Patent ID: 11915492
Assignee: HUAWEI TECHNOLOGIES CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 4:
5. The method according to claim 2, wherein the error constraint is a geometric error and a distance error, and the determining whether a pair of subimages matching each other exists in the first subimage group and the second subimage group comprises:
calculating a geometric error and a distance error between a third subimage and a fourth subimage, wherein the third subimage is any subimage in the first subimage group, and the fourth subimage is any subimage in the second subimage group; and
in response to the geometric error meeting a preset condition and the distance error being less than a preset distance, determining that the third subimage and the fourth subimage match each other;
wherein the geometric error comprises at least one of a scale error or an angle error;
wherein the scale error is used to represent a ratio of a first length to a second length, the first length is a length between a jth traffic light and a (j+1)th traffic light that are arranged in the preset order in the third subimage, and the second length is a length between a jth traffic light and a (j+1)th traffic light that are arranged in the preset order in the fourth subimage;
wherein the angle error is used to represent a difference between a first angle and a second angle, the first angle is an angle between a first connection line and a preset coordinate axis in a coordinate system of the first image, the second angle is an angle between a second connection line and the preset coordinate axis, the first connection line is a connection line between the jth traffic light and the (j+1)th traffic light that are arranged in the preset order in the third subimage, and the second connection line is a connection line between the jth traffic light and the (j+1)th traffic light that are arranged in the preset order in the fourth subimage, wherein j∈[1, i];
wherein the distance error is used to indicate a distance between the jth traffic light arranged in the preset order in the third subimage and the jth traffic light arranged in the preset order in the fourth subimage; and
wherein the geometric error meeting the preset condition comprises: when the geometric error comprises the scale error, the scale error is less than or equal to a first preset threshold; and when the geometric error comprises the angle error, the angle error is less than or equal to a second preset threshold.