CN117935610A - Method, device and equipment for updating tracking parking space and computer readable storage medium - Google Patents
Method, device and equipment for updating tracking parking space and computer readable storage medium Download PDFInfo
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- CN117935610A CN117935610A CN202410149307.1A CN202410149307A CN117935610A CN 117935610 A CN117935610 A CN 117935610A CN 202410149307 A CN202410149307 A CN 202410149307A CN 117935610 A CN117935610 A CN 117935610A
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
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Abstract
The application relates to the technical field of vehicles, and discloses a method, a device, equipment and a computer readable storage medium for updating a tracking parking space, wherein the method comprises the following steps: calculating to obtain the displacement between the current image frame and the positioning message according to the time difference between the current image frame and the positioning message; the positioning message carries vehicle positioning information, and the time difference is a difference value calculated according to the time stamp of the current image frame and the time stamp of the positioning message; correcting the vehicle positioning information according to the displacement to obtain corrected vehicle positioning information; calculating to obtain a pose conversion matrix according to the corrected vehicle positioning information, and converting the target parking space coordinate in the current image frame into a parking space target coordinate under a target coordinate system according to the pose conversion matrix; and determining whether to update the tracked parking space according to the target parking space coordinates and the tracked parking space coordinates so as to obtain the updated tracked parking space. The application avoids the conversion among a plurality of relative coordinate systems and has high data processing efficiency.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a method, a device, equipment and a computer readable storage medium for updating a tracking parking space.
Background
The current mainstream parking space Tracking algorithm is based on a TBD (Tracking-by-Detection) strategy, that is, target Tracking is performed based on a Detection result of a parking space frame, then fusion Tracking is performed by using a parking space Detection result of each frame, and a parking space association mode of each frame is different in size, for example, matching association is performed by calculating an IOU (Intersection over Union, cross-over ratio), or ReID (Re-Identification) is performed by calculating an appearance characteristic.
Meanwhile, the conventional conversion from an image frame coordinate system to a local coordinate system (a coordinate system output by a positioning system) is firstly performed through the conversion from a pixel coordinate system to a camera coordinate system, then the conversion from the camera coordinate system to a vehicle coordinate system and finally the conversion from the vehicle coordinate system to the local coordinate system, so that the calculation amount involved in the conversion process is large, the coordinate conversion process is complicated, and the tracking parking space cannot be updated in time.
Disclosure of Invention
In view of the above, the present application provides a method, apparatus, device and computer readable storage medium for updating a tracked parking space.
According to one aspect of the present application, there is provided an updating method for tracking a parking space, the updating method including: calculating to obtain the displacement between the current image frame and the positioning message according to the time difference between the current image frame and the positioning message; the time difference is a difference value calculated according to the time stamp of the current image frame and the time stamp of the positioning message; correcting the vehicle positioning information according to the displacement to obtain corrected vehicle positioning information; calculating to obtain a pose conversion matrix according to the corrected vehicle positioning information, and converting a target parking space coordinate in a current image frame into a parking space target coordinate under a target coordinate system according to the pose conversion matrix; and determining whether to update the tracking parking space according to the target parking space coordinates and the tracking parking space coordinates so as to obtain the updated tracking parking space.
In an optional manner, the converting, according to the pose conversion matrix, the target parking space coordinate in the current image frame into a parking space target coordinate under a target coordinate system, further includes: calculating the product of the target parking space coordinates and the distance pixel ratio, calculating the difference value of the product obtained by calculation and the pixel coordinates of the target center point in the corrected vehicle positioning information, and calculating the difference value; and carrying out product operation on the difference value and the pose conversion matrix, and calculating to obtain the target parking space coordinate in the current image frame, and converting the target parking space coordinate into a parking space target coordinate under a target coordinate system.
In an optional manner, the determining, according to the target coordinates of the parking space and the coordinates of the tracked parking space, whether to update the tracked parking space to obtain an updated tracked parking space further includes: according to the target parking space coordinates and the tracking parking space coordinates, calculating to obtain the distance between the target parking space and the tracking parking space; if the distance is detected to be smaller than the preset distance, detecting whether the target parking space is matched with the tracking parking space, and updating the tracking parking space according to a matching result to obtain an updated tracking parking space.
In an optional manner, the calculating to obtain the pose conversion matrix according to the corrected vehicle positioning information further includes: acquiring column vectors in a gesture matrix and translation vectors in a translation matrix in the corrected vehicle positioning information; and taking a column vector in the gesture matrix as a base vector, and constructing and obtaining a gesture conversion matrix according to the translation vector and the base vector.
In an optional manner, the updating the tracked parking space according to the matching result to obtain an updated tracked parking space further includes: and if the matching result represents that the target parking space is successfully matched with the tracking parking space, updating the target parking space into the tracking parking space to obtain an updated tracking parking space.
In an optional manner, the number of the target parking spaces is a plurality of, and the number of the tracking parking spaces is a plurality of; and updating the tracking parking space according to the matching result to obtain an updated tracking parking space, and further comprising: if the matching result represents that the target parking space is not completely matched with the tracking parking space, detecting whether the tracking parking space which is not matched successfully exists in the image frames of the first preset frame number or not to obtain a first detection result, and detecting whether the target parking space which is not matched successfully exists in the image frames of the second preset frame number or not to obtain a second detection result; and updating the tracking parking space according to the first detection result and the second detection result to obtain an updated tracking parking space.
In an optional manner, the updating the tracked parking space according to the first detection result and the second detection result to obtain an updated tracked parking space further includes: if the first detection result represents that the unmatched tracking parking space does not exist in the image frame of the first preset frame number, deleting the unmatched tracking parking space from the tracking parking space to obtain an updated tracking parking space; if the second detection result represents that the target parking space which is not successfully matched exists in the image frame of the second preset frame number, updating the target parking space which is not successfully matched into the tracking parking space, so as to obtain the updated tracking parking space.
In an optional manner, before the displacement between the current image frame and the positioning message is calculated according to the time difference between the current image frame and the positioning message, the updating method further includes: acquiring a current time stamp of a current image frame; and determining the positioning message adjacent to the current image frame and the time difference between the positioning message and the current image frame according to the current time stamp.
According to another aspect of the present application, there is provided an updating apparatus for tracking a parking space, the updating apparatus including: the displacement calculation module is used for calculating the displacement between the current image frame and the positioning message according to the time difference between the current image frame and the positioning message; the time difference is a difference value calculated according to the time stamp of the current image frame and the time stamp of the positioning message; the correction module is used for correcting the vehicle positioning information according to the displacement to obtain corrected vehicle positioning information; the coordinate conversion module is used for calculating to obtain a pose conversion matrix according to the corrected vehicle positioning information, and converting the target parking space coordinate in the current image frame into a parking space target coordinate under a target coordinate system according to the pose conversion matrix; and the updating module is used for determining whether to update the tracking parking space according to the parking space target coordinates and the tracking parking space coordinates so as to obtain the updated tracking parking space.
According to an aspect of the present application, there is provided an electronic apparatus including: a controller; and a memory for storing one or more programs which, when executed by the controller, perform the update method described above.
According to an aspect of the present application, there is also provided a computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor of a computer, cause the computer to perform the above-described updating method.
According to one aspect of the present application there is also provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs the above-described updating method.
The application calculates the time difference between the current image frame and the positioning message to obtain the displacement between the current image frame and the positioning message, so as to correct the positioning information of the vehicle, thereby obtaining a pose conversion matrix and constructing and obtaining an absolute target coordinate system. And directly converting the target parking space coordinates in the current image frame into parking space target coordinates in a target coordinate system according to the pose conversion matrix, and avoiding unnecessary conversion among a plurality of relative coordinate systems so as to improve the data processing efficiency. And accurately determining whether to update the tracked parking space according to the target parking space coordinates and the tracked parking space coordinates so as to obtain the updated tracked parking space.
The foregoing description is only an overview of the embodiments of the present application, and is intended to provide a better understanding of the technical means of the present application, as it is embodied in the present specification, and is intended to provide a better understanding of the above-mentioned and other objects, features and advantages of the present application, as it is embodied in the following description.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a flowchart of an update method for tracking a parking space according to an exemplary embodiment of the present application.
Fig. 2 is a flow chart of a method for updating a tracking parking space according to a preferred embodiment of the present application.
Fig. 3 is a schematic diagram of an application scenario of the method for tracking an update of a parking space according to the present application.
Fig. 4 is a schematic structural diagram of an updating device for tracking parking spaces according to an exemplary embodiment of the present application.
Fig. 5 is a schematic diagram of a computer system of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
In the present application, the term "plurality" means two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., a and/or B may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
The conversion from the coordinate system to the local coordinate system in the existing image frame is firstly carried out through the conversion from the pixel coordinate system to the camera coordinate system, then the conversion from the camera coordinate system to the vehicle coordinate system and finally the conversion from the vehicle coordinate system to the local coordinate system, and the related conversion formula is as follows:
The conversion process involves a large calculated amount, and the relative coordinates are utilized to track the parking spaces, so that the coordinate conversion process is complicated, and the tracked parking spaces cannot be updated in time.
Therefore, one aspect of the application provides an updating method for tracking a parking space. Different from the existing relative coordinates, the method is used for tracking the parking space, the parking space corner points are converted into local coordinates, then the local coordinate positions of the parking space corner points are associated and corrected for each frame, corrected vehicle positioning information is obtained, and then a pose conversion matrix is obtained, so that an absolute target coordinate system is constructed and obtained, the tracking of the parking space is carried out, the tracking of the parking space is updated, the convenience is improved, and the efficiency and the flow are improved. In particular, the existing ADAS (ADVANCED DRIVING ASSISTANCE SYSTEM ) has high requirements on precision and delay, and the updating mode of the application can reduce the delay of data processing output results, improve the precision of parking space corner points and update the tracked parking space in time. Referring to fig. 1 specifically, fig. 1 is a flow chart illustrating a method for updating a tracking parking space according to an exemplary embodiment of the application. The updating method at least comprises S110 to S140, and is described in detail as follows:
S110: calculating to obtain the displacement between the current image frame and the positioning message according to the time difference between the current image frame and the positioning message; the positioning message carries vehicle positioning information, and the time difference is a difference value calculated according to the time stamp of the current image frame and the time stamp of the positioning message.
The current image frame includes, but is not limited to, parking space information, vehicle surrounding information, road information, and the like. Because the parking space is fixed and moves along with time as different from a dynamic obstacle, the embodiment proposes to integrate into a coordinate conversion system, firstly convert the corner points of the parking space into local coordinates, and then correlate and correct the local coordinate positions of the corner points of the parking space for each frame, thereby simplifying the process and improving the efficiency and the flow.
The parking space position is static and unchanged under the local coordinate system, and the parking space position can be converted into the local coordinate system firstly due to the static characteristic of the parking space, and then the Euclidean distance with smaller calculated amount is used for carrying out association tracking instead of the conventional IOU (parking space intersection), so that the parking space tracking processing time is greatly shortened, and the delay of a perception module is shortened.
The positioning message is a message adjacent to the current image frame, and not only carries vehicle positioning information, including but not limited to vehicle pose information, vehicle identification, vehicle working condition parameters and the like.
A certain time delay exists between the image frame and the positioning message, for example, the transmission speed of optical signals such as sound and light time delay, images and the like is faster than that of sound signals, so that a certain time delay exists between the two signals.
The time difference between the current image frame and the adjacent positioning message is generally smaller, the vehicle can be regarded as uniform motion in the time difference, and the displacement between the current image frame and the positioning message is calculated according to the time difference and the uniform speed.
S120: and correcting the vehicle positioning information according to the displacement amount to obtain corrected vehicle positioning information.
In this embodiment, the current image frame is aligned with the adjacent positioning message by using the time stamp, so that the time stamp of the image frame corresponding to the corrected vehicle positioning information is consistent with the time stamp of the positioning message, and the corrected vehicle positioning information includes, but is not limited to, a first dimension pixel coordinate value and a second dimension pixel coordinate value of a target center point (i.e., the pixel coordinate of the target center point), where the target center point may be the pixel coordinate point of the center of the rear axle of the vehicle.
S130: and calculating according to the corrected vehicle positioning information to obtain a pose conversion matrix, and converting the target parking space coordinate in the current image frame into a parking space target coordinate under a target coordinate system according to the pose conversion matrix.
The pose conversion matrix is a conversion matrix that converts point coordinates in the current image frame into point coordinates in the target coordinate system. The pose conversion is composed of two parts, namely an R matrix and a T matrix. The R Matrix represents a pose Matrix (Rotation Matrix), typically representing the Rotation of one object or coordinate system relative to another. The pose matrix is an orthogonal matrix, and its column vector is the base vector of the rotated coordinate system. The T matrix represents the translation matrix.
In some embodiments, the translation vector in the translation matrix is obtained by obtaining a column vector in a pose matrix in the corrected vehicle positioning information; and taking a column vector in the gesture matrix as a base vector, and constructing and obtaining a gesture conversion matrix according to the translation vector and the base vector. The constructed pose conversion matrix is exemplified as follows:
Wherein the column vector ({ r 11 r21 r31 }) represents the x-axis direction after rotation; the column vector ({ r 12 r22 r32 }) represents the y-axis direction after rotation; the column vector ({ r 13 r23 r33 }) represents the z-axis direction after rotation. Each column in the matrix is a unit vector representing the basis vector of the rotated coordinate system. The T matrix represents a translation matrix; t 1 denotes a translation distance in the x-axis direction (i.e., a translation vector in the x-axis), t 2 denotes a translation distance in the y-axis direction (i.e., a translation vector in the y-axis), and t 3 denotes a translation distance in the z-axis direction (i.e., a translation vector in the z-axis).
The coordinates of the parking spaces in the current image frame, that is, the coordinates of the target parking spaces in the embodiment, are obtained from the current image frame, and the number of the target parking spaces is not limited in the embodiment. And respectively carrying out corresponding calculation on the first dimension value and the second latitude value in the target parking space coordinate and the pose conversion matrix to obtain a converted first dimension value and second latitude value so as to obtain the parking space target coordinate in the target coordinate system.
S140: and determining whether to update the tracked parking space according to the target parking space coordinates and the tracked parking space coordinates so as to obtain the updated tracked parking space.
The tracking parking space coordinates are historical parking space coordinates, namely, the parking space coordinates obtained by tracking in the front image frame. Wherein the leading image frame is an image frame preceding the current image frame.
And determining whether a difference exists between the current parking space target coordinate and the tracking parking space coordinate or whether a difference value exceeds a preset range or not according to the current parking space target coordinate and the tracking parking space coordinate so as to determine whether to update the tracking parking space.
The application calculates the time difference between the current image frame and the positioning message to obtain the displacement between the current image frame and the positioning message, so as to correct the positioning information of the vehicle, thereby obtaining a pose conversion matrix and constructing and obtaining an absolute target coordinate system. And directly converting the target parking space coordinates in the current image frame into parking space target coordinates in a target coordinate system according to the pose conversion matrix, and avoiding unnecessary conversion among a plurality of relative coordinate systems so as to improve the data processing efficiency. And accurately determining whether to update the tracked parking space according to the target parking space coordinates and the tracked parking space coordinates so as to obtain the updated tracked parking space.
In the embodiment, the time difference between the current image frame and the positioning message is calculated to obtain the displacement between the current image frame and the positioning message, so as to correct the vehicle positioning information, thereby obtaining a pose conversion matrix, and constructing and obtaining an absolute target coordinate system. And directly converting the target parking space coordinates in the current image frame into parking space target coordinates in a target coordinate system according to the pose conversion matrix, and avoiding unnecessary conversion among a plurality of relative coordinate systems so as to improve the data processing efficiency. And accurately determining whether to update the tracked parking space according to the target parking space coordinates and the tracked parking space coordinates so as to obtain the updated tracked parking space.
In another exemplary embodiment of the present application, how to convert the target parking space coordinates in the current image frame into the parking space target coordinates in the target coordinate system according to the pose conversion matrix is described in detail, that is, S130 further includes S131 to S132, which is described in detail as follows:
S131: and carrying out product operation on the target parking space coordinates and the distance pixel ratio, carrying out difference operation on the pixel coordinates of the target center point in the corrected vehicle positioning information and the calculated product, and calculating to obtain a difference value.
The distance pixel ratio is the ratio of the actual distance value to the pixel size.
S132: and carrying out product operation on the difference value and the pose conversion matrix, and calculating to obtain the target parking space coordinate in the current image frame, and converting the target parking space coordinate into a parking space target coordinate under a target coordinate system.
The present embodiment is exemplarily described, where the target parking space coordinates (u, v) are converted into parking space target coordinates (X, Y) in the target coordinate system, and the parking space target coordinates are specifically calculated according to the following exemplary formula:
X＝(carx-u×scale)×trans_matrix；
Y＝(cary-v×scale)×trans_matrix；
where car x denotes a first dimension pixel coordinate value of the pixel coordinate of the target center point, car y denotes a second dimension pixel coordinate value of the pixel coordinate of the target center point, scale denotes a distance pixel ratio,
When coordinate conversion is processed, the detected image is considered to be in an AVM view, so that the distance between the parking stall angular point and the center of the rear axle of the vehicle can be directly obtained by using a 'sacle = actual distance/pixel size' formula, and then coordinate values of the parking stall under a local coordinate system are obtained through conversion. The processing calculation amount and time delay are reduced, and the energy consumption of an automatic driving processing chip is also reduced.
The embodiment provides a coordinate conversion mode to convert the target parking space coordinate in the current image frame into a parking space target coordinate in a target coordinate system. The distance pixel is introduced to establish a relation between an actual distance value and a pixel size, the actual distance of the parking space angular point coordinate relative to the vehicle coordinate system can be calculated, and then the parking space angular point coordinate is converted into the target coordinate system through the vehicle coordinate system, so that the obtained parking space target coordinate is more accurate.
In another exemplary embodiment of the present application, how to determine whether to update the tracked parking space according to the target parking space coordinate and the tracked parking space coordinate, so as to obtain an updated tracked parking space, that is, S140 further includes S141 to S142, which is described in detail as follows:
S141: and calculating to obtain the distance between the target parking space and the tracking parking space according to the parking space target coordinates and the tracking parking space coordinates.
Illustratively, the target parking space coordinate is (x 1,y1), the tracking parking space coordinate is (x 2,y2), and the distance d between the target parking space and the tracking parking space is calculated according to the following formula:
S142: if the detected distance is smaller than the preset distance, detecting whether the target parking space is matched with the tracking parking space, and updating the tracking parking space according to the matching result to obtain the updated tracking parking space.
The preset distance is a preset parameter, and the specific numerical value is not limited by the application. If the detected distance is smaller than the preset distance value, whether the target parking space is matched with the tracking parking space or not is further detected, so that whether the target parking space is the tracking parking space in the front image frame or not is determined.
If the matching result indicates that the matching of the target parking space and the tracking parking space is successful, the target parking space is updated to the tracking parking space, and the updated tracking parking space is obtained. Wherein the update process includes, but is not limited to, appearance, size, type, etc. of the parking space.
The embodiment introduces a precondition for updating the tracking parking space, and whether to update the tracking parking space is determined according to the distance between the target parking space and the tracking parking space and whether the target parking space and the tracking parking space are matched. The whole judging process only involves simple distance calculation and parameter value magnitude relation comparison, and complex data processing is not needed.
In another exemplary embodiment of the present application, how to update the tracked parking space according to the matching result is described in detail, so as to obtain an updated tracked parking space. Namely, S142 further includes S1421 to S1422; the number of the target parking spaces is multiple, the number of the tracking parking spaces is multiple, and the method is described in detail as follows:
S1421: if the matching result indicates that the target parking space and the tracking parking space are not completely matched successfully, detecting whether the tracking parking space which is not matched successfully exists in the image frames of the first preset frame number, obtaining a first detection result, and detecting whether the target parking space which is not matched successfully exists in the image frames of the second preset frame number, thus obtaining a second detection result.
The application is not limited to specific values of the first preset frame number and the second preset frame number, and the values of the first preset frame number and the second preset frame number can be the same or different.
The target parking space comprises a target parking space A, a target parking space B and a target parking space C, the tracking parking space comprises a target parking space D and a target parking space E, if the target parking space A and the target parking space D are successfully matched, and the rest of the target parking spaces are failed to be matched, whether the target parking space E exists in the subsequent 30-frame image frames or not is continuously detected to obtain a first detection result, and whether the target parking space B and the target parking space C exist in the subsequent 5-frame image frames or not is continuously detected to obtain a second detection result.
S1422: and updating the tracked parking space according to the first detection result and the second detection result to obtain the updated tracked parking space.
The first detection result will determine whether to increase or decrease the unmatched tracking parking space, and the second detection result will determine whether to add the unmatched target parking space as the tracking parking space.
In the embodiment, under the condition that the incompletely matched target parking space and the tracking parking space are detected, according to the corresponding detection result, the incompletely matched tracking parking space and the incompletely matched target parking space are respectively subjected to increase and decrease processing so as to finish updating the tracking parking space.
In another exemplary embodiment of the present application, how to update the tracked parking space according to the first detection result and the second detection result to obtain an updated tracked parking space is described in detail, that is, S1422 further includes S14220 to S14221, which are described in detail as follows:
S14220: if the first detection result represents that the image frame of the first preset frame number does not have the successfully-unmatched tracking parking space, deleting the successfully-unmatched tracking parking space from the tracking parking spaces to obtain updated tracking parking spaces.
The target parking spaces comprise A, B and C parking spaces, the tracking parking spaces comprise D and E parking spaces, and if the A parking space and the D parking space are successfully matched and the matching of the rest is failed, whether the E parking space exists in the subsequent 30-frame image frames is continuously detected; if the E parking space does not exist, deleting the E parking space from the tracking parking space to finish updating the tracking parking space.
S14221: if the second detection result represents that the target parking space which is not successfully matched exists in the image frame of the second preset frame number, updating the target parking space which is not successfully matched into the tracking parking space, and obtaining the updated tracking parking space.
The target parking spaces comprise A, B and C parking spaces, the tracking parking spaces comprise D and E parking spaces, and if the A parking space and the D parking space are successfully matched and the rest of the matching fails, whether the B and C parking spaces exist in the subsequent 5-frame image frames is continuously detected; if the B parking space exists, updating the B parking space into a tracking parking space; and if the C parking space does not exist, storing the C parking space as the undetermined parking space.
The embodiment further illustrates an updating mode of the tracking parking space, introduces a first preset frame number and a second preset frame number, fuses the time sequence relation of multiple image frames, and avoids distortion of information accuracy of the tracking parking space caused by conditions such as missing detection, false detection, parking space shielding and the like. And deleting and managing the unmatched tracking parking spaces according to the first detection result, and adding and managing the unmatched target parking spaces according to the second detection result so as to finish the updating process of the tracking parking spaces.
In another exemplary embodiment of the present application, how to determine the time difference between the current image frame and the positioning message, that is, S11 to S12 are further included before S110 shown in any one of the foregoing exemplary embodiments, which is described in detail as follows:
S11: a current timestamp of a current image frame is obtained.
Each image frame corresponds to a corresponding time stamp, and the time stamp can represent the acquisition time of the image.
S12: and determining a positioning message adjacent to the current image frame and a time difference between the positioning message and the current image frame according to the current time stamp.
The frequency of the positioning message is generally 10Hz, and the positioning message is cached with vehicle positioning information for a certain time period (about 2 seconds). According to the difference between the current time stamp and the time stamp of each positioning message frame, the positioning message frame corresponding to the minimum difference can be determined as the positioning message adjacent to the current image frame, and the difference is the time difference between the current time stamp and the time stamp of each positioning message frame.
Referring to fig. 2, fig. 2 is a flow chart illustrating a method for updating a tracking parking space according to a preferred embodiment of the application. The updating method is described in detail as follows:
And aligning the current timestamp of the current image frame with the timestamp of the adjacent positioning message to obtain corrected vehicle positioning information, further calculating to obtain a pose conversion matrix, and constructing a target coordinate system.
And determining a parking space center point (namely, a target center point in the corrected vehicle positioning information), and converting the target parking space coordinate in the current image frame into a parking space target coordinate under a target coordinate system according to the parking space center point and the pose conversion matrix.
According to the target parking space coordinates and the tracking parking space coordinates, calculating to obtain the distance between the target parking space and the tracking parking space, and detecting whether the distance is smaller than a preset distance; if the target parking space is smaller than the tracking parking space, detecting whether the target parking space is matched with the tracking parking space.
If the target parking spaces are completely matched, updating the target parking spaces into the tracking parking spaces so as to obtain updated tracking parking spaces.
If the target parking spaces are not completely matched, detecting whether unmatched tracking parking spaces exist in the image frames of the first preset frame number or not to obtain a first detection result, and detecting whether unmatched target parking spaces exist in the image frames of the second preset frame number or not to obtain a second detection result.
If the first detection result represents that the image frame of the first preset frame number does not have the unmatched tracking parking space, deleting the unmatched tracking parking space from the tracking parking spaces to obtain updated tracking parking spaces;
If the second detection result represents that the target parking space which is not successfully matched exists in the image frame of the second preset frame number, updating the target parking space which is not successfully matched into the tracking parking space, and obtaining the updated tracking parking space.
The embodiment mainly introduces how to update the tracking parking space, and based on the distance between the target parking space and the tracking parking space and the matching condition between the target parking space and the tracking parking space, the tracking parking space is added and deleted so as to complete updating of the tracking parking space.
In another exemplary embodiment of the present application, an application scenario of the above-mentioned multiple update methods is illustrated, and referring specifically to fig. 3, fig. 3 is a schematic diagram of an application scenario of the update method for tracking a parking space according to the present application. The vehicle end 100 and the server 200 are connected by wireless communication, and the connection mode between the two ends is not limited by the present application.
The server 200 may be disposed inside the vehicle end 100 as shown in fig. 3, or may be disposed outside the vehicle end, and the positional relationship between the server and the vehicle end 100 is not limited by the present application. The server 200 may be used as an execution subject of the update method according to any of the above exemplary embodiments, and exemplary descriptions are as follows:
The server 200 calculates and obtains the displacement between the current image frame and the positioning message according to the time difference between the current image frame and the positioning message; the positioning message carries vehicle positioning information, and the time difference is a difference value calculated according to the time stamp of the current image frame and the time stamp of the positioning message; the server 200 corrects the vehicle positioning information according to the displacement amount to obtain corrected vehicle positioning information; the server 200 calculates and obtains a pose conversion matrix according to the corrected vehicle positioning information, and converts the target parking space coordinate in the current image frame into a parking space target coordinate under a target coordinate system according to the pose conversion matrix; the server 200 determines whether to update the tracked parking space according to the target parking space coordinates and the tracked parking space coordinates, so as to obtain the updated tracked parking space.
The server 200 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, where a plurality of servers may form a blockchain, and the servers are nodes on the blockchain, and the server 200 may also be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs (Content Delivery Network, content delivery networks), and basic cloud computing services such as big data and artificial intelligent platforms, which are not limited herein.
In another aspect of the present application, as shown in fig. 4, fig. 4 is a schematic structural diagram of an apparatus for updating a tracked parking space according to an exemplary embodiment of the present application. The updating apparatus 400 includes:
The displacement calculation module 410 is configured to calculate, according to a time difference between the current image frame and the positioning message, a displacement between the current image frame and the positioning message; the positioning message carries vehicle positioning information, and the time difference is a difference value calculated according to the time stamp of the current image frame and the time stamp of the positioning message.
The correction module 430 is configured to correct the vehicle positioning information according to the displacement amount, and obtain corrected vehicle positioning information.
The coordinate conversion module 450 is configured to calculate a pose conversion matrix according to the corrected vehicle positioning information, and convert the target parking space coordinate in the current image frame into a parking space target coordinate under the target coordinate system according to the pose conversion matrix.
The updating module 470 is configured to determine whether to update the tracked parking space according to the target parking space coordinate and the tracked parking space coordinate, so as to obtain an updated tracked parking space.
In an alternative manner, the coordinate conversion module 450 further includes:
And the calculating unit is used for carrying out product calculation on the target parking space coordinates and the distance pixel ratio, carrying out difference calculation on the pixel coordinates of the target center point in the corrected vehicle positioning information and the calculated product, and calculating to obtain a difference value.
And the conversion unit is used for carrying out product operation on the difference value and the pose conversion matrix, and converting the target parking space coordinate in the current image frame into a parking space target coordinate in the target coordinate system.
In an alternative manner, the update module 470 further includes:
and the distance calculating unit is used for calculating and obtaining the distance between the target parking space and the tracking parking space according to the parking space target coordinates and the tracking parking space coordinates.
And the detection updating unit is used for detecting whether the target parking space is matched with the tracking parking space or not if the detected distance is smaller than the preset distance, and updating the tracking parking space according to the matching result to obtain the updated tracking parking space.
In an alternative manner, the coordinate conversion module 450 further includes:
And the acquisition unit is used for acquiring column vectors in the posture matrix and translation vectors in the translation matrix in the corrected vehicle positioning information.
The construction unit is used for taking the column vector in the gesture matrix as the base vector and constructing and obtaining the gesture conversion matrix according to the translation vector and the base vector.
In an alternative way, the distance unit further comprises:
And the successful matching plate is used for updating the target parking space into the tracking parking space if the matching result represents that the target parking space is successfully matched with the tracking parking space, so as to obtain the updated tracking parking space.
In an alternative mode, the number of target parking spaces is a plurality of target parking spaces, and the number of tracking parking spaces is a plurality of target parking spaces; the detection update unit further includes:
and the detection plate is used for detecting whether the unmatched tracking parking space exists in the image frames of the first preset frame number or not if the matching result represents that the target parking space and the tracking parking space are not matched successfully, so as to obtain a first detection result, and detecting whether the unmatched target parking space exists in the image frames of the second preset frame number or not, so as to obtain a second detection result.
And the updating plate is used for updating the tracking parking space according to the first detection result and the second detection result so as to obtain the updated tracking parking space.
In an alternative way, updating the tile further comprises:
And the first updating sub-plate is used for deleting the unmatched tracking parking space from the tracking parking space if the unmatched tracking parking space does not exist in the image frame of the first preset frame number represented by the first detection result, so as to obtain the updated tracking parking space.
And the second updating sub-plate is used for updating the target parking space which is not successfully matched into the tracking parking space if the second detection result represents that the target parking space which is not successfully matched exists in the image frame of the second preset frame number, so as to obtain the updated tracking parking space.
In an alternative manner, the updating apparatus 400 further includes:
And the acquisition module is used for acquiring the current time stamp of the current image frame.
And the determining module is used for determining a positioning message adjacent to the current image frame and a time difference between the positioning message and the current image frame according to the current time stamp.
The updating device calculates the time difference between the current image frame and the positioning message to obtain the displacement between the current image frame and the positioning message so as to correct the vehicle positioning information, thereby obtaining a pose conversion matrix and constructing an absolute target coordinate system. And directly converting the target parking space coordinates in the current image frame into parking space target coordinates in a target coordinate system according to the pose conversion matrix, and avoiding unnecessary conversion among a plurality of relative coordinate systems so as to improve the data processing efficiency. And accurately determining whether to update the tracked parking space according to the target parking space coordinates and the tracked parking space coordinates so as to obtain the updated tracked parking space.
It should be noted that, the updating apparatus provided in the foregoing embodiment and the updating method provided in the foregoing embodiment belong to the same concept, and a specific manner in which each module and unit perform an operation has been described in detail in the method embodiment, which is not described herein again.
Another aspect of the present application also provides an electronic device, including: a controller; and a memory for storing one or more programs which, when executed by the controller, perform the update method described above.
Referring to fig. 5, fig. 5 is a schematic diagram of a computer system of an electronic device according to an exemplary embodiment of the present application, which is suitable for implementing the electronic device according to the embodiment of the present application.
It should be noted that, the computer system 500 of the electronic device shown in fig. 5 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a central processing unit (Central Processing Unit, CPU) 501, which can perform various appropriate actions and processes, such as performing the methods in the above-described embodiments, according to a program stored in a Read-Only Memory (ROM) 502 or a program loaded from a storage portion 508 into a random access Memory (Random Access Memory, RAM) 503. In the RAM 503, various programs and data required for the system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other through a bus 504. An Input/Output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output portion 507 including a Cathode Ray Tube (CRT), a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), and a speaker, etc.; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as needed so that a computer program read therefrom is mounted into the storage section 508 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 509, and/or installed from the removable media 511. When executed by a Central Processing Unit (CPU) 501, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having 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 (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
Another aspect of the application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of updating as before. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs the update methods provided in the respective embodiments described above.
According to an aspect of the embodiment of the present application, there is also provided a computer system including a central processing unit (Central Processing Unit, CPU) that can perform various appropriate actions and processes, such as performing the method in the above-described embodiment, according to a program stored in a Read-Only Memory (ROM) or a program loaded from a storage section into a random access Memory (Random Access Memory, RAM). In the RAM, various programs and data required for the system operation are also stored. The CPU, ROM and RAM are connected to each other by a bus. An Input/Output (I/O) interface is also connected to the bus.
The following components are connected to the I/O interface: an input section including a keyboard, a mouse, etc.; an output section including a Cathode Ray Tube (CRT), a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), and a speaker; a storage section including a hard disk or the like; and a communication section including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section performs communication processing via a network such as the internet. The drives are also connected to the I/O interfaces as needed. Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, and the like are mounted on the drive as needed so that a computer program read therefrom is mounted into the storage section as needed.
The foregoing is merely illustrative of the preferred embodiments of the present application and is not intended to limit the embodiments of the present application, and those skilled in the art can easily make corresponding variations or modifications according to the main concept and spirit of the present application, so that the protection scope of the present application shall be defined by the claims.
Claims (10)
1. An updating method for tracking a parking space is characterized by comprising the following steps:
calculating to obtain the displacement between the current image frame and the positioning message according to the time difference between the current image frame and the positioning message; the time difference is a difference value calculated according to the time stamp of the current image frame and the time stamp of the positioning message;
correcting the vehicle positioning information according to the displacement to obtain corrected vehicle positioning information;
Calculating to obtain a pose conversion matrix according to the corrected vehicle positioning information, and converting a target parking space coordinate in a current image frame into a parking space target coordinate under a target coordinate system according to the pose conversion matrix;
And determining whether to update the tracking parking space according to the target parking space coordinates and the tracking parking space coordinates so as to obtain the updated tracking parking space.
2. The updating method according to claim 1, wherein the converting the target parking space coordinates in the current image frame into parking space target coordinates in a target coordinate system according to the pose conversion matrix further comprises:
calculating the product of the target parking space coordinates and the distance pixel ratio, calculating the difference value of the product obtained by calculation and the pixel coordinates of the target center point in the corrected vehicle positioning information, and calculating the difference value;
And carrying out product operation on the difference value and the pose conversion matrix, and calculating to obtain the target parking space coordinate in the current image frame, and converting the target parking space coordinate into a parking space target coordinate under a target coordinate system.
3. The method for updating according to claim 1, wherein determining whether to update the tracked parking space based on the target parking space coordinate and the tracked parking space coordinate to obtain an updated tracked parking space further comprises:
according to the target parking space coordinates and the tracking parking space coordinates, calculating to obtain the distance between the target parking space and the tracking parking space;
if the distance is detected to be smaller than the preset distance, detecting whether the target parking space is matched with the tracking parking space, and updating the tracking parking space according to a matching result to obtain an updated tracking parking space.
4. The updating method according to claim 1, wherein the calculating the pose conversion matrix according to the corrected vehicle positioning information further comprises:
Acquiring column vectors in a gesture matrix and translation vectors in a translation matrix in the corrected vehicle positioning information;
and taking a column vector in the gesture matrix as a base vector, and constructing and obtaining a gesture conversion matrix according to the translation vector and the base vector.
5. The updating method according to claim 3, wherein the number of target parking spaces is plural, and the number of tracking parking spaces is plural;
And updating the tracking parking space according to the matching result to obtain an updated tracking parking space, and further comprising:
If the matching result represents that the target parking space is not completely matched with the tracking parking space, detecting whether the tracking parking space which is not matched successfully exists in the image frames of the first preset frame number or not to obtain a first detection result, and detecting whether the target parking space which is not matched successfully exists in the image frames of the second preset frame number or not to obtain a second detection result;
And updating the tracking parking space according to the first detection result and the second detection result to obtain an updated tracking parking space.
6. The method of updating according to claim 5, wherein updating the tracked parking space according to the first detection result and the second detection result to obtain an updated tracked parking space further comprises:
If the first detection result represents that the unmatched tracking parking space does not exist in the image frame of the first preset frame number, deleting the unmatched tracking parking space from the tracking parking space to obtain an updated tracking parking space;
if the second detection result represents that the target parking space which is not successfully matched exists in the image frame of the second preset frame number, updating the target parking space which is not successfully matched into the tracking parking space, so as to obtain the updated tracking parking space.
7. The updating method according to any one of claims 1 to 6, characterized in that before the displacement amount between the current image frame and the positioning message is calculated from the time difference between the current image frame and the positioning message, the updating method further comprises:
Acquiring a current time stamp of a current image frame;
And determining the positioning message adjacent to the current image frame and the time difference between the positioning message and the current image frame according to the current time stamp.
8. An updating device for tracking a parking space, wherein the determining device comprises:
The displacement calculation module is used for calculating the displacement between the current image frame and the positioning message according to the time difference between the current image frame and the positioning message; the time difference is a difference value calculated according to the time stamp of the current image frame and the time stamp of the positioning message;
The correction module is used for correcting the vehicle positioning information according to the displacement to obtain corrected vehicle positioning information;
The coordinate conversion module is used for calculating to obtain a pose conversion matrix according to the corrected vehicle positioning information, and converting the target parking space coordinate in the current image frame into a parking space target coordinate under a target coordinate system according to the pose conversion matrix;
and the updating module is used for determining whether to update the tracking parking space according to the parking space target coordinates and the tracking parking space coordinates so as to obtain the updated tracking parking space.
9. An electronic device, comprising:
A controller;
a memory for storing one or more programs that, when executed by the controller, cause the controller to implement the updating method of any of claims 1-7.
10. A computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor of a computer, cause the computer to perform the updating method of any of claims 1 to 7.
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