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

Claim 16:
17. The method according to claim 1, the method further comprises:
acquiring a third matching point pair between the image captured by the first camera and the image captured by the second camera, and generating the first rotation matrix according to the third matching point pair, wherein the first rotation matrix represents the rotation matrix of the first camera in the second camera coordinate system;
acquiring a ninth rotation matrix, wherein the ninth rotation matrix represents the rotation matrix of the first camera in the world coordinate system, and generating a tenth rotation matrix according to the first rotation matrix and the ninth rotation matrix, and the tenth rotation matrix represents a rotation matrix of the second camera in the world coordinate system; and
generating the three-dimensional perception information of the first camera according to the ninth rotation matrix, and generating three-dimensional perception information of the image captured by the second camera according to the tenth rotation matrix;
wherein the acquiring the ninth rotation matrix comprises:
acquiring three-dimensional coordinate information of a mark point, and determining two-dimensional coordinate information of the mark point on the image captured by the first camera according to the image captured by the first camera; and
performing resolution processing on the three-dimensional coordinate information of the mark point and the two-dimensional coordinate information of the mark point on the image captured by the first camera to obtain the ninth rotation matrix;
wherein the ninth rotation matrix is configured to calibrate parameters of the first camera, and the tenth rotation matrix is configured to calibrate parameters of the second camera.