, which realizes, provides the effect of more comprehensive outdoor scene information when driving for user, can assist improving drive safety and convenience.
Description
Technical field
The present embodiments relate to field of intelligent transportation technology more particularly to a kind of driving outdoor scene information labeling methods, dress
It sets, electronic equipment and medium.
Background technique
Car networking technology has merged modern communications and network technology.With the development of vehicle network technology, realize vehicle and people,
The comprehensive network connection of vehicle and vehicle, Che Yulu and vehicle and service platform etc. improves Vehicular intelligent level and drives automatically
Ability is sailed, more intelligent, comfortable, safety and efficient driving service can be provided for vast trip user.
However, road traffic is consequently increased with the increase of trip user, driving safety problem can not still be neglected
Depending on, how flexible Application car networking technology, improve driving safety be still current problem to be solved.
Summary of the invention
The embodiment of the present invention provides a kind of driving outdoor scene information labeling method, apparatus, electronic equipment and medium, is existed with realizing
The effect of more comprehensive outdoor scene information is provided for user in driving conditions, auxiliary improves drive safety and convenience.
In a first aspect, the embodiment of the invention provides a kind of driving outdoor scene information labeling methods, this method comprises:
Using the car networking communication technology, the environmental information of target vehicle current location is obtained, wherein the environmental information packet
Include the spatial positional information of at least one target object；
Obtain the driving multi-view image in driving conditions；
According to the environmental information, the position of at least one target object is carried out on the driving multi-view image
Mark.
Second aspect, the embodiment of the invention also provides a kind of driving outdoor scene information labeling device, which includes:
Environment information acquisition module obtains the environment letter of target vehicle current location for utilizing the car networking communication technology
Breath, wherein the environmental information includes the spatial positional information of at least one target object；
It drives multi-view image and obtains module, for obtaining the driving multi-view image in driving conditions；
Target object labeling module, for according to the environmental information, on the driving multi-view image to it is described at least
The position of one target object is labeled.
The third aspect, the embodiment of the invention also provides a kind of electronic equipment, comprising:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the driving outdoor scene information labeling method as described in any embodiment of the present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the driving outdoor scene information labeling method as described in any embodiment of the present invention when the program is executed by processor.
The embodiment of the present invention is by the environmental information using car networking communication technology acquisition target vehicle current location, then
According to the environmental information obtained, outdoor scene mark is carried out on the driving multi-view image shot when driving, solves and drove a vehicle
In journey user cause because of the actual environment Limited information known trip there are inconveniences and asking there are driving safety hidden danger
Topic, realizes when driving, provides the effect of more comprehensive outdoor scene information from visual aspects for user, can assist mentioning
High drive safety and convenience.
Detailed description of the invention
Fig. 1 is the flow chart for the driving outdoor scene information labeling method that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram for the driving outdoor scene information labeling system that the embodiment of the present invention one provides；
Fig. 3 is the flow chart of driving outdoor scene information labeling method provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram for the driving outdoor scene information labeling device that the embodiment of the present invention three provides；
Fig. 5 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
In car networking field, the dress such as advanced onboard sensor, controller and actuator is carried on intelligent network connection vehicle
It sets, vehicle may be implemented and exchanged together with the intelligent information of X (X refers to any one or more in the objects such as vehicle, road, people and cloud)
It enjoys, has the functions such as complex environment perception, intelligent decision and Collaborative Control.Intelligent network joins vehicle can be by installing from vehicle
The positioning devices such as GNSS (Global Navigation Satellite System, Global Navigation Satellite System) obtain in real time
Self space location information and speed, such as latitude, longitude, height, speed and deflection etc.；Pass through attitude transducer, such as top
Spiral shell instrument, accelerometer and geomagnetic sensor etc. obtain the posture information of vehicle, such as pitch angle, yaw angle and the inclination of vehicle
Angle etc.；Call camera captured in real-time vehicle-periphery information.Intelligent network joins the car networking communication equipment on vehicle, such as vehicle
Carry V2X (vehicle to everything) equipment, can be obtained from real time vehicle and nearby vehicle spatial positional information,
Posture information and environmental information etc., and real-time synchronization is to network cloud, so as in network other nodes can by with cloud
Interaction share the information.Each car networking communication equipment is equivalent to a node, can also be between each node in network
Information is directly carried out mutually to enjoy.Technical solution of the embodiment of the present invention is described in detail with reference to the accompanying drawing.
Embodiment one
Fig. 1 is the flow chart for the driving outdoor scene information labeling method that the embodiment of the present invention one provides, and the present embodiment is applicable
In when driving based on vehicle camera shooting image carry out outdoor scene mark the case where.This method can be by driving outdoor scene
Information labeling device executes, which can be realized by the way of software and/or hardware, and can be integrated in electronic equipment
On, such as the controlling terminal or mobile unit etc. of vehicle.
As shown in Figure 1, driving outdoor scene information labeling method provided in this embodiment may include:
S110, the car networking communication technology, the environmental information of acquisition target vehicle current location, wherein environmental information are utilized
Spatial positional information including at least one target object.
Based in car networking communication environmental information it is shared, electronic equipment on target vehicle can be by installing on vehicle
Car networking communication equipment obtains the environmental information in driving process.Environmental information is to describe the current running environment of target vehicle.
It may include at least one target object in running environment, target object refers to the object with information alert value in driving conditions
Body can be stationary body, be also possible to dynamic object.Optionally, target object includes building, crossing, traffic sign, row
At least one of people, motor vehicle, non-motor vehicle, raised barrier and recess barrier type.It include each in environmental information
The attribute information of target object, the attribute information are used to describe the current state of each target object.
Illustratively, if target object is building, may include in environmental information the building spatial positional information,
Space geometry information and the entrance of building etc.；It may include the sky at the crossing in environmental information if target object is crossing
Between the traffic sign etc. that is arranged on location information, traffic information and the crossing；If target object is traffic sign, environmental information
In may include whether the spatial positional information of the traffic sign, the mark available and mark meaning etc.；If target object is
Motor vehicle or non-motor vehicle, may include in environmental information the spatial positional information of motor vehicle or non-motor vehicle, travel speed and
The exercise parameters such as driving direction.Certainly, it may also include spatial positional information and the motion state etc. of pedestrian in environmental information.Its
In, spatial positional information includes latitude and longitude information, elevation information and azimuth information, can be indicated with the form of position coordinates.With
The traveling of target vehicle, running environment change therewith, on target vehicle electronic equipment obtain environmental information also constantly change.
Optionally, using the car networking communication technology, the environmental information of target vehicle current location is obtained, comprising:
By the interaction in the car networking communication equipment on target vehicle and network between other car networking communication equipments, obtain
Take the environmental information of target vehicle current location；Or
By the interaction of car networking communication equipment and cloud on target vehicle, the environment of target vehicle current location is obtained
Information.
For example, the car networking communication equipment B on target vehicle can be with the car networking on vehicle in its position near zone
Communication equipment A is communicated, and the spatial positional information of vehicle, travel speed and driving direction etc. near zone are got, this
When, the vehicle near zone is that is, target object；Alternatively, car networking communication equipment B on target vehicle can with it is attached
Car networking communication equipment C in close pedestrian's hand is communicated, and obtains spatial positional information and the car networking communication of the pedestrian
The environmental information in setting regions that equipment C has been obtained；Alternatively, the car networking communication equipment B on target vehicle can be near
The car networking communication equipment D for being installed on trackside is communicated, obtain by trackside camera or radar detection to pedestrian or do not pacify
The spatial positional information of the vehicle E of entrucking networked devices, wherein the pedestrian and vehicle E are that is, target object.In addition, target
Car networking communication equipment on vehicle can also carry out information exchange with network cloud, obtain from cloud with target vehicle present bit
The environmental information being set in the setting regions at center, wherein the size of setting regions can be configured according to actual needs.
The present embodiment is not especially limited the specific implementation form of car networking communication equipment, can be the dedicated vehicle of vehicle
Networked communication device is also possible to be able to carry out vehicle Network Communication and the mobile terminal with environmental information sharing functionality.
Driving multi-view image in S120, acquisition driving conditions.
The angular field of view that multi-view image refers to foundation user (i.e. driver) in driving conditions is driven, vehicle camera is utilized
The real scene image namely the real scene image around target vehicle of the current environment of shooting, for example, based on user through windshield,
Left and right vehicle window or visual angle when checking current environment outdoor scene from vehicle mirrors, the environment real scene image shot.It claps
When taking the photograph driving multi-view image, target vehicle can be stationary state and be also possible to motion state.By being clapped in real time with user perspective
Environment real scene image is taken the photograph, so that subsequent outdoor scene mark is more bonded the practical driving scene of user, the result of outdoor scene mark is to user
For with more drive prompt value.
S130, the environmental information according to acquisition carry out the position of at least one target object on driving multi-view image
Mark.
Three-dimensional scenic building can be carried out to the current environment of target vehicle using the environmental information of acquisition, drive visual angle figure
As a part being equivalent in the three-dimensional scenic, i.e. object in target object and the three-dimensional scenic on driving multi-view image
Body has corresponding relationship, therefore, after driving multi-view image and three-dimensional scenic progress Region Matching, can directly utilize ring
The spatial positional information for the target object for including in the information of border carries out position mark to corresponding target object on multi-view image is driven
Note.Annotation process is not relying on the image recognition to target object.The target object for considering position mark can include quiet simultaneously
State object and dynamic object, and with the movement of target vehicle or the movement of target object, target object is together with its mark
Position on the image also changes in real time, guarantees the consistency of annotation results and actual environment.Wherein, to the specific of target object
Notation methods the present embodiment is not especially limited, and visually gives user's driving outdoor scene information alert guaranteeing to play
On the basis of, arbitrary notation methods can be used.Moreover, when target object quantity to be marked is more, it can be to different
Target object distinguishes mark, for example, by using different colours or different labeled icon etc..
After target object is marked, user can prompt grasp actual driving environment in real time according to mark, and according to
Mark prompt adjusts driving condition in time, even if user can also make a response rapidly into new environment, by vehicle present bit
It sets and is connected with actual environment, to guarantee safety and convenience.
It should be noted that the present embodiment is not especially limited the mark opportunity of target object, for example, can be according to pre-
The target object type being first arranged just is labeled after driving and the target object of the type occur in multi-view image；It can also be with
According to pre-set target object priority, according to the rank of target object, when occurring target object in environmental information, have
Selectively it is labeled on driving multi-view image.
In addition, if the case where there are target objects beyond current driving multi-view image range, it can be according to target object
Orientation and the current location of target vehicle determine an extended line, target object is labeled on the extended line, certainly,
It can be labeled again after target object is completely in and drives within the scope of multi-view image.
Based on the above technical solution, optionally, the environmental information of acquisition further includes at least one target object
Travel speed and driving direction；Correspondingly, according to environmental information, to the position of at least one target object on driving multi-view image
It sets and is labeled, comprising:
According to the spatial positional information of each target object, travel speed and driving direction, determine that each target object is
No influence target vehicle normally travel；
If it is determined that influencing the target object of target vehicle normally travel, then according to the space bit confidence of the target object
Breath is labeled the position of the target object on driving multi-view image.
Electronic equipment is while obtaining the spatial positional information of each target object, travel speed and driving direction, electricity
Sub- equipment can use spatial positional information, the row that the devices such as positioning device or sensor on target vehicle obtain target vehicle
Sail speed and driving direction；It is then based on the information of acquisition, determines exercise parameter between target vehicle and each target object
Variation, such as the variation of relative distance, the variation of relative velocity and opposite traveling side between target vehicle and each target object
To variation, and then determine whether each target object influences the normally travel of target vehicle, shadow according to the variation of exercise parameter
The case where ringing target vehicle normally travel includes collision and is in the way.
Illustratively, according to the variation of determining exercise parameter, determine that each target object and target vehicle whether there is
The danger of collision, if it is determined that target object and target vehicle have the danger collided, then the target object are being driven visual angle
It is marked on image；Alternatively, target object is the fault car for keeping to the side to stop, according to the variation of determining exercise parameter, determining should
Fault car influences the forward road of target vehicle, then marks the fault car on driving multi-view image.Pass through object
It is pre- to reach vision so that car owner can be clearly seen that target object that is dangerous or influencing safe driving for the mark of body
Alert effect, and in time according to the driving condition of prompt adjustment target vehicle, the generation to avoid traffic accident improves driving safety
Property.
Optionally, this method further include: the spatial positional information of the target object of user's input is obtained, with defeated according to user
The spatial positional information entered is labeled the position of target object on driving multi-view image.
For example, during the navigation process, the spatial positional information of destination can be inputted electronic equipment, electronic equipment by user
Destination is labeled in real time according to the information of user's input and is driven on multi-view image, user, which can understand, grasps the destination
Position, prevent in navigation procedure, navigation hint user arrived destination, and user is due to being unfamiliar with currently practical environment,
The phenomenon that destination cannot be quickly found, makes troubles to user's trip.
Based on the above technical solution, optionally, this method further include: the position of each target object is marked into knot
Fruit carries out real-time display.After the completion of the position mark of target object, relevant to target object space bit confidence can also will be removed
Information except breath is shown.Further, it is also possible to the driving multi-view image of captured in real-time be blended with navigation map, by mesh
The annotation results of mark object are shown simultaneously with navigation routine, further increase the driving convenience and drive safety of user.
Fig. 2 is as an example, show a kind of structure of driving outdoor scene information labeling system that can be integrated on target vehicle
Schematic diagram.As indicated with 2, include but is not limited in the system: for executing electronic equipment, the auxiliary positioning of this implementation technical solution
Device, information exchange platform, camera and image display, wherein auxiliary locator may include GNSS positioning device, letter
It include car networking communication equipment and the cloud on target vehicle in breath interaction platform.In target vehicle driving process, electronics
Equipment utilization auxiliary locator obtains the spatial positional information and kinematic parameter of target vehicle itself in real time, utilizes information exchange
Platform obtains the environmental information of current location, and the shooting of multi-view image is driven using camera real-time perfoming, is then based on acquisition
Environmental information and drive multi-view image target object is labeled on the image by data processing, i.e., realization outdoor scene mark
Annotation results are finally presented to the user using image display by note, and user is understood and grasps current driving environment.
The technical solution of the present embodiment is believed by being obtained the environment of target vehicle current location using the car networking communication technology
Breath carries out outdoor scene mark, solves then according to the environmental information obtained on the driving multi-view image shot when driving
In driving conditions user cause because of the actual environment Limited information known trip there are inconvenience with that there are driving safeties is hidden
It the problem of suffering from, realizes when driving, provides the effect of more comprehensive outdoor scene information from visual aspects for user, assist
Improve drive safety and convenience.
Embodiment two
Fig. 3 is the flow chart of driving outdoor scene information labeling method provided by Embodiment 2 of the present invention, and the present embodiment is upper
Further progress optimizes and extends on the basis of stating embodiment.As shown in figure 3, this method may include:
S210, the car networking communication technology, the environmental information of acquisition target vehicle current location, wherein environmental information are utilized
Spatial positional information including at least one target object.
Driving multi-view image in S220, acquisition driving conditions.
S230, according to drive multi-view image shooting visual angle, determine drive multi-view image corresponding mesh in environmental information
Mark environmental information.
For electronic equipment while obtaining driving multi-view image, available camera shoots the shooting view when image
Angle, shooting visual angle can embody the specific environment region of camera shooting.According to the shooting visual angle, constructed based on environmental information
Three-dimensional scenic in determine and drive the corresponding target area of multi-view image, belong to the environmental information i.e. target of the target area
Environmental information.
S240, the spatial position coordinate based on each target object in target environment information, it is true using coordinate transformating technology
Fixed each target object is driving the image coordinate on multi-view image.
Include the three-dimensional space position coordinate of each target object in target environment information, utilizes world coordinate system, camera
Coordinate conversion relation between coordinate system and image coordinate system can turn the three-dimensional space position coordinate of each target object
Image coordinate is turned to, that is, determines that each target object is driving the position on multi-view image.
For example, first between world coordinate system and camera coordinates system transformation matrix of coordinates (including translation transformation and
Rotation transformation), it is the fooled corresponding phase of preceding camera of target vehicle by the three-dimensional space position coordinate transformation of each target object
Coordinate under machine coordinate system；Then the transformation between camera coordinates system image coordinate system corresponding with multi-view image is driven is recycled
Formula obtains each target object and is driving the image coordinate on multi-view image.Camera needed for coordinate transformation process
Spatial positional information, such as height, the position of camera relative target vehicle of camera etc., can be by target vehicle
Sensor measurement obtain.
Wherein, the actual coordinates in world coordinate system, that is, earth inertial referential；Camera coordinates system is in camera
The heart is origin, z-axis and optical axis coincidence, the i.e. front of z-axis direction camera, with imaging plane perpendicular, x-axis and and y-axis place plane
It is parallel with imaging plane；Image coordinate means the coordinate system that the image itself based on camera shooting constructs, and is to sit with picture centre
Mark origin.The x-axis and y-axis of image coordinate system are parallel with the x-axis of camera coordinates system and y-axis respectively.
S250, each target object is marked on driving multi-view image according to image coordinate.
Further, before marking each target object on driving multi-view image according to image coordinate, this method is also
Include:
Obtain the posture information that shooting drives camera used in multi-view image；
Image coordinate is modified according to posture information, to utilize revised image coordinate on driving multi-view image
Mark each target object.
Camera coordinates system is and the consistent coordinate system of camera posture.It, may be because of top in target vehicle driving process
It the factors such as winnows with a dustpan or turns, the normal place for causing camera current location to demarcate in advance relatively shifts, such as vehicle turning
When camera can make corresponding rotation relative to camera coordinates y-axis, and then cause camera coordinates system respectively with world coordinate system and
Large error is generated between image coordinate system, the image coordinate being calculated is just inaccurate.Therefore, in the mistake of label target object
Pitch angle, yaw angle and the side of Cheng Zhong, the posture information for needing that Position and attitude sensor is called to obtain camera in real time, such as camera
Inclination angle etc. is modified according to the image coordinate that the variation of the posture information obtains transformation, and then guarantees target object location
The accuracy of mark, it is ensured that provide accurate outdoor scene information alert for user.
Based on the above technical solution, optionally, according to environmental information, at least one on driving multi-view image
The position of target object is labeled, comprising:
Using image recognition technology, the road information driven on multi-view image is identified；
According to the recognition result and environmental information of road information, to the position of each target object on driving multi-view image
It sets and is labeled.
Based on the road information of image recognition technology identification, such as lane line information, road signs and significant
Building etc. can provide reference by location in the position mark driven on multi-view image for target object, improve target object location
The accuracy of mark.Illustratively, figure of each target object on driving multi-view image is being determined using coordinate transformating technology
While as coordinate, the lane line driven on multi-view image is identified using image recognition technology, and determines lane line in image
Position coordinates, then in conjunction with target object and the relative positional relationship of lane line in the actual environment, on driving multi-view image
Label target object.
The technical solution of the present embodiment utilizes coordinate transformating technology by the spatial positional information based on each target object
It determines that each target object is driving the image coordinate on multi-view image, and then is based on the image coordinate label target object, solution
The user in driving conditions that determined leads to trip because of the actual environment Limited information known there are inconvenience and exists and drive peace
The problem of full hidden danger, realizes and provides the effect of more comprehensive outdoor scene information when driving for user, can assist mentioning
High drive safety and convenience；Also, in target object annotation process, by being used cooperatively to image recognition technology,
Improve the accuracy of outdoor scene mark.
Embodiment three
Fig. 4 is the structural schematic diagram for the driving outdoor scene information labeling device that the embodiment of the present invention three provides, and the present embodiment can
The case where carrying out outdoor scene mark suitable for the image when driving based on the shooting of vehicle camera.The device can use soft
The mode of part and/or hardware is realized, and can be integrated on vehicle electronic device, such as the controlling terminal or mobile unit of vehicle
Deng.
As shown in figure 4, driving outdoor scene information labeling device provided in this embodiment may include environment information acquisition module
310, it drives multi-view image and obtains module 320 and target object labeling module 330, in which:
Environment information acquisition module 310 obtains the environment of target vehicle current location for utilizing the car networking communication technology
Information, wherein environmental information includes the spatial positional information of at least one target object；
It drives multi-view image and obtains module 320, for obtaining the driving multi-view image in driving conditions；
Target object labeling module 330, for the environmental information according to acquisition, at least one on driving multi-view image
The position of target object is labeled.
Optionally, the environmental information obtained in environment information acquisition module 310 further includes the row of at least one target object
Sail speed and driving direction；
Correspondingly, target object labeling module 330 includes:
Traveling influences determination unit, for according to the spatial positional information of each target object, travel speed and traveling side
To determining whether each target object influences the normally travel of target vehicle；
Traveling influences mark unit, for if it is determined that influencing the target object of target vehicle normally travel, then basis
The spatial positional information of the target object is labeled the position of the target object on driving multi-view image.
Optionally, target object labeling module 330 includes:
Target environment information determination unit, for determining and driving multi-view image according to the shooting visual angle for driving multi-view image
The corresponding target environment information in environmental information；
Image coordinate determination unit, for the spatial position coordinate based on each target object in target environment information, benefit
Determine that each target object is driving the image coordinate on multi-view image with coordinate transformating technology；
Image coordinate marks unit, for marking each target object on driving multi-view image according to image coordinate.
Optionally, target object labeling module 330 further include:
Posture information acquiring unit drives the posture information of camera used in multi-view image for obtaining shooting；
Image coordinate amending unit, for being modified according to posture information to image coordinate, to utilize revised figure
As coordinate marks each target object on driving multi-view image.
Optionally, target object labeling module 330 includes:
Road information recognition unit carries out the road information driven on multi-view image for utilizing image recognition technology
Identification；
Unit is marked, for the recognition result and environmental information according to road information, to every on driving multi-view image
The position of a target object is labeled.
Optionally, environment information acquisition module 310 is specifically used for:
By the interaction in the car networking communication equipment on target vehicle and network between other car networking communication equipments, obtain
Take the environmental information of target vehicle current location；Or
By the interaction of car networking communication equipment and cloud on target vehicle, the environment of target vehicle current location is obtained
Information.
Optionally, target object includes building, crossing, traffic sign, pedestrian, motor vehicle, non-motor vehicle, raised obstacle
At least one of object and recess barrier type.
Optionally, the device further include:
Display module, for the position annotation results of each target object to be carried out real-time display.
Optionally, the device further include:
User inputs data obtaining module, the spatial positional information of the target object for obtaining user's input, with basis
The spatial positional information of user's input, is labeled the position of target object on driving multi-view image.
Driving outdoor scene information labeling device provided by the embodiment of the present invention can be performed any embodiment of that present invention and be provided
Driving outdoor scene information labeling method, have the corresponding functional module of execution method and beneficial effect.It is not detailed in the present embodiment
The content of description can be with reference to the description in any means embodiment of the present invention.
Example IV
Fig. 5 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present invention four provides.Fig. 5, which is shown, to be suitable for being used in fact
The block diagram of the example electronic device 412 of existing embodiment of the present invention.The electronic equipment 412 that Fig. 5 is shown is only an example,
Should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 5, electronic equipment 412 is showed in the form of universal electronic device.The component of electronic equipment 412 can wrap
Include but be not limited to: one or more processor 416, storage device 428 connect different system components (including storage device 428
With processor 416) bus 418.
Bus 418 indicates one of a few class bus structures or a variety of, including storage device bus or storage device control
Device processed, peripheral bus, graphics acceleration port, processor or total using the local of any bus structures in a variety of bus structures
Line.For example, these architectures include but is not limited to industry standard architecture (Industry Subversive
Alliance, ISA) bus, microchannel architecture (Micro Channel Architecture, MAC) bus is enhanced
Isa bus, Video Electronics Standards Association (Video Electronics Standards Association, VESA) local are total
Line and peripheral component interconnection (Peripheral Component Interconnect, PCI) bus.
Electronic equipment 412 typically comprises a variety of computer system readable media.These media can be it is any can be by
The usable medium that electronic equipment 412 accesses, including volatile and non-volatile media, moveable and immovable medium.
Storage device 428 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (Random Access Memory, RAM) 430 and/or cache memory 432.Electronic equipment 412 can be into one
Step includes other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only as an example, it stores
System 434 can be used for reading and writing immovable, non-volatile magnetic media (Fig. 5 do not show, commonly referred to as " hard disk drive ").
Although being not shown in Fig. 5, the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided,
And to removable anonvolatile optical disk, such as CD-ROM (Compact Disc Read-Only Memory, CD-ROM),
Digital video disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical mediums) read-write light
Disk drive.In these cases, each driver can pass through one or more data media interfaces and 418 phase of bus
Even.Storage device 428 may include at least one program product, which has one group of (for example, at least one) program mould
Block, these program modules are configured to perform the function of various embodiments of the present invention.
Program/utility 440 with one group of (at least one) program module 442 can store in such as storage dress
It sets in 428, such program module 442 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
442 usually execute function and/or method in embodiment described in the invention.
Electronic equipment 412 (such as keyboard, can also be directed toward terminal, display 424 with one or more external equipments 414
Deng) communication, can also be enabled a user to one or more terminal interact with the electronic equipment 412 communicate, and/or with make
Any terminal that the electronic equipment 412 can be communicated with one or more of the other computing terminal (such as network interface card, modem
Etc.) communication.This communication can be carried out by input/output (I/O) interface 422.Also, electronic equipment 412 can also lead to
Cross network adapter 420 and one or more network (such as local area network (Local Area Network, LAN), wide area network
(Wide Area Network, WAN) and/or public network, such as internet) communication.As shown in figure 5, network adapter 420
It is communicated by bus 418 with other modules of electronic equipment 412.It should be understood that although not shown in the drawings, can be set in conjunction with electronics
Standby 412 use other hardware and/or software module, including but not limited to: microcode, terminal driver, redundant processor, outside
Disk drive array, disk array (Redundant Arrays of Independent Disks, RAID) system, tape drive
Dynamic device and data backup storage system etc..
The program that processor 416 is stored in storage device 428 by operation, thereby executing various function application and number
According to processing, such as realize driving outdoor scene information labeling method provided by any embodiment of the invention, this method may include:
Using the car networking communication technology, the environmental information of target vehicle current location is obtained, wherein the environmental information packet
Include the spatial positional information of at least one target object；
Obtain the driving multi-view image in driving conditions；
According to the environmental information, the position of at least one target object is carried out on the driving multi-view image
Mark.
Embodiment five
The embodiment of the present invention five additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should
Such as driving outdoor scene information labeling method provided by any embodiment of the invention is realized when program is executed by processor, this method can
To include:
Using the car networking communication technology, the environmental information of target vehicle current location is obtained, wherein the environmental information packet
Include the spatial positional information of at least one target object；
Obtain the driving multi-view image in driving conditions；
According to the environmental information, the position of at least one target object is carried out on the driving multi-view image
Mark.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on remote computer or terminal completely on the remote computer on the user computer.It is relating to
And in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or extensively
Domain net (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as provided using Internet service
Quotient is connected by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (12)
1. a kind of driving outdoor scene information labeling method characterized by comprising
Using the car networking communication technology, the environmental information of target vehicle current location is obtained, wherein the environmental information includes extremely
The spatial positional information of a few target object；
Obtain the driving multi-view image in driving conditions；
According to the environmental information, the position of at least one target object is marked on the driving multi-view image
Note.
2. the method according to claim 1, wherein the environmental information further includes at least one described object
The travel speed and driving direction of body；
Correspondingly, according to the environmental information, to the position of at least one target object on the driving multi-view image
It is labeled, comprising:
According to the spatial positional information of each target object, travel speed and driving direction, determine each target object whether shadow
Ring the normally travel of target vehicle；
If it is determined that influence the target object of target vehicle normally travel, then according to the spatial positional information of the target object,
The position of the target object is labeled on the driving multi-view image.
3. the method according to claim 1, wherein according to the environmental information, in the driving multi-view image
On the position of at least one target object is labeled, comprising:
According to the shooting visual angle for driving multi-view image, determine that the driving multi-view image is corresponding in the environmental information
Target environment information；
Based on the spatial position coordinate of each target object in target environment information, each target is determined using coordinate transformating technology
Image coordinate of the object on the driving multi-view image；
Each target object is marked on the driving multi-view image according to described image coordinate.
4. according to the method described in claim 3, it is characterized in that, according to described image coordinate in the driving multi-view image
Before the upper each target object of mark, the method also includes:
Obtain the shooting posture information for driving camera used in multi-view image；
Described image coordinate is modified according to the posture information, to be regarded using revised image coordinate in the driving
Each target object is marked on the image of angle.
5. the method according to claim 1, wherein according to the environmental information, in the driving multi-view image
On the position of at least one target object is labeled, comprising:
Using image recognition technology, the road information on the driving multi-view image is identified；
According to the recognition result of the road information and the environmental information, to each target on the driving multi-view image
The position of object is labeled.
6. obtaining target vehicle the method according to claim 1, wherein described utilize the car networking communication technology
The environmental information of current location, comprising:
By the interaction in the car networking communication equipment on target vehicle and network between other car networking communication equipments, mesh is obtained
Mark the environmental information of current vehicle position；Or
By the interaction of car networking communication equipment and cloud on target vehicle, the environment letter of target vehicle current location is obtained
Breath.
7. any method in -6 according to claim 1, which is characterized in that target object includes building, crossing, traffic
At least one of mark, pedestrian, motor vehicle, non-motor vehicle, raised barrier and recess barrier type.
8. the method according to claim 1, wherein the method also includes:
The position annotation results of each target object are subjected to real-time display.
9. the method according to claim 1, wherein the method also includes:
The spatial positional information for obtaining the target object of user's input, with the spatial positional information inputted according to user, described
It drives and the position of target object is labeled on multi-view image.
10. a kind of driving outdoor scene information labeling device characterized by comprising
Environment information acquisition module, for obtaining the environmental information of target vehicle current location using the car networking communication technology,
In, the environmental information includes the spatial positional information of at least one target object；
It drives multi-view image and obtains module, for obtaining the driving multi-view image in driving conditions；
Target object labeling module, for according to the environmental information, on the driving multi-view image to it is described at least one
The position of target object is labeled.
11. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now driving outdoor scene information labeling method as described in any in claim 1-9.
12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The driving outdoor scene information labeling method as described in any in claim 1-9 is realized when execution.
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