Patent ID: 11868438
Assignee: BEIJING QINGZHOUZHIHANG INTELLIGENT TECHNOLOGY CO., LTD
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 5:
6. The method according to claim 4, wherein the projecting a real point in a target frame onto an image plane comprising image data to determine a first pixel, and determining an ego-optical flow of the first pixel based on a pose change of an ego-vehicle comprises:
determining a relative pose TL→C between LiDAR for collecting the point cloud and a camera for collecting the image data, and determining an inherent parameter K of the camera;
projecting the real point in the target frame onto the image plane comprising the image data based on the relative pose and the inherent parameter, to determine the first pixel;
determining the pose change Tt→t+1 of the ego-vehicle in the target frame, and determining the ego-optical flow of the first pixel according to the following equation:

Fego(ui,vi)t=KTL→CTt→t+1pit−(ui,vi)t 

wherein pit represents an i-th real point in the t-th frame, (ui, vi)t represents a first pixel in the t-th frame corresponding to the i-th real point, and Fego(ui, vi)t represents an ego-optical flow of the first pixel (ui, vi)t.