CN113497897B

CN113497897B - Vehicle-road cooperative roadside camera installation parameter adjusting method and device and electronic equipment

Info

Publication number: CN113497897B
Application number: CN202110721840.7A
Authority: CN
Inventors: 苑立彬
Original assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd
Current assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2023-01-24
Anticipated expiration: 2041-06-28
Also published as: CN113497897A

Abstract

The invention discloses a method and a device for adjusting installation parameters of a vehicle-road cooperative roadside camera and electronic equipment, and relates to the field of computer computing, in particular to the technical field of intelligent transportation. The specific implementation scheme is as follows: obtaining image positions of upper and lower boundary pixel points in images collected by a first bolt face and a second bolt face, wherein the first bolt face and the second bolt face respectively face to two opposite sides of a roadside sensing area; obtaining image positions of left and right boundary pixel points in an image collected by a wide-angle camera, wherein the wide-angle camera faces the ground; determining a spatial position corresponding to each image position; judging whether the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing region or not according to the spatial positions; and if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera. By applying the scheme provided by the embodiment of the invention, the complexity of adjusting the installation parameters of the cameras for vehicle-road collaborative V2X can be reduced.

Description

Vehicle-road cooperative roadside camera installation parameter adjusting method and device and electronic equipment

Technical Field

The present disclosure relates to the field of computer technology, and more particularly, to the field of intelligent transportation technology.

Background

In a roadside perception scene with vehicle-road cooperation V2X, in order to obtain information of a target object such as a motor vehicle, a non-motor vehicle, a pedestrian, an obstacle, and the like at a road intersection, it is generally necessary to deploy an image acquisition device at the road intersection, and obtain the information of the target object by using an image acquired by the image acquisition device.

In the related art, in order to enable an image capture area of a deployed image capture device to cover a complete intersection area, a plurality of image capture devices are generally deployed at an intersection, and installation parameters such as installation heights and inclination angles of the plurality of image capture devices need to be adjusted.

Disclosure of Invention

The disclosure provides a vehicle-road cooperative roadside camera installation parameter adjusting method and device and electronic equipment.

According to an aspect of the present disclosure, there is provided a roadside camera installation parameter adjustment method, the method including:

obtaining image positions of upper and lower boundary pixel points in images collected by a first bolt face and a second bolt face, wherein the first bolt face and the second bolt face respectively face to two opposite sides of a roadside sensing area;

obtaining image positions of left and right boundary pixel points in an image collected by a wide-angle camera, wherein the wide-angle camera faces the ground;

determining a spatial position corresponding to each image position;

judging whether the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing region or not according to the spatial positions;

and if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

According to another aspect of the present disclosure, there is provided a roadside camera installation parameter adjustment device including:

the system comprises a first position obtaining module, a second position obtaining module and a display module, wherein the first position obtaining module is used for obtaining image positions of upper and lower boundary pixel points in images collected by a first bolt and a second bolt, and the first bolt and the second bolt respectively face to two opposite sides of a roadside sensing area;

the second position obtaining module is used for obtaining the image positions of the left and right boundary pixel points in the image collected by the wide-angle camera, and the wide-angle camera faces the ground;

the spatial position determining module is used for determining the spatial position corresponding to each image position;

the first condition judgment module is used for judging whether the image acquisition areas of the first gunlock, the second gunlock and the wide-angle camera cover the roadside sensing area or not according to each spatial position, and if not, the first parameter adjustment module is triggered;

and the first parameter adjusting module is used for adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

According to still another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a roadside camera installation parameter adjustment method.

According to yet another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute a roadside camera installation parameter adjusting method.

According to yet another aspect of the disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements a roadside camera installation parameter adjustment method.

According to the roadside camera installation parameter adjustment scheme provided by the embodiment of the disclosure, image positions of upper and lower boundary pixel points in images collected by a first bolt and a second bolt can be obtained, and the first bolt and the second bolt respectively face to two opposite sides of a roadside sensing area; acquiring image positions of left and right boundary pixel points in an image acquired by a wide-angle camera, wherein the wide-angle camera faces the ground; determining a spatial position corresponding to each image position; judging whether the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover a roadside sensing region or not according to the spatial positions; if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera. Therefore, whether the image acquisition area of the camera covers the roadside sensing area or not can be judged based on the spatial positions corresponding to the boundary pixel points of the images acquired by the first gun camera, the second gun camera and the wide-angle camera, and the installation parameters of the camera are adjusted under the condition of no coverage without manual judgment and adjustment. Therefore, the complexity of adjusting the camera installation parameters for the vehicle-road cooperation V2X can be reduced by applying the scheme provided by the disclosure.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic flow chart of a method for adjusting installation parameters of a roadside camera according to an embodiment of the present disclosure;

fig. 2 is a schematic view of an image captured by a first bolt provided by an embodiment of the present disclosure;

fig. 3 is a schematic view of an image captured by a second bolt provided in an embodiment of the present disclosure;

fig. 4 is a schematic diagram of an image acquired by a wide-angle camera according to an embodiment of the disclosure;

FIG. 5 is a schematic illustration of a spatial location provided by an embodiment of the present disclosure;

FIG. 6 is a schematic view of another spatial location provided by embodiments of the present disclosure;

fig. 7 is a schematic flow chart illustrating another method for adjusting installation parameters of a roadside camera according to an embodiment of the present disclosure;

FIG. 8 is a block diagram of an apparatus for implementing a roadside camera installation parameter adjustment method of an embodiment of the present disclosure;

fig. 9 is a block diagram of an electronic device for implementing the roadside camera installation parameter adjustment method according to the embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of embodiments of the present disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In order to reduce the complexity of adjusting the camera installation parameters, the disclosure provides a method and a device for adjusting the installation parameters of a road side camera, electronic equipment and a storage medium.

In an embodiment of the present disclosure, a method for adjusting installation parameters of a roadside camera is provided, where the method includes:

acquiring image positions of upper and lower boundary pixel points in images collected by a first gun camera and a second gun camera, wherein the first gun camera and the second gun camera respectively face to two opposite sides of a roadside sensing area;

acquiring image positions of left and right boundary pixel points in an image acquired by a wide-angle camera, wherein the wide-angle camera faces the ground;

determining a spatial position corresponding to each image position;

judging whether the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover a roadside sensing region or not according to the spatial positions;

if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

Therefore, whether the image acquisition area of the camera covers the roadside sensing area or not can be judged based on the spatial positions corresponding to the boundary pixel points of the images acquired by the first gun camera, the second gun camera and the wide-angle camera, and the installation parameters of the camera are adjusted under the condition of no coverage without manual judgment and adjustment. Therefore, the complexity of adjusting the camera installation parameters for the vehicle-road cooperation V2X can be reduced by applying the scheme provided by the disclosure.

The method, the device and the electronic device for adjusting the installation parameters of the roadside-coordinated cameras provided by the embodiment of the disclosure are described in detail below.

Referring to fig. 1, fig. 1 is a schematic flow chart of a method for adjusting installation parameters of a roadside camera according to an embodiment of the present disclosure, where the roadside camera may include various roadside cameras such as a first bolt, a second bolt, and a wide-angle camera, and is used for vehicle-road cooperation V2X. As shown in FIG. 1, the roadside camera installation parameter adjustment method includes steps S101-S105.

S101, obtaining image positions of upper and lower boundary pixel points in images collected by the first gun camera and the second gun camera.

Wherein, above-mentioned first rifle bolt and second rifle bolt are respectively towards the opposite both sides of roadside perception area. For example, when the first bolt faces the front of the roadside sensing area, the second bolt faces the rear of the roadside sensing area; when the first bolt faces the left side of the roadside sensing area, the second bolt faces the right side of the roadside sensing area.

The roadside sensing region is as follows: the area to be subjected to roadside sensing can be a traffic intersection, such as an intersection, a T-shaped intersection and the like, and can also be a bayonet area, such as a high-speed bayonet, a parking lot bayonet and the like.

The upper and lower boundary pixel points refer to: the image processing device comprises upper boundary pixel points positioned on an upper boundary of an image and lower boundary pixel points positioned on a lower boundary of the image.

Specifically, the image position of at least one pixel point located on the upper boundary and the image position of at least one pixel point located on the lower boundary in the image collected by the first bolt may be obtained, and the image position of at least one pixel point located on the upper boundary and the image position of at least one pixel point located on the lower boundary in the image collected by the second bolt may be obtained.

Referring to fig. 2, fig. 2 is a schematic diagram of an image collected by a first bolt provided in an embodiment of the present disclosure, and a pixel point located on an upper boundary and a lower boundary may be selected from the image to obtain an image position of the pixel point.

Referring to fig. 3, fig. 3 is a schematic diagram of an image collected by a second bolt provided in the embodiment of the present disclosure, and a pixel point located on an upper boundary and a lower boundary may be selected from the image to obtain an image position of the pixel point.

In an embodiment of the present disclosure, the image position of each pixel may be: the coordinates of the pixel point in an image coordinate system established by taking the image as a reference are expressed.

In addition, the resolution ratios of the images acquired by the first gun camera and the second gun camera can be obtained, and the image positions of the upper and lower boundary pixel points in the acquired images are determined based on the resolution ratios.

For example, assuming that the resolution of the image captured by the first bolt is (W1, H1), where W1 represents a horizontal component of the resolution and H1 represents a vertical component of the resolution, in this case, the image position of the upper boundary pixel point in the image captured by the first bolt may be represented as (x, 0), and the image position of the lower boundary pixel point may be represented as (x, H1), where the value interval of x is [0, W1].

In an embodiment of the present disclosure, image positions of pixel points at specified positions in upper and lower boundaries of images collected by the first and second bolt machines may be obtained, where the specified positions may be midpoint positions, or left vertex positions, right vertex positions, and the like, and the present disclosure does not limit this.

In an embodiment of the present disclosure, the first bolt and the second bolt may be disposed above, beside, or the like a roadside sensing area, and specifically may be disposed on a monitoring pole, a traffic light pole, or the like.

In one embodiment of the present disclosure, the first bolt may be an electric police camera. The electric police camera comprises: existing cameras for detecting whether a motor vehicle is running a red light.

Accordingly, the second bolt may be a bayonet camera. The bayonet camera comprises: existing cameras for detecting whether unsafe behaviour exists in a driver, said unsafe behaviour comprising: no fastening of safety belt, call receiving and making, etc.

Therefore, the existing electric police camera and the bayonet camera can be reused as the first gun camera and the second gun camera for roadside perception, and the first gun camera and the second gun camera do not need to be redeployed when roadside perception is carried out, so that the equipment deployment cost can be saved, and the complexity of roadside perception is reduced.

And S102, obtaining the image positions of the left and right boundary pixel points in the image collected by the wide-angle camera.

Wherein the wide angle camera is directed towards the ground. The wide-angle camera may be a fisheye camera or the like.

The left and right boundary pixel points are as follows: the image processing method comprises the steps of obtaining left boundary pixel points located on the left boundary of an image and right boundary pixel points located on the right boundary of the image.

Specifically, the image position of at least one pixel point located on the left boundary and the image position of at least one pixel point located on the right boundary in the image acquired by the wide-angle camera can be obtained.

Referring to fig. 4, fig. 4 is a schematic diagram of an image acquired by a wide-angle camera according to an embodiment of the present disclosure, and pixel points located at left and right boundaries may be selected from the image to obtain image positions of the pixel points.

In an embodiment of the present disclosure, the image positions of the left and right boundary pixels may be: the coordinates of the pixel point in an image coordinate system established by taking the image as a reference are expressed.

In addition, the resolution of the image acquired by the wide-angle camera can be obtained, and the image positions of the left and right boundary pixels in the acquired image are determined based on the resolution.

For example, assuming that the resolution of an image captured by the wide-angle camera is (Wg, hg), where Wg represents a lateral component of the resolution and Hg represents a longitudinal component of the resolution, the image position of the left boundary pixel point in the image captured by the wide-angle bolt may be represented as (0, y), and the image position of the right boundary pixel point in the image captured by the wide-angle bolt may be represented as (Wg, y), where y has a value range of [0, hg ].

In one embodiment of the present disclosure, the initial installation parameters of the wide-angle camera may be: parameters such that the wide angle camera is directed toward the ground and the image capture area is located between the image capture areas of the first and second bolt. Like this the image acquisition region of first rifle bolt, second rifle bolt and wide angle camera covers the probability in roadside perception region higher, and follow-up probably need not to carry out the installation parameter adjustment to above-mentioned camera, perhaps only need carry out less adjustment to the installation parameter of above-mentioned camera to can reduce the complexity that the adjustment is used for vehicle and road to cooperate V2X's camera installation parameter.

The installation parameters may include installation height, installation angle, and the like, and the installation angle may include pitch angle, roll angle, yaw angle, and the like.

In an embodiment of the present disclosure, the wide-angle camera may be disposed at the same erection device as the first bolt and the second bolt, for example, the wide-angle camera may be disposed on the same monitoring rod together, or the wide-angle camera may be disposed at different erection devices as the first bolt and the second bolt, which is not limited in the embodiment of the present disclosure.

And S103, determining the spatial position corresponding to each image position.

Specifically, a position conversion relationship corresponding to each camera may be obtained, and then each image position is converted into a spatial position according to the position conversion relationship, so as to obtain a spatial position corresponding to the image position. The position conversion relation corresponding to each camera is as follows: the conversion relation between the image position of the pixel point in the image collected by the camera and the space position in the three-dimensional space.

For example, for a first bolt, a first position conversion relationship corresponding to the first bolt may be obtained, and then, according to the position conversion relationship, the image positions of the upper and lower boundary pixel points in the image acquired by the first bolt, which are obtained in S101, are converted into spatial positions;

for a second bolt, a second position conversion relation corresponding to the second bolt can be obtained, and then the image positions of upper and lower border pixel points in the image acquired by the second bolt, which are obtained in the step S101, are converted into spatial positions according to the position conversion relation;

for the wide-angle camera, a third position conversion relationship corresponding to the wide-angle camera may be obtained, and then, according to the position conversion relationship, the image positions of the left and right border pixel points in the image acquired by the wide-angle camera, which are obtained in S102, are converted into spatial positions.

In an embodiment of the present disclosure, for each camera, when the position conversion relationship corresponding to the camera is obtained, the internal reference, the external reference, and the preset ground coordinate equation of the camera may be obtained, and the position conversion relationship corresponding to the camera is determined based on the parameters.

Specifically, the image position of the pixel point with the image coordinate (u, v) in the image collected by each camera can be converted into a spatial position (xw, yw, zw) according to the following formula:

wherein,

homogeneous coordinates representing image coordinates (u, v),

the coordinate system is characterized by representing coordinates in a camera coordinate system established based on the camera, K represents camera internal parameters completed by pre-calibration, R and t represent external parameters of the camera completed by pre-calibration, and GROUND _ COEFF represents a GROUND coordinate equation. Through the position conversion relation, the spatial position of the image position of each pixel point, which corresponds to the ground in the three-dimensional space, can be obtained.

In addition, in an embodiment of the present disclosure, a conversion relationship between an image position and a spatial position of an image acquired by a camera may also be directly obtained through calibration, as a position conversion relationship corresponding to the camera.

S104, judging whether the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing region or not according to the spatial positions, and if not, executing the step S105.

Specifically, the spatial positions corresponding to the image positions obtained in step S103 may respectively reflect the boundary positions of the image capturing areas of the first bolt face, the second bolt face and the wide-angle camera, and then based on the boundary positions, it may be determined whether the image capturing areas of the first bolt face, the second bolt face and the wide-angle camera cover the roadside sensing area;

if the judgment result is yes, the current installation parameters of the first bolt face, the second bolt face and the wide-angle camera meet the requirement for road side perception, and the installation parameters of the first bolt face, the second bolt face and the wide-angle camera can not be adjusted;

if the judgment result is negative, the fact that the installation parameters of the first bolt face, the second bolt face and the wide-angle camera do not meet the requirement for road side sensing currently is indicated, and the installation parameters of the first bolt face, the second bolt face and the wide-angle camera need to be adjusted.

And S105, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

Specifically, the installation parameters such as the installation height and the installation angle of the first bolt face, the second bolt face and the wide-angle camera can be adjusted.

In one embodiment of the present disclosure, the installation parameters of the first bolt, the second bolt and the wide-angle camera may be randomly adjusted; the installation parameters of the first gun camera, the second gun camera and the wide-angle camera can also be adjusted according to a preset adjustment rule.

The adjustment rule comprises a height adjustment rule and an angle adjustment rule, the height adjustment rule comprises a height adjustment direction and a height adjustment step length, the height adjustment direction can comprise upward adjustment and downward adjustment, and the height adjustment step length can be 2 cm, 5 cm, 10 cm and the like. For example, if the height adjustment direction in the height adjustment rule is upward adjustment and the height adjustment step length is 3 cm, the height parameter in the installation parameters of the camera may be adjusted upward by 3 cm each time the installation parameters of the camera are adjusted.

The angle adjustment rule comprises an angle adjustment direction and an angle adjustment step length, the angle adjustment direction can comprise upward adjustment, downward adjustment, leftward adjustment, rightward adjustment, clockwise rotation adjustment, counterclockwise rotation adjustment and the like, and the angle adjustment step length can be 2 degrees, 5 degrees, 8 degrees and the like. For example, if the angle adjustment direction in the angle adjustment rule is leftward adjustment and the angle adjustment step length is 6 °, the angle parameter in the installation parameters of the camera may be adjusted leftward by 6 ° each time the installation parameters of the camera are adjusted.

In the above embodiment, the adjustment rules corresponding to the cameras may be equal or unequal.

In an embodiment of the present disclosure, after the installation parameters of the first gun camera, the second gun camera, and the wide-angle camera are adjusted, the position conversion relationships corresponding to the first gun camera, the second gun camera, and the wide-angle camera are also changed, in this case, a new position conversion relationship corresponding to each adjusted camera may be obtained, and then step S103 is returned again to obtain a new spatial position corresponding to each image position, and then whether the image acquisition regions of the first gun camera, the second gun camera, and the wide-angle camera cover the roadside sensing region is determined again based on the new spatial position, and if not, the installation parameters of the first gun camera, the second gun camera, and the wide-angle camera are continuously adjusted until the image acquisition regions of the first gun camera, the second gun camera, and the wide-angle camera cover the roadside sensing region.

In an embodiment of the present disclosure, when obtaining a new position conversion relationship corresponding to each adjusted camera, for each camera, a parameter adjustment amount of the camera may be obtained, and then a position conversion relationship corresponding to the adjusted camera is calculated by using the position conversion relationship corresponding to the adjusted camera and the parameter adjustment amount.

In the roadside camera installation parameter adjustment scheme provided by the above embodiment, image positions of upper and lower boundary pixel points in images collected by the first bolt and the second bolt can be obtained, and the first bolt and the second bolt face opposite sides of the roadside sensing area respectively; acquiring image positions of left and right boundary pixel points in an image acquired by a wide-angle camera, wherein the wide-angle camera faces the ground; determining a spatial position corresponding to each image position; judging whether the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover a roadside sensing region or not according to the spatial positions; if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera. Therefore, whether the image acquisition area of the camera covers the roadside sensing area or not can be judged based on the spatial positions corresponding to the boundary pixel points of the images acquired by the first gun camera, the second gun camera and the wide-angle camera, and the installation parameters of the camera are adjusted under the condition of no coverage without manual judgment and adjustment. Therefore, the complexity of adjusting the camera installation parameters for the vehicle-road cooperation V2X can be reduced by applying the scheme provided by the embodiment.

In an embodiment of the present disclosure, for step S104, when determining whether the image capturing areas of the first bolt, the second bolt, and the wide-angle camera cover the roadside sensing area, the following manner may be included:

and judging whether the coincidence condition is met between the first bolt and the wide-angle camera and between the second bolt and the wide-angle camera or not according to the spatial positions, and if so, determining that the image acquisition regions of the first bolt, the second bolt and the wide-angle camera cover the roadside sensing region.

Wherein the superposition condition is as follows: overlapping areas exist among the image acquisition areas, and the width of the overlapping areas exceeds a preset width threshold value.

The width threshold may be a threshold set manually, for example, 3 meters, 5 meters, 10 meters, or the like, or may be predicted according to a demand for object tracking by a roadside sensing mid-span camera, so that when the width of an overlapping region between image acquisition regions of the first gun camera, the second gun camera, and the wide-angle camera reaches the width threshold, the cross-camera target object tracking by the first gun camera, the second gun camera, and the wide-angle camera is facilitated.

Specifically, the spatial positions corresponding to the image positions of the upper and lower boundary pixels in the image acquired by the first bolt and the spatial positions corresponding to the image positions of the left and right boundary pixels in the image acquired by the wide-angle camera can respectively reflect the boundary positions of the image acquisition areas of the first bolt and the wide-angle camera, and then based on the boundary positions, whether the image acquisition areas of the first bolt and the wide-angle camera have a coincidence area and whether the width of the coincidence area is greater than the width threshold value can be judged, and if so, the coincidence condition between the first bolt and the wide-angle camera is considered to be met;

the space position corresponding to the image position of the upper and lower border pixel points in the acquired image of the second gun camera and the space position corresponding to the image position of the left and right border pixel points in the acquired image of the wide-angle camera can respectively reflect the border positions of the image acquisition areas of the second gun camera and the wide-angle camera, then based on the border positions, whether the image acquisition areas of the second gun camera and the wide-angle camera have a coincidence area and whether the width of the coincidence area is greater than the width threshold value can be judged, and if so, the coincidence condition between the second gun camera and the wide-angle camera is considered to be met;

under the condition that the coincidence condition is met between the first gun camera and the wide-angle camera and between the second gun camera and the wide-angle camera, the situation that the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing region can be determined, and the roadside sensing requirement is met, otherwise, the situation that the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera do not cover the roadside sensing region is considered, and the roadside sensing requirement is not met.

In order to implement the solution disclosed in the above embodiment, when the image positions of the upper and lower border pixel points in the image collected by the first bolt and the second bolt are obtained in step S101, the image positions of the first pixel point located at the midpoint of the upper border and the second pixel point located at the midpoint of the lower border in the image collected by the first bolt can be obtained;

and obtaining the image positions of a third pixel point positioned at the midpoint of the upper boundary and a fourth pixel point positioned at the midpoint of the lower boundary in the image collected by the second bolt.

In addition, when the image positions of the left and right boundary pixels in the image collected by the wide-angle camera are obtained in step S102, the image positions of the fifth pixel located at the midpoint of the left boundary and the sixth pixel located at the midpoint of the right boundary in the image collected by the wide-angle camera may be obtained.

Thus, when the spatial positions corresponding to the image positions are obtained in step S103, the spatial positions corresponding to the image positions of the first pixel point, the second pixel point, the third pixel point, the fourth pixel point, the fifth pixel point, and the sixth pixel point can be obtained respectively.

Specifically, a first spatial position corresponding to the image position of the first pixel point can be obtained;

a second spatial position corresponding to the image position of the second pixel point;

a third spatial position corresponding to the image position of the third pixel point;

a fourth spatial position corresponding to the image position of the fourth pixel point;

a fifth spatial position corresponding to the image position of the fifth pixel point;

and the sixth spatial position corresponds to the image position of the sixth pixel point.

When judging between first rifle bolt and the wide angle camera, and whether all satisfy the coincidence condition between second rifle bolt and the wide angle camera, then can:

judging whether the fifth space position is located between the first space position and the second space position and the distance between the fifth space position and the second space position is larger than a width threshold value, and if so, determining that the coincidence condition is met between the first gun camera and the wide-angle camera;

and judging whether the sixth spatial position is located between the fourth spatial position and the third spatial position and the distance between the sixth spatial position and the fourth spatial position is greater than a width threshold value, and if so, determining that the coincidence condition is met between the second bolt machine and the wide-angle camera.

Specifically, referring to fig. 5, fig. 5 is a schematic diagram of a spatial position provided in the embodiment of the present disclosure, for convenience of understanding, a spatial position corresponding to an image position of a midpoint pixel point in an upper and lower boundary in an image collected by a first bolt and a second bolt and a spatial position corresponding to an image position of a midpoint pixel point in a left and right boundary in an image collected by a wide-angle camera may be converted into end points of a two-dimensional line segment to obtain the schematic diagram shown in fig. 5, where each line segment may reflect an image collection area of the camera, and based on this fig. 5, it can be known that:

if the fifth spatial position is located between the first spatial position and the second spatial position, it may be determined that an image acquisition region between the first bolt and the wide-angle camera has an overlapping region, and if a distance between the fifth spatial position and the second spatial position is greater than a width threshold, it may be determined that a width of the overlapping region is greater than the width threshold, so that it may be determined that an overlapping condition is satisfied between the first bolt and the wide-angle camera;

similarly, if the sixth spatial position is located between the fourth spatial position and the third spatial position, it may be said that there is an overlapping area in the image capturing area between the second bolt and the wide-angle camera, and if the distance between the sixth spatial position and the fourth spatial position is greater than the width threshold, it may be said that the width of the overlapping area is greater than the width threshold, and therefore it may be determined that the overlapping condition is satisfied between the second bolt and the wide-angle camera.

In the scheme provided by the embodiment, whether the image acquisition regions among the cameras cover the roadside sensing regions or not can be judged based on the position relation among the spatial positions, so that whether the installation parameters of the cameras need to be adjusted or not in the follow-up judgment can be conveniently judged, and the complexity of adjusting the installation parameters of the cameras for the vehicle-road cooperation V2X can be reduced.

In an embodiment of the present disclosure, if it is determined in S104 that the image acquisition regions of the first bolt, the second bolt, and the wide-angle camera cover the roadside sensing region, it may be further determined whether the wide-angle camera faces the ground vertically; if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

Specifically, if the wide-angle camera does not face the ground vertically, the image acquired by the wide-angle camera may be distorted seriously, so that the installation parameters of the first bolt camera, the second bolt camera and the wide-angle camera need to be adjusted;

if the image acquisition areas of the first gunlock, the second gunlock and the wide-angle camera cover the roadside sensing area and the wide-angle camera faces the ground vertically, the installation parameters of the first gunlock, the second gunlock and the wide-angle camera do not need to be adjusted.

Can guarantee like this that final wide-angle camera can face ground perpendicularly, reduce the degree that the image that wide-angle camera gathered takes place the distortion, improve the image quality of the image that obtains, and then improve the follow-up degree of accuracy of carrying out the roadside perception.

In order to facilitate the determination of whether the wide-angle camera is facing the ground vertically, in step S102, image positions of the left and right boundary pixels in the image collected by the wide-angle camera are obtained, and image positions of the left pixel located at the midpoint of the left boundary and the right pixel located at the midpoint of the right boundary in the image collected by the wide-angle camera can be obtained.

Thus, when judging whether the wide-angle camera faces the ground vertically, the installation height and the space position of the wide-angle camera can be obtained, and the projection position of the wide-angle camera projected to the ground along the vertical direction is determined according to the obtained height and the space position;

a first distance between the left spatial position and the projected position is determined and a second distance between the right spatial position and the projected position is calculated.

Wherein, the left side spatial position is: the image position of left side pixel corresponds spatial position, and the right side spatial position is: the spatial position corresponding to the image position of the right pixel point;

and calculating a distance difference value between the first distance and the second distance, judging whether the distance difference value is smaller than a preset difference value threshold value, and if so, determining that the wide-angle camera faces the ground vertically. Specifically, referring to fig. 6, fig. 6 is a schematic view of another spatial position provided by the embodiment of the present disclosure, as shown in fig. 6, when a difference between a first distance between a left spatial position and a projection position and a second distance between a right spatial position and the projection position is small, it is described that a distance between the left spatial position and a wide-angle camera and a distance between the right spatial position and the wide-angle camera are relatively close, and according to a triangle congruent principle, it can be inferred that an orientation of the wide-angle camera is perpendicular to the ground.

In an embodiment of the present disclosure, if it is determined in step S104 that the image acquisition areas of the first bolt, the second bolt, and the wide-angle camera cover the roadside sensing area, it may be further determined whether the image acquisition areas of the first bolt and the second bolt include a lane intersection; if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

Wherein, the lane junction is: points in the image where the lanes meet.

Specifically, because the camera accords with the principle of nearly big far and small when gathering the image, consequently in the image, the lane of keeping away from the camera can be close gradually and produce and intersect. In view of this, it may be determined whether the image capturing areas of the first and second bolt machines include a lane intersection, and if so, it is determined that the coverage areas of the image capturing areas of the first and second bolt machines are wide, and a target object in a wide range may be detected subsequently when roadside sensing is performed, so that it is not necessary to adjust the installation parameters of the first and second bolt machines and the wide-angle camera, otherwise, it is necessary to adjust the installation parameters of the first and second bolt machines and the wide-angle camera.

In one embodiment of the present disclosure, it may be determined whether the image capturing area of the bolt includes a lane intersection in the following manner, where the bolt includes a first bolt and a second bolt:

acquiring an image acquired by a bolt; recognizing lanes in the image and predicting the image position of the intersection point of the recognized lanes; and judging whether the image position of the junction is in the image or not, and if so, determining that the image acquisition area of the gunlock contains the lane junction.

Specifically, an image acquired by the gun camera can be obtained, then a lane in the image is detected by using an image detection algorithm, the lane can be fitted to be an extensible line, a point where the extensible line intersects is predicted to serve as an intersection point of the lane, and the image position of the intersection point of the lane is obtained, so that whether the image position of the intersection point is located in the image or not can be judged, if yes, it can be determined that the image acquisition area of the camera contains the intersection point of the lane, otherwise, it can be determined that the image acquisition area of the camera does not contain the intersection point of the lane.

In addition, in an embodiment of the present disclosure, an image acquired by a bolt face may be directly obtained, lanes in the image may be identified, an image position where each identified lane intersects with an upper boundary of the image may be determined, and it is determined whether a distance between each two of the image positions is smaller than a preset lane intersection threshold, if so, it may be determined that a lane intersection is included in an image acquisition area of the camera, otherwise, it may be determined that the lane intersection is not included in the image acquisition area of the camera.

In an embodiment of the present disclosure, if it is determined in step S104 that the image acquisition regions of the first bolt, the second bolt, and the wide-angle camera cover the roadside sensing region, it may be further determined whether the image acquisition regions of the first bolt, the second bolt, and the wide-angle camera cover all lanes; if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

Specifically, in order to ensure that roadside perception can be performed on all lanes in a scene subsequently, whether the image acquisition regions of the first bolt, the second bolt and the wide-angle camera cover all lanes can be further judged, if yes, the installation parameters of the first bolt, the second bolt and the wide-angle camera do not need to be adjusted, and if not, the installation parameters of the first bolt, the second bolt and the wide-angle camera need to be adjusted again.

In one embodiment of the present disclosure, when determining whether the image capture areas of the first bolt, the second bolt, and the wide-angle camera cover all lanes, for each camera, the following manner may be adopted for determination:

the first method is to identify the number of lanes in the image collected by the camera and judge whether the number of lanes is the preset number of lanes.

Wherein, the number of the preset lanes may be: the total number of lanes in the scene is preset manually.

Specifically, the image captured by the camera may be obtained, then the number of lanes included in the image content of the image is detected, if the number of lanes is equal to the preset number of lanes, it is indicated that the image capture area of the camera covers all lanes, otherwise, it may be determined that the image capture area of the camera does not cover all lanes.

In a second mode, under the condition that the camera is a first gun camera and a second gun camera, whether the image contents on the left side and the right side of the image collected by the camera are lane outside objects is judged;

and when the camera is a wide-angle camera, judging whether the image contents on the upper side and the lower side of the image collected by the camera are lane outer objects or not.

The outside material of the lane may be buildings, vegetation, mountain, etc.

Specifically, in an actual scene, buildings such as a residential area, a school, an office building, or the like, or vegetation, a mountain, or the like are usually located on both sides of a lane, and in the case that the camera is a first gun camera and a second gun camera, image contents on both left and right sides of an image captured by the camera can reflect objects outside the lane, so that in the case that the image contents on both left and right sides of the image captured by the camera are detected as objects outside the lane, it is indicated that the image capture range of the camera can cover all lanes, otherwise, it is considered that the image capture range of the camera does not cover all lanes;

when the camera is in a wide angle, the image contents of the upper and lower sides of the image captured by the camera may reflect objects outside the lane, so that when it is detected that the image contents of the upper and lower sides of the image captured by the camera are objects outside the lane, it is described that the image capture range of the camera can cover all lanes, otherwise, the image capture range of the camera is considered not to cover all lanes.

In one embodiment of the present disclosure, when the installation parameters of the first bolt, the second bolt, and the wide-angle camera are adjusted in step S105, the following steps may be performed:

determining adjustment parameters required to be adjusted by the first rifle bolt, the second rifle bolt and the wide-angle camera to meet the condition that an image acquisition area among the first rifle bolt, the second rifle bolt and the wide-angle camera covers a roadside sensing area; and adjusting the first gun camera, the second gun camera and the wide-angle camera according to the determined adjustment parameters.

The adjusting parameters include: a height adjustment parameter for adjusting a mounting height of the camera, and/or an angle adjustment parameter for adjusting an angle of the camera.

Specifically, under the condition that the image capturing areas of the first bolt face, the second bolt face, and the wide-angle camera do not cover the roadside sensing area, adjustment parameters required to be adjusted by the first bolt face, the second bolt face, and the wide-angle camera may be respectively calculated according to each spatial position determined in step S103, and then each camera may be adjusted according to the parameters.

In order to facilitate understanding of the roadside camera installation parameter adjustment method of the present disclosure, the following description is made of the solutions involved in the above embodiments.

Referring to fig. 7, fig. 7 is a schematic flow chart of another method for adjusting installation parameters of a roadside camera provided by the embodiment of the present disclosure, and as shown in fig. 7, the method for adjusting installation parameters of a roadside camera may include the following steps S701 to S709:

s701, acquiring image positions of upper and lower boundary pixel points in an image collected by an electric police camera serving as a first rifle bolt and a bayonet camera serving as a second rifle bolt;

s702, obtaining the image positions of left and right boundary pixel points in the image collected by the wide-angle camera;

s703, determining the spatial position corresponding to each image position;

s704, judging whether the image acquisition regions of the police camera, the bayonet camera and the wide-angle camera cover the roadside sensing region or not according to the spatial positions, if so, executing S705, otherwise, executing S708;

s705, judging whether the wide-angle camera faces the ground vertically, if so, executing S706, otherwise, executing S708;

s706, judging whether the image acquisition areas of the electric police camera and the checkpoint camera contain lane junction points, if so, executing S707, otherwise executing S708;

s707, judging whether the image acquisition areas of the electric police camera, the bayonet camera and the wide-angle camera cover all lanes, if not, executing S708;

s708, determining adjustment parameters required to be adjusted by the electric police camera, the bayonet camera and the wide-angle camera;

and S709, adjusting the installation parameters of the electric police camera, the bayonet camera and the wide-angle camera according to the determined adjustment parameters, and returning to the step S703.

In the roadside camera installation parameter adjustment scheme provided by the embodiment, image positions of upper and lower boundary pixel points in images collected by the first bolt and the second bolt can be obtained, and the first bolt and the second bolt respectively face to two opposite sides of a roadside sensing area; acquiring image positions of left and right boundary pixel points in an image acquired by a wide-angle camera, wherein the wide-angle camera faces the ground; determining a spatial position corresponding to each image position; judging whether the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover a roadside sensing region or not according to the spatial positions; if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera. Therefore, whether the image acquisition area of the camera covers the roadside sensing area or not can be judged based on the spatial positions corresponding to the boundary pixel points of the images acquired by the first gun camera, the second gun camera and the wide-angle camera, and the installation parameters of the camera are adjusted under the condition of no coverage without manual judgment and adjustment. Therefore, the complexity of adjusting the camera installation parameters for the vehicle-road cooperation V2X can be reduced by applying the scheme provided by the embodiment.

Referring to fig. 8, fig. 8 is a schematic view illustrating a roadside camera installation parameter adjusting apparatus according to an eighth embodiment of the present disclosure, as shown in fig. 8, including:

a first position obtaining module 801, configured to obtain image positions of upper and lower boundary pixel points in an image collected by a first bolt and a second bolt, where the first bolt and the second bolt face opposite sides of a roadside sensing area respectively;

a second position obtaining module 802, configured to obtain image positions of left and right boundary pixel points in an image collected by a wide-angle camera, where the wide-angle camera faces the ground;

a spatial position determining module 803, configured to determine a spatial position corresponding to each image position;

a first condition determining module 804, configured to determine whether the image acquisition regions of the first bolt, the second bolt, and the wide-angle camera cover the roadside sensing region according to each spatial position, and if not, trigger a first parameter adjusting module;

the first parameter adjusting module 805 is configured to adjust installation parameters of the first bolt face, the second bolt face, and the wide-angle camera.

In an embodiment of the present disclosure, the first condition determining module 804 includes:

a coincidence condition determining unit for determining whether coincidence conditions are all satisfied between the first bolt and the wide-angle camera and between the second bolt and the wide-angle camera according to each spatial position, the coincidence conditions being: overlapping areas exist among the image acquisition areas, the width of the overlapping areas exceeds a preset width threshold, and if the overlapping areas exceed the preset width threshold, a first condition judgment unit is triggered;

the first condition judgment unit is used for determining that the image acquisition areas of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing area.

In an embodiment of the present disclosure, the first position obtaining module 801 is specifically configured to:

acquiring image positions of a first pixel point positioned at the midpoint of an upper boundary and a second pixel point positioned at the midpoint of a lower boundary in an image acquired by the first gun camera;

obtaining image positions of a third pixel point located at the midpoint of the upper boundary and a fourth pixel point located at the midpoint of the lower boundary in the image collected by the second gun camera;

the second position obtaining module 802 is specifically configured to:

acquiring image positions of a fifth pixel point positioned in the middle point of the left boundary and a sixth pixel point positioned in the middle point of the right boundary in an image acquired by the wide-angle camera;

the coincidence condition determining unit is specifically configured to:

judging whether a fifth spatial position is located between a first spatial position and a second spatial position and the distance between the fifth spatial position and the second spatial position is larger than the width threshold, if so, determining that the coincidence condition is met between the first rifle bolt and the wide-angle camera, wherein the fifth spatial position is a spatial position corresponding to the image position of a fifth pixel point, the first spatial position is a spatial position corresponding to the image position of the first pixel point, and the second spatial position is a spatial position corresponding to the image position of the second pixel point;

judging whether a sixth spatial position is located between a fourth spatial position and a third spatial position, and the distance between the sixth spatial position and the fourth spatial position is larger than the width threshold, if so, determining that the coincidence condition is met between the second bolt and the wide-angle camera, wherein the sixth spatial position is the spatial position corresponding to the image position of the sixth pixel point, the fourth spatial position is the spatial position corresponding to the image position of the fourth pixel point, and the third spatial position is the spatial position corresponding to the image position of the third pixel point.

In one embodiment of the present disclosure, the apparatus further comprises:

the second condition judgment module is used for judging whether the wide-angle camera faces the ground vertically or not if the image acquisition areas of the first gunlock, the second gunlock and the wide-angle camera cover the roadside sensing area, and triggering a second parameter adjustment module if the image acquisition areas of the first gunlock, the second gunlock and the wide-angle camera do not cover the ground vertically;

and the second parameter adjusting module is used for adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

In an embodiment of the disclosure, the second position obtaining module 802 is specifically configured to:

obtaining image positions of left pixel points located at the midpoint of a left boundary and right pixel points located at the midpoint of a right boundary in an image collected by a wide-angle camera;

the second condition judgment module is specifically configured to:

image acquisition areas of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing area, the installation height and the space position of the wide-angle camera are obtained, and the projection position of the wide-angle camera projected to the ground along the vertical direction is determined according to the obtained height and the space position;

determining a first distance between a left spatial position and the projection position, and calculating a second distance between a right spatial position and the projection position, wherein the left spatial position is as follows: the image position of the left side pixel point corresponds to a spatial position, and the right side spatial position is as follows: the spatial position corresponding to the image position of the right pixel point;

and calculating a distance difference value between the first distance and the second distance, judging whether the distance difference value is smaller than a preset difference value threshold value, and if so, determining that the wide-angle camera faces the ground vertically.

In one embodiment of the present disclosure, the apparatus further comprises:

the third condition judging module is used for judging whether the image acquisition areas of the first gun camera and the second gun camera contain lane intersection points or not if the image acquisition areas of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing area, and triggering a third parameter adjusting module if the image acquisition areas of the first gun camera, the second gun camera and the wide-angle camera do not contain lane intersection points;

and the third parameter adjusting module is used for adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

In an embodiment of the present disclosure, the third condition determining module is specifically configured to determine whether an image capturing area of a bolt includes a lane junction or not by:

acquiring an image acquired by the bolt;

recognizing lanes in the images and predicting image positions of intersection points of the recognized lanes;

and judging whether the image position of the junction is in the image, and if so, determining that the image acquisition area of the gunlock contains a lane junction.

In one embodiment of the present disclosure, the apparatus further comprises:

the fourth condition judgment module is used for judging whether the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover all lanes or not if the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing region, and triggering a fourth parameter adjustment module if the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera do not cover all lanes;

and the fourth parameter adjusting module is used for adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera.

In one embodiment of the present disclosure, the first bolt is an electronic police camera; and/or

The second bolt is a bayonet camera.

In an embodiment of the disclosure, the first parameter adjusting module is specifically configured to:

determining adjustment parameters required to be adjusted by the first gun camera, the second gun camera and the wide-angle camera to satisfy the condition that an image acquisition area among the first gun camera, the second gun camera and the wide-angle camera covers the roadside sensing area;

and adjusting the first gun camera, the second gun camera and the wide-angle camera according to the determined adjustment parameters.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

The present disclosure provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

The present disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute a roadside camera installation parameter adjustment method.

The present disclosure provides a computer program product comprising a computer program which, when executed by a processor, implements a roadside camera installation parameter adjustment method.

FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM) 902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.

A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 901 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 performs the respective methods and processes described above, such as the method roadside camera mounting parameter adjustment. For example, in some embodiments, the method-side camera installation parameter adjustments may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into RAM 903 and executed by computing unit 901, one or more steps of the method roadside camera installation parameter adjustment described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform method roadside camera installation parameter adjustments by any other suitable means (e.g., by way of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method of roadside camera installation parameter adjustment, the method comprising:

determining a spatial position corresponding to each image position;

if not, adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera;

the according to each spatial position, judge whether the image acquisition region of first rifle bolt, second rifle bolt and wide angle camera covers the roadside perception area, include:

according to each spatial position, judge whether all satisfy the coincidence condition between first rifle bolt and the wide angle camera, just between second rifle bolt and the wide angle camera, the coincidence condition is: overlapping areas exist among image acquisition areas, the width of each overlapping area exceeds a preset width threshold, the image acquisition area of the first gun camera is determined according to the spatial position corresponding to the image position of upper and lower boundary pixel points in an image acquired by the first gun camera, the image acquisition area of the second gun camera is determined according to the spatial position corresponding to the image position of upper and lower boundary pixel points in an image acquired by the second gun camera, and the image acquisition area of the wide-angle camera is determined according to the spatial position corresponding to the image position of the left and right boundary pixel points;

if yes, determining that the image acquisition areas of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing area.

2. The method of claim 1, wherein the obtaining image locations of upper and lower boundary pixel points in the images captured by the first and second bolt comprises:

obtaining the image positions of a third pixel point positioned at the midpoint of the upper boundary and a fourth pixel point positioned at the midpoint of the lower boundary in the image collected by the second gun camera;

the image position of the left and right boundary pixel points in the image collected by the wide-angle camera is obtained, including:

acquiring image positions of a fifth pixel point positioned at the midpoint of the left boundary and a sixth pixel point positioned at the midpoint of the right boundary in an image acquired by the wide-angle camera;

according to each spatial position, judge whether all satisfy the coincidence condition between first rifle bolt and the wide angle camera, just between second rifle bolt and the wide angle camera, include:

3. The method of claim 1, further comprising:

if the image acquisition areas of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing area, judging whether the wide-angle camera faces the ground vertically;

4. The method of claim 3, wherein,

the obtaining of the image position of the left and right boundary pixel points in the image collected by the wide-angle camera includes:

judge whether wide angle camera is the ground of vertical orientation, include:

obtaining the installation height and the space position of the wide-angle camera, and determining the projection position of the wide-angle camera projected to the ground along the vertical direction according to the obtained height and the space position;

determining a first distance between a left spatial position and the projection position, and calculating a second distance between a right spatial position and the projection position, the left spatial position being: the image position of the left side pixel point corresponds to a spatial position, and the right side spatial position is as follows: the spatial position corresponding to the image position of the right pixel point;

5. The method of claim 1, further comprising:

if the image acquisition areas of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing area, judging whether the image acquisition areas of the first gun camera and the second gun camera contain a lane intersection point;

6. The method of claim 5, wherein determining whether a lane junction is contained in an image capture area of a bolt comprising the first bolt and a second bolt is performed by:

obtaining an image acquired by the bolt;

and judging whether the image position of the junction is in the image or not, and if so, determining that the image acquisition area of the gunlock contains the lane junction.

7. The method of claim 1, further comprising:

if the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing region, judging whether the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover all lanes;

8. The method of any of claims 1-7, wherein the first bolt is an electronic police camera; and/or

The second bolt face is a bayonet camera.

9. The method of any of claims 1-7, wherein the adjusting the mounting parameters of the first bolt, second bolt, and wide angle camera comprises:

determining adjustment parameters required to be adjusted by the first rifle bolt, the second rifle bolt and the wide-angle camera to satisfy the condition that an image acquisition area among the first rifle bolt, the second rifle bolt and the wide-angle camera covers the roadside sensing area;

10. A roadside camera mounting parameter adjustment device, the device comprising:

the first condition judgment module is used for judging whether the image acquisition regions of the first gunlock, the second gunlock and the wide-angle camera cover the roadside sensing region or not according to each spatial position, and if not, triggering the first parameter adjustment module;

the first parameter adjusting module is used for adjusting the installation parameters of the first gun camera, the second gun camera and the wide-angle camera;

the first condition judgment module comprises:

a coincidence condition determining unit for determining whether coincidence conditions are satisfied between the first bolt and the wide-angle camera and between the second bolt and the wide-angle camera according to each spatial position, the coincidence conditions being: the method comprises the steps that overlapping areas exist among image acquisition areas, the width of each overlapping area exceeds a preset width threshold, if yes, a first condition judgment unit is triggered, the image acquisition area of a first gun camera is determined according to the space position corresponding to the image position of upper and lower boundary pixel points in an image acquired by the first gun camera, the image acquisition area of a second gun camera is determined according to the space position corresponding to the image position of upper and lower boundary pixel points in an image acquired by the second gun camera, and the image acquisition area of a wide-angle camera is determined according to the space position corresponding to the image position of left and right boundary pixel points;

11. The apparatus of claim 10, wherein the first location obtaining module is specifically configured to:

the second position obtaining module is specifically configured to:

the coincidence condition determining unit is specifically configured to:

whether the sixth spatial position is located between the fourth spatial position and the third spatial position and is greater than the distance between the fourth spatial position and the fourth spatial position is judged, if yes, the determination is made that the coincidence condition is satisfied between the second bolt and the wide-angle camera, the sixth spatial position is the spatial position corresponding to the image position of the sixth pixel point, the fourth spatial position is the spatial position corresponding to the image position of the fourth pixel point, and the third spatial position is the spatial position corresponding to the image position of the third pixel point.

12. The apparatus of claim 10, the apparatus further comprising:

13. The apparatus of claim 12, wherein,

the second position obtaining module is specifically used for obtaining the image positions of a left pixel point located at the midpoint of the left boundary and a right pixel point located at the midpoint of the right boundary in the image collected by the wide-angle camera;

the second condition judgment module is specifically configured to:

the image acquisition regions of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing region, the installation height and the spatial position of the wide-angle camera are obtained, and the projection position of the wide-angle camera projected to the ground along the vertical direction is determined according to the obtained height and the spatial position;

14. The apparatus of claim 10, the apparatus further comprising:

the third condition judgment module is used for judging whether the image acquisition areas of the first gun camera and the second gun camera contain lane intersection points or not if the image acquisition areas of the first gun camera, the second gun camera and the wide-angle camera cover the roadside sensing area, and triggering a third parameter adjustment module if the image acquisition areas of the first gun camera and the second gun camera do not contain lane intersection points;

15. The apparatus of claim 14, wherein the third condition determining module is specifically configured to determine whether a lane junction is included in an image capture area of a bolt comprising the first bolt and the second bolt by:

obtaining an image acquired by the bolt;

recognizing the lanes in the image and predicting the image position of the intersection point of the recognized lanes;

16. The apparatus of claim 10, the apparatus further comprising:

the fourth condition judgment module is used for judging whether the image acquisition regions of the first gunlock, the second gunlock and the wide-angle camera cover all lanes or not if the image acquisition regions of the first gunlock, the second gunlock and the wide-angle camera cover the roadside sensing region, and triggering a fourth parameter adjustment module if the image acquisition regions of the first gunlock, the second gunlock and the wide-angle camera do not cover all lanes;

17. The apparatus of any one of claims 10-16, wherein the first bolt is an electronic police camera; and/or

The second bolt face is a bayonet camera.

18. The apparatus according to any one of claims 10 to 16, wherein the first parameter adjustment module is specifically configured to:

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.

21. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.