CN113743312A - Image correction method and device based on vehicle-mounted terminal - Google Patents
Image correction method and device based on vehicle-mounted terminal Download PDFInfo
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Abstract
The embodiment of the invention provides an image correction method and device based on a vehicle-mounted terminal, wherein the method comprises the following steps: when the vehicle is determined to enter a reversing mode and a reversing image is displayed, extracting image detection information of the vehicle and surrounding objects from the reversing image, and acquiring real-time detection information of the vehicle and the surrounding objects in real time; comparing the image detection information with the real-time detection information to obtain a comparison result; acquiring a panoramic image of the vehicle based on the comparison result; and generating a simulation image according to the panoramic image simulation, and correcting the reversing image by adopting the simulation image. The invention can generate the simulation image by acquiring the image detection information of the backing image and the actual real-time detection information of the vehicle, and carry out image correction on the backing image by using the simulation image, so that a driver can drive according to the accurate backing image, the effect of driving assistance can be improved, and the risk of accidents can be reduced.
Description
Technical Field
The invention relates to the technical field of reversing image processing, in particular to an image correction method and device based on a vehicle-mounted terminal.
With the development of intelligent terminals and intelligent devices, the application range of the intelligent terminals and the intelligent devices is wider and wider, and more application objects are provided, wherein one common application is intelligent auxiliary control of vehicles.
When the vehicle is driven, because the sight of the driver is mainly concentrated in the front, when the vehicle needs to be backed, the observation and the judgment can be carried out only through various auxiliary mirrors of the vehicle. In order to reduce the visual blind area of a driver and avoid collision and accidents in the process of backing a car, one of the common vehicle-mounted terminals is applied to collect a rear image of a vehicle in real time through a rear camera at present and construct a backing image based on the rear image, so that the driver can carry out backing operation according to the backing image.
However, the conventional method has the following technical problems: in the using process, the rear camera may loosen or fall off, the collected rear image deviates from the actual image due to the change of the collection angle and the position mode, and the constructed reversing image is inconsistent with the actual image, so that the driving blind area of a driver can be increased, the driver can be misguided to drive, and the risk of accidents and collision is increased.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are provided to provide an image correction method and an image correction device based on a vehicle-mounted terminal, which overcome or at least partially solve the above problems, and the method can correct a reverse image in real time, so that a driver can drive according to an accurate reverse image, thereby not only improving an effect of assisting driving, but also reducing a risk of an accident.
In order to solve the above problems, an embodiment of the present invention discloses an image correction method and apparatus based on a vehicle-mounted terminal, where the method includes:
when the vehicle is determined to enter a reversing mode and a reversing image is displayed, extracting image detection information of the vehicle and surrounding objects from the reversing image, and acquiring real-time detection information of the vehicle and the surrounding objects in real time;
comparing the image detection information with the real-time detection information to obtain a comparison result;
acquiring a panoramic image of the vehicle based on the comparison result;
and generating a simulation image according to the panoramic image simulation, and correcting the reversing image by adopting the simulation image.
Optionally, the extracting image detection information of the vehicle and the surrounding object from the reverse image includes:
respectively intercepting a vehicle position image and an environment position image from the reversing image;
respectively screening a plurality of vehicle coordinate points from the vehicle position image, and extracting a plurality of environment coordinate points from the environment position image;
respectively calculating the distance value of each vehicle coordinate point and each environment coordinate point according to the image scaling to obtain a plurality of coordinate distance values corresponding to each vehicle coordinate point;
adding a plurality of coordinate distance values corresponding to each vehicle coordinate point respectively to obtain an image distance value of each vehicle coordinate point;
and generating image detection information by using a plurality of image distance value sets.
Optionally, the method further involves several sensors;
the real-time detection information of the vehicle and the surrounding objects is obtained in real time, and the method comprises the following steps:
respectively acquiring actual coordinate points corresponding to the image distance values from the image detection information, wherein the actual coordinate points correspond to the vehicle coordinate points one by one;
calling the plurality of sensors to respectively detect a plurality of detection distance values corresponding to each actual coordinate point;
adding a plurality of detection distance values corresponding to each actual coordinate point to obtain an actual distance value corresponding to each actual coordinate point;
and obtaining real-time detection information from a plurality of actual distance value sets.
Optionally, the performing information comparison between the image detection information and the real-time detection information to obtain a comparison result includes:
comparing each image distance value with the corresponding actual distance value to obtain a plurality of comparison values;
screening and counting the number of numerical values larger than a preset value from the plurality of comparison values;
if the numerical value quantity is larger than the preset quantity, generating an abnormal comparison result;
and if the numerical value quantity is less than the preset quantity, generating a normal comparison result.
Optionally, the method further involves a panoramic camera disposed on the roof of the vehicle;
the collecting a panoramic image of a vehicle based on the comparison result includes:
when the comparison result is an abnormal comparison result, acquiring a satellite positioning image of the vehicle, and intercepting panoramic images of the vehicle and surrounding objects from the satellite positioning image;
and when the comparison result is a normal comparison result, calling the panoramic camera to shoot the panoramic image around the vehicle.
Optionally, the simulating and generating a simulated image according to the panoramic image includes:
acquiring appearance information of a vehicle, and constructing an appearance image of the vehicle based on the appearance information;
intercepting scene information from the panoramic image, and constructing a dynamic scene image by adopting the scene information;
and dynamically superposing the appearance image and the scenery image to generate a simulation image.
Optionally, after the step of correcting the reverse image by using the analog image, the method further includes:
constructing an animation module by adopting the simulation image;
and generating and playing a prompt animation based on the animation module so as to prompt the driver to carry out corresponding driving operation.
The invention also provides an image correction device based on the vehicle-mounted terminal, which comprises the following components:
the extraction module is used for extracting image detection information of the vehicle and surrounding objects from the reversing image and acquiring real-time detection information of the vehicle and the surrounding objects in real time when the vehicle is determined to enter a reversing mode and the reversing image is displayed;
the comparison module is used for carrying out information comparison on the image detection information and the real-time detection information and obtaining a comparison result;
the acquisition module is used for acquiring a panoramic image of the vehicle based on the comparison result;
and the correction module is used for generating a simulation image according to the panoramic image simulation and correcting the reversing image by adopting the simulation image.
The invention also proposes a vehicle comprising: one or more processors; and
one or more machine-readable media having instructions stored thereon, which when executed by the one or more processors, cause the apparatus to perform one or more of the in-vehicle terminal-based image correction methods described above.
The invention also provides a computer readable storage medium, which stores a computer program to make a processor execute the image correction method based on the vehicle-mounted terminal.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, when a vehicle enters a reversing mode and displays a reversing image, the image detection information in the reversing image and the real-time detection information of the vehicle and surrounding objects are acquired in real time, then the panoramic image of the vehicle is acquired according to the comparison result of the image detection information and the real-time detection information, finally the panoramic image is used for simulating to generate a simulated image, and the image correction is carried out through the simulated image, so that a driver can drive according to the accurate reversing image, the effect of assisting driving can be improved, and the risk of accidents can be reduced.
Drawings
FIG. 1 is a flowchart illustrating steps of an embodiment of an image correction method based on a vehicle-mounted terminal according to the present invention;
fig. 2 is a schematic structural diagram of an embodiment of an image correction device based on a vehicle-mounted terminal according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of an image correction method based on a vehicle-mounted terminal according to the present invention is shown. The method is suitable for the vehicle-mounted terminal, and the vehicle-mounted terminal can be carried on a vehicle.
By way of example, the method may include:
and S11, when the vehicle is determined to enter a reverse mode and a reverse image is displayed, extracting image detection information of the vehicle and surrounding objects from the reverse image, and acquiring real-time detection information of the vehicle and the surrounding objects in real time.
In actual operation, the vehicle-mounted terminal can detect the driving state and the driving mode of the vehicle in real time, and if the vehicle is determined to be in the reversing mode and the real-time reversing image is displayed in the reversing mode, a frame of reversing image about the reversing image can be arbitrarily intercepted from the reversing image, and the image detection information of the vehicle and the surrounding objects is extracted from the reversing image. Meanwhile, the vehicle-mounted terminal can also acquire real-time detection information between the vehicle and surrounding objects in real time through various sensors and detection equipment on the vehicle.
The image detection information may be distance information of the vehicle and the surrounding object calculated based on the image content. The real-time detection information is information on the distance between the vehicle and the surrounding object detected by the detection device in real time.
Since the reverse image is displayed in the vehicle-mounted terminal after various processes, in order to accurately calculate the distance between the vehicle and the surrounding object to determine whether the reverse image has a deviation, in an embodiment, the step S11 may include the following sub-steps:
and S111, respectively intercepting a vehicle position image and an environment position image from the reversing image.
Specifically, the image recognition can be performed on the reversing image to distinguish the vehicle from the environment, and the vehicle position image and the environment position image are respectively intercepted from the real-time reversing image.
Alternatively, the image recognition method may be ocr image recognition algorithm execution.
S112, respectively screening a plurality of vehicle coordinate points from the vehicle position image, and extracting a plurality of environment coordinate points from the environment position image.
Optionally, after the position image of the vehicle is acquired, a plurality of coordinate points may be arbitrarily selected from the position image of the vehicle to obtain the vehicle coordinate points. In a similar way, a plurality of coordinate points can be randomly selected from the environment position image to obtain the environment coordinate points.
Preferably, a vehicle contour may be extracted from the vehicle position image, and coordinate points about the vehicle edge may be extracted from the vehicle contour, resulting in vehicle coordinate points.
Preferably, each object contour may also be extracted from the environment image, and coordinate points about the object edge may also be extracted from the object contour, so as to obtain environment coordinate points.
S113, respectively calculating the distance value between each vehicle coordinate point and each environment coordinate point according to the image scaling to obtain a plurality of coordinate distance values corresponding to each vehicle coordinate point.
Then, the distance value between each vehicle coordinate point and each environment coordinate point can be calculated, and then the distance values are converted according to equal proportion, so that a plurality of coordinate distance values corresponding to each vehicle coordinate point are obtained.
Wherein, the proportion is the display proportion of the reversing image and the actual proportion. For example, 1: 16 or 1:32, etc.
For example, there are 5 vehicle coordinate points and 6 environment coordinate points. The distance values between the first vehicle coordinate point and the 6 environment coordinate points can be calculated firstly, and then the 6 distance values are converted according to equal proportion, so that the coordinate distance value corresponding to the first vehicle coordinate point is obtained. And then, calculating the distance value between the second vehicle coordinate point and each of the 6 environment coordinate points, and so on until 5 vehicle coordinate points are calculated.
S114, adding the coordinate distance values corresponding to the vehicle coordinate points respectively to obtain an image distance value of each vehicle coordinate point.
And adding the coordinate distance values corresponding to each vehicle coordinate point to obtain an image distance value of the vehicle coordinate point.
For example, there are 5 vehicle coordinate points, each vehicle coordinate point has 6 coordinate distance values, and the 6 coordinate distance values are added to obtain an image distance value corresponding to each vehicle coordinate point.
And S115, generating image detection information by using the image distance value sets.
And finally, generating an information set by arranging and collecting a plurality of image distance values to obtain image detection information.
In practical applications, in order to improve the accuracy of the actual detection distance, in an embodiment, the method further involves several sensors. Wherein, the sensor can be an infrared sensor, an ultrasonic sensor or other distance detection sensors, etc.
As an example, step S11 may further include the following sub-steps:
and S116, respectively acquiring actual coordinate points corresponding to the image distance values from the image detection information, wherein the actual coordinate points correspond to the vehicle coordinate points one by one.
In order to match the acquired image detection information, several image distance values may be extracted from the image detection information, and a coordinate point corresponding to each image distance value may be determined, resulting in an actual coordinate point. Because each image distance value corresponds to a vehicle coordinate point, the obtained actual coordinate point corresponds to the vehicle coordinate point.
For example, there are 5 vehicle coordinate points, a, b, c, d, e, respectively. Correspondingly, 5 actual coordinate points, respectively A, B, C, D, E, may be obtained.
And S117, calling the plurality of sensors to respectively detect a plurality of detection distance values corresponding to each actual coordinate point.
In actual operation, a coordinate vector of the vehicle coordinate point and each environment coordinate point may be acquired, and a plurality of detection distance values corresponding to each actual coordinate point may be detected respectively, with the coordinate vector as a detection direction and from the actual coordinate point as a starting point.
For example, there are 5 vehicle coordinate points, 6 environment coordinate points, and correspondingly, 5 actual coordinate points. And each vehicle coordinate point corresponds to 6 coordinate vectors, and a sensor can be used for respectively sending detection signals to 6 directions by taking each actual coordinate point as a starting point, so that 6 detection distance values corresponding to each actual coordinate point are obtained.
When the sensor is used, if the actual position of the sensor on the vehicle coincides with the actual coordinate point, the sensor on the actual coordinate point can be used for distance detection, and if the actual position of the sensor on the vehicle does not coincide with the actual coordinate point, the sensor can be respectively called to detect in different directions. For example, if there are 10 sensors in total and 6 directions need to be detected, 6 of them can be arbitrarily selected for distance detection. For another example, there are 5 sensors in total, and it is necessary to detect 6 directions, 4 of them may detect 4 directions, and the other 1 may detect the remaining 2 directions.
S118, adding the plurality of detection distance values corresponding to each actual coordinate point to obtain an actual distance value corresponding to each actual coordinate point.
And adding the plurality of detection distance values corresponding to each actual coordinate point to obtain an actual distance value corresponding to each actual coordinate point.
And S119, acquiring real-time detection information from the plurality of actual distance value sets.
Finally, several actual distance values may be arranged and collected to generate actual detection information.
The time distance between the vehicle and the surrounding objects can be effectively detected through the plurality of sensors, so that whether deviation occurs in the reversing image or not is determined according to the actual distance.
And S12, performing information comparison on the image detection information and the real-time detection information to obtain a comparison result.
After the image detection information and the actual detection information are obtained, the image detection information and the actual detection information can be compared, and whether the image deviation occurs or not can be determined based on the comparison result.
Alternatively, the alignment may be numerical.
Because the detection result of the sensor can also be wrong, in order to accurately determine whether the image deviation occurs, the image detection information and the actual detection information can be compared in numerical value and quantity, so that the comparison accuracy is improved. In one embodiment, step S12 may include the following sub-steps:
s121, comparing each image distance value with the corresponding actual distance value to obtain a plurality of comparison values.
For example, the image detection information has 10 image distance values and the actual detection information also has 10 actual distance values, and each image distance value corresponds to one actual distance value since the actual distance value is also detected based on the vehicle coordinate point of the image distance value.
Specifically, the image distance value and the actual distance value may be compared in numerical magnitude, so as to obtain ten comparison values. The comparison value may be a difference between the image distance value and the actual distance value.
And S122, screening the plurality of comparison values and counting the number of the numerical values larger than a preset value.
And comparing each comparison value with a preset value, determining whether the comparison value is greater than the preset value, and counting the quantity value of the comparison value greater than the preset value to obtain the quantity of the numerical values. The number of the numerical values is the number of the comparison values larger than the preset value.
And S123, if the number of the numerical values is larger than the preset number, generating an abnormal comparison result.
When the numerical quantity is larger than the preset quantity, the difference value between the image distance value and the actual distance value of the plurality of vehicle sensors is larger than the preset value, the difference between the reversing image and the actual value is larger, the reversing image is likely to deviate, and an abnormal comparison result can be generated.
And S124, if the numerical value quantity is smaller than the preset quantity, generating a normal comparison result.
When the number of the values is smaller than the preset number, the difference value between the image distance value and the actual distance value of the plurality of vehicle sensors is smaller than the preset value, the difference between the reversing image and the actual value is smaller, the reversing image does not transmit offset, and a normal comparison result can be generated.
And S13, acquiring a panoramic image of the vehicle based on the comparison result.
Because the comparison result may be normal or abnormal, in order to assist the driving of the user and reduce the driving risk of the user, the panoramic image of the vehicle can be collected, the panoramic image is used for driving assistance for the user, the dependence of the user on the influence of backing is reduced, and the effect of reducing the driving risk is realized.
In order to accurately acquire a panoramic image of the vehicle, in one embodiment, the method further relates to a panoramic camera arranged on the roof of the vehicle.
As an example, step S13 may include the following sub-steps:
and a substep S131 of obtaining a satellite positioning image of the vehicle when the comparison result is an abnormal comparison result, and intercepting a panoramic image of the vehicle and the surrounding objects from the satellite positioning image.
When the comparison result is an abnormal comparison result, the camera instrument on the vehicle may have shifted, the acquired image is not in accordance with the actual condition, the current positioning coordinate of the vehicle is acquired, the satellite positioning image of the vehicle is acquired based on the current positioning coordinate, and the panoramic image containing the vehicle and the objects around the vehicle is intercepted from the satellite positioning image according to the preset frame size, so that the driver can know the current actual condition of the vehicle from the panoramic image, and the driving risk is reduced.
And a substep S132 of calling the panoramic camera to shoot the panoramic image around the vehicle when the comparison result is a normal comparison result.
When the comparison result is a normal comparison result, the camera instrument on the vehicle may not be shifted, the acquired image may be the same as the actual image, and the panoramic camera on the roof may be controlled to surround and shoot the objects around the vehicle and the vehicle, so as to obtain the panoramic image.
And S14, generating a simulation image according to the panoramic image simulation, and correcting the reversing image by adopting the simulation image.
In order to assist a driver in driving, the panoramic image can be used for generating a simulation image, and the simulation image is used for correcting the reversing image, so that the displayed reversing image is closer to reality.
In order to make the simulated image more vivid and fit to reality, the step S14 may include the following sub-steps, as an example:
and a substep S141 of obtaining the appearance information of the vehicle and constructing an appearance image of the vehicle based on the appearance information.
Specifically, the appearance information is the shape structure information of the vehicle, and may include the appearance size, the appearance color, the appearance structure, and the like of the vehicle.
Planar patterning can be performed using the appearance information to form a corresponding appearance image.
And a substep S142 of intercepting scene information from the panoramic image and constructing a dynamic scene image by using the scene information.
Then, the panoramic image can be subjected to image recognition, and scene information in the panoramic image is obtained. The scene information may include a scene type, a scene color, a scene structure, a scene size, and the like.
And then performing planar composition using the scene information, thereby obtaining a corresponding scene image.
In an alternative embodiment, scene information may be used for planar composition from any angle. Preferably, the angle of the tail box of the vehicle is outward, so that the user can conveniently carry out reverse operation.
And a substep S143 of dynamically superimposing the appearance image and the scene image to generate a simulated image.
After the appearance image and the scenery image are obtained, the two images can be dynamically superposed to form a simulation image.
In actual operation, the appearance image can be kept unchanged, scene information is collected, a dynamic scene image is generated according to the scene information, and then the appearance image is added to the dynamic scene image to obtain a simulated image.
In the process of backing a car, scenes around the car can be changed along with the movement of the car, a plurality of scene images can be constructed by collecting scene information in real time, and then the newly constructed scene images are replaced with old scene images according to the time sequence, so that dynamic scene images can be formed.
In actual operation, a user may make mistakes during driving or have a blind visual area without looking, in order to remind the user of possible emergencies, so as to reduce driving risks.
Optionally, the method may further include:
and S15, constructing an animation module by adopting the simulated image.
Specifically, an animation module capable of generating animation can be constructed by dynamic simulation images.
And S16, generating and playing a prompt animation based on the animation module so as to prompt the driver to perform corresponding driving operation.
Adopt the animation module to generate the suggestion animation that corresponds, this suggestion animation can be the early warning animation, can form the vehicle and move the orbit, through the travel state of the removal orbit suggestion user of vehicle and driver vehicle, let user and driver can confirm the real-time condition of vehicle more directly perceivedly to carry out corresponding driving adjustment, with the reduction driving risk.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, when a vehicle enters a reversing mode and displays a reversing image, the image detection information in the reversing image and the real-time detection information of the vehicle and surrounding objects are acquired in real time, then the panoramic image of the vehicle is acquired according to the comparison result of the image detection information and the real-time detection information, finally the panoramic image is used for simulating to generate a simulated image, and the image correction is carried out through the simulated image, so that a driver can drive according to the accurate reversing image, the effect of assisting driving can be improved, and the risk of accidents can be reduced.
Referring to fig. 2, a schematic structural diagram of an embodiment of an image correction device based on a vehicle-mounted terminal according to the present invention is shown.
Wherein, as an example, the apparatus comprises:
the extraction module 201 is configured to, when it is determined that the vehicle enters a reverse mode and displays a reverse image, extract image detection information of the vehicle and a peripheral object from the reverse image, and acquire real-time detection information of the vehicle and the peripheral object in real time;
a comparison module 202, configured to perform information comparison on the image detection information and the real-time detection information to obtain a comparison result;
the acquisition module 203 is used for acquiring a panoramic image of the vehicle based on the comparison result;
and the correction module 204 is configured to generate a simulation image according to the panoramic image simulation, and correct the reversing image by using the simulation image.
Optionally, the extracting module is further configured to:
respectively intercepting a vehicle position image and an environment position image from the reversing image;
respectively screening a plurality of vehicle coordinate points from the vehicle position image, and extracting a plurality of environment coordinate points from the environment position image;
respectively calculating the distance value of each vehicle coordinate point and each environment coordinate point according to the image scaling to obtain a plurality of coordinate distance values corresponding to each vehicle coordinate point;
adding a plurality of coordinate distance values corresponding to each vehicle coordinate point respectively to obtain an image distance value of each vehicle coordinate point;
and generating image detection information by using a plurality of image distance value sets.
Optionally, the method further involves several sensors;
the extraction module is further configured to:
respectively acquiring actual coordinate points corresponding to the image distance values from the image detection information, wherein the actual coordinate points correspond to the vehicle coordinate points one by one;
calling the plurality of sensors to respectively detect a plurality of detection distance values corresponding to each actual coordinate point;
adding a plurality of detection distance values corresponding to each actual coordinate point to obtain an actual distance value corresponding to each actual coordinate point;
and obtaining real-time detection information from a plurality of actual distance value sets.
Optionally, the alignment module is further configured to:
comparing each image distance value with the corresponding actual distance value to obtain a plurality of comparison values;
screening and counting the number of numerical values larger than a preset value from the plurality of comparison values;
if the numerical value quantity is larger than the preset quantity, generating an abnormal comparison result;
and if the numerical value quantity is less than the preset quantity, generating a normal comparison result.
Optionally, the method further involves a panoramic camera disposed on the roof of the vehicle;
the acquisition module is further configured to:
when the comparison result is an abnormal comparison result, acquiring a satellite positioning image of the vehicle, and intercepting panoramic images of the vehicle and surrounding objects from the satellite positioning image;
and when the comparison result is a normal comparison result, calling the panoramic camera to shoot the panoramic image around the vehicle.
Optionally, the correction module is further configured to:
acquiring appearance information of a vehicle, and constructing an appearance image of the vehicle based on the appearance information;
intercepting scene information from the panoramic image, and constructing a dynamic scene image by adopting the scene information;
and dynamically superposing the appearance image and the scenery image to generate a simulation image.
Optionally, the apparatus further comprises:
the construction module is used for constructing an animation module by adopting the simulation image;
and the prompt module is used for generating and playing prompt animation based on the animation module so as to prompt a driver to perform corresponding driving operation.
The invention also proposes a vehicle comprising:
one or more processors; and
one or more machine-readable media having instructions stored thereon, which when executed by the one or more processors, cause the apparatus to perform one or more of the in-vehicle terminal-based image correction methods described above.
The invention also provides a computer readable storage medium, which stores a computer program to make a processor execute the image correction method based on the vehicle-mounted terminal
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The image correction method based on the vehicle-mounted terminal provided by the invention is described in detail above, a specific example is applied in the text to explain the principle and the implementation of the invention, and the description of the above embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An image correction method based on a vehicle-mounted terminal is characterized by comprising the following steps:
when the vehicle is determined to enter a reversing mode and a reversing image is displayed, extracting image detection information of the vehicle and surrounding objects from the reversing image, and acquiring real-time detection information of the vehicle and the surrounding objects in real time;
comparing the image detection information with the real-time detection information to obtain a comparison result;
acquiring a panoramic image of the vehicle based on the comparison result;
and generating a simulation image according to the panoramic image simulation, and correcting the reversing image by adopting the simulation image.
2. The vehicle-mounted terminal-based image correction method according to claim 1, wherein the extracting image detection information of the vehicle and the surrounding objects from the reverse image comprises:
respectively intercepting a vehicle position image and an environment position image from the reversing image;
respectively screening a plurality of vehicle coordinate points from the vehicle position image, and extracting a plurality of environment coordinate points from the environment position image;
respectively calculating the distance value of each vehicle coordinate point and each environment coordinate point according to the image scaling to obtain a plurality of coordinate distance values corresponding to each vehicle coordinate point;
adding a plurality of coordinate distance values corresponding to each vehicle coordinate point respectively to obtain an image distance value of each vehicle coordinate point;
and generating image detection information by using a plurality of image distance value sets.
3. The vehicle-mounted terminal-based image correction method according to claim 2, characterized in that the method further involves a plurality of sensors;
the real-time detection information of the vehicle and the surrounding objects is obtained in real time, and the method comprises the following steps:
respectively acquiring actual coordinate points corresponding to the image distance values from the image detection information, wherein the actual coordinate points correspond to the vehicle coordinate points one by one;
calling the plurality of sensors to respectively detect a plurality of detection distance values corresponding to each actual coordinate point;
adding a plurality of detection distance values corresponding to each actual coordinate point to obtain an actual distance value corresponding to each actual coordinate point;
and obtaining real-time detection information from a plurality of actual distance value sets.
4. The image correction method based on the vehicle-mounted terminal according to claim 3, wherein the comparing the image detection information with the real-time detection information to obtain a comparison result comprises:
comparing each image distance value with the corresponding actual distance value to obtain a plurality of comparison values;
screening and counting the number of numerical values larger than a preset value from the plurality of comparison values;
if the numerical value quantity is larger than the preset quantity, generating an abnormal comparison result;
and if the numerical value quantity is less than the preset quantity, generating a normal comparison result.
5. The vehicle-mounted terminal-based image correction method according to claim 4, characterized in that the method further involves a panoramic camera arranged on the roof of the vehicle;
the collecting a panoramic image of a vehicle based on the comparison result includes:
when the comparison result is an abnormal comparison result, acquiring a satellite positioning image of the vehicle, and intercepting panoramic images of the vehicle and surrounding objects from the satellite positioning image;
and when the comparison result is a normal comparison result, calling the panoramic camera to shoot the panoramic image around the vehicle.
6. The vehicle-mounted terminal-based image correction method according to claim 3, wherein the simulation generation of the simulated image according to the panoramic image comprises:
acquiring appearance information of a vehicle, and constructing an appearance image of the vehicle based on the appearance information;
intercepting scene information from the panoramic image, and constructing a dynamic scene image by adopting the scene information;
and dynamically superposing the appearance image and the scenery image to generate a simulation image.
7. The vehicle-mounted terminal based image correction method according to any one of claims 1 to 6, wherein after the step of correcting the reverse image by using the analog image, the method further comprises:
constructing an animation module by adopting the simulation image;
and generating and playing a prompt animation based on the animation module so as to prompt the driver to carry out corresponding driving operation.
8. An image correction device based on a vehicle-mounted terminal is characterized in that the device comprises:
the extraction module is used for extracting image detection information of the vehicle and surrounding objects from the reversing image and acquiring real-time detection information of the vehicle and the surrounding objects in real time when the vehicle is determined to enter a reversing mode and the reversing image is displayed;
the comparison module is used for carrying out information comparison on the image detection information and the real-time detection information and obtaining a comparison result;
the acquisition module is used for acquiring a panoramic image of the vehicle based on the comparison result;
and the correction module is used for generating a simulation image according to the panoramic image simulation and correcting the reversing image by adopting the simulation image.
9. A vehicle, characterized by comprising: one or more processors;
and one or more machine-readable media having instructions stored thereon, which when executed by the one or more processors, cause the apparatus to perform the in-vehicle terminal-based image correction method according to any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program for causing a processor to execute the in-vehicle terminal-based image correction method according to any one of claims 1 to 7.
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