Patent ID: 11893884
Assignee: APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 19:
20. A non-transitory computer readable storage medium having computer instructions stored thereon, wherein the computer instructions are configured to cause a computer to:
acquire a first matching point pair between an image captured by a first camera and an image captured by a second camera, and generate a first rotation matrix according to the first matching point pair, wherein the first rotation matrix represents a rotation matrix of the first camera in a second camera coordinate system;
acquire a second rotation matrix, wherein the second rotation matrix represents a rotation matrix of the second camera in a world coordinate system, and generate a third rotation matrix according to the first rotation matrix and the second rotation matrix, wherein the third rotation matrix represents a rotation matrix of the first camera in the world coordinate system; and
generate three-dimensional perception information of the image captured by the first camera according to the third rotation matrix;
wherein the computer instructions are configured to cause a computer to: generate a fourth rotation matrix according to the first matching point pair, wherein the fourth rotation matrix represents a rotation matrix of the second camera in an equivalent camera coordinate system; and acquire a fifth rotation matrix, wherein the fifth rotation matrix represents a rotation matrix of the first camera in the equivalent camera coordinate system, and generate the first rotation matrix according to the fourth rotation matrix and the fifth rotation matrix.